Efficient gravity control device including dual modules

Abstract

The invention relates to an effective gravity control device. Zero-gravity, micro-gravity, low-gravity or pseudo-gravity states of an internal module are realized by taking a moving external module as a reference. An effective gravity control device, according to one embodiment of the present invention, realizes a zero-gravity, microgravity, low-gravity, or pseudo-gravity state of an internal module mounted on a moving external module, and comprises: the external module in which a movement space of the internal module is disposed and in which at least one physical quantity related to movement is controlled; the internal module moves independent of the external module in the movement space through the external force transmitted by the external module; and a position sensing sensor that is disposed at at least one inner end of the external module and senses the position of the internal module in the movement space.

Description

Technical Field

[0001] The present invention relates to an effective gravity control device comprising a dual module, and more specifically, an effective gravity control device for realizing zero gravity, microgravity, low gravity or pseudo gravity state of an internal module based on a moving external module. Background Art

[0002] Generally, zero gravity or microgravity is a state in which the effective gravity is close to 0, offsetting the earth's gravity. It refers to the weightless state inside a satellite or spacecraft orbiting the earth or a free-falling elevator.

[0003] One way to create a state similar to zero gravity on Earth is to let an object fall freely. However, since external forces such as air resistance act on an object in addition to gravity while it is falling on Earth, it is difficult to make the effective gravity acting on the object close to zero.

[0004] In the past, some experimental devices have been proposed to understand the phenomenon of gravity changes and provide experiences, but most of them are complex in structure and consist of expensive equipment, and there is a problem that it is not easy to understand and experiment with gravity changes, zero gravity or microgravity. Summary of the invention

[0005] (Problem to be solved)

[0006] The purpose of the effective gravity control device of the present invention is to propose a dual module device that can guide the change of effective gravity such as zero gravity, microgravity, low gravity or pseudo gravity and a method of controlling the device.

[0007] In addition, the purpose of the effective gravity control device of the present invention is to propose the following device and control method: the external module and the internal module are constructed in the form of a double module, so that the internal module located inside the external module can stably maintain the gravity change state in the absence of external forces such as air resistance.

[0008] In addition, the effective gravity control device of the present invention aims to propose a specific control method for effectively controlling the movement of the dual module based on data obtained from various sensors.

[0009] (Methods to solve the problem)

[0010] An effective gravity control device according to an embodiment of the present invention for solving the above-mentioned problems is to realize a zero gravity, microgravity, low gravity or pseudo gravity state of an internal module carried by a moving external module, comprising: the external module, internally configured with a movement space of the internal module, and controlled with at least one physical quantity related to the movement; the internal module, through the external force transmitted by the external module, moves independently of the external module in the movement space; and a position sensing sensor, arranged at at least one inner end of the external module, for sensing the position of the internal module in the movement space.

[0011] In addition, according to an embodiment of the effective gravity control device of the present invention, the external module may include a supporting component, and the supporting component defines the movement space inside the external module and supports the shape of the external module.

[0012] In addition, according to an embodiment of the present invention, the effective gravity control device includes a motor and a rope, and the motor and the rope are connected to the external module to move the external module; the external module may include a connecting component, and the connecting component is connected to the rope on at least one side.

[0013] In addition, according to an embodiment of the present invention, the effective gravity control device is that the external module may include a shock absorbing component, which is arranged at at least one end inside the external module and absorbs the shock caused by the movement of the internal module.

[0014] In addition, according to an embodiment of the present invention, the effective gravity control device is that the external module may include an external cover member, which is arranged at at least one end outside the external module and reduces air resistance caused by movement of the external module.

[0015] In addition, according to an embodiment of the present invention, the effective gravity control device is that the supporting component is a strip-shaped component configured along the length direction of the external module to connect the upper and lower parts of the external module, and the lower part of the external module can form a larger load than the upper part of the external module.

[0016] In addition, according to an embodiment of the effective gravity control device of the present invention, the internal module can be configured with an internal space for transporting objects.

[0017] In addition, the effective gravity control device according to an embodiment of the present invention is that the inner module may include a plurality of protruding parts extending toward the inner wall side of the outer module.

[0018] In addition, according to an embodiment of the present invention, the effective gravity control device is that the internal module may include a roller, and the roller is arranged at the end of each of the protruding parts to reduce the friction generated by the contact between the external module and the internal module.

[0019] In addition, according to an embodiment of the present invention, the effective gravity control device is that the internal module may include an internal cover component, and the internal cover component is arranged at at least one end of the internal module to reduce the impact between the internal module and the external module due to the movement of the internal module.

[0020] (Effects of the Invention)

[0021] The effective gravity control device and control method including a dual module of the present invention can control the movement of the external module even when the external module is decelerated due to air resistance, thereby controlling the relative position of the internal module, thereby maintaining a zero gravity or low gravity state of the internal module stable for as long as possible.

[0022] In addition, according to the effective gravity control device of the present invention, a dual module structure is designed, in which the internal module for accommodating objects is doubly protected by the external module, and various types of external noise transmitted by air resistance or ropes around the modules are blocked, thereby having the advantage of being able to perform gravity change experiments more stably.

[0023] In addition, the gravity change device according to the present invention includes various sensing tools, which greatly improves the stability of experiments conducted in invisible areas, and applies a feedback control method based on data obtained from sensors, thereby greatly improving the accuracy and precision of the experiments of the device of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall structure of the effective gravity control device of the present invention is shown.

[0025] Figure 2 A schematic block diagram of an effective gravity control device of the present invention is shown.

[0026] Figure 3 The effective gravity control device of the present invention includes a dual module structure.

[0027] Figure 4 Another embodiment of the dual module included in the effective gravity control device of the present invention is shown.

[0028] Figure 5 The structure of the internal modules included in the dual module is shown.

[0029] Figure 6The cross section of the dual module included in the effective gravity control device of the present invention is shown.

[0030] Figure 7 A graph showing the change in relative speed between the internal module and the external module over time in the implementation of zero gravity or microgravity of the effective gravity control device of the present invention.

[0031] Figure 8 A graph showing the change in relative speed between the internal module and the external module over time in the implementation of zero gravity or microgravity of the effective gravity control device of the present invention.

[0032] Fig. 9 The moving states of the internal module and the external module observed from the outside in the implementation of zero gravity or microgravity of the effective gravity control device of the present invention are schematically shown.

[0033] Fig.10 A graph showing the relative speed of the inner module and the outer module changing with time in a low gravity implementation of the effective gravity control device of the present invention. DETAILED DESCRIPTION

[0034] With attached Figure 1 The advantages, features and methods of achieving the present invention will be clarified by referring to the embodiments described in detail below. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms. The embodiments are only provided to fully disclose the present invention and to fully inform the scope of the invention to people with common knowledge in the technical field to which the present invention belongs. The present invention is only defined by the scope of the claims.

[0035] Although the terms "first", "second", etc. are used to describe various components, these components are certainly not limited by these terms. These terms are only used to distinguish one component from another component. Therefore, the first component mentioned below can also be the second component within the technical concept of the present invention.

[0036] In the following embodiments, the terms including or having refer to the existence of features or components recorded in the specification, and do not exclude the possibility of the addition of one or more other features or components in advance.

[0037] For the convenience of explanation, the size of the components may be exaggerated or reduced in the drawings. For example, the size and shape of each structure shown in the drawings are arbitrarily shown for the convenience of explanation, and the present invention is not necessarily limited to what is shown in the drawings.

[0038] Throughout the specification, the same reference numerals refer to the same components.

[0039] The features of each of the multiple embodiments of the present invention may be partially or completely combined or combined. As can be fully understood by those skilled in the art, various linkages and drives may be performed technically, and the various embodiments may be implemented independently of each other and may also be implemented together in a related relationship.

[0040] Hereinafter, the effective gravity control device 1000 and the control method thereof of the present invention will be described in detail with reference to the accompanying drawings.

[0041] Figure 1 The overall structure of the effective gravity control device 1000 of the present invention is shown; Figure 2 A schematic block diagram of an effective gravity control device 1000 of the present invention is shown.

[0042] Reference Figure 1 The effective gravity control device 1000 of the present invention is a device that realizes gravity change by using the dual module 100. Specifically, the effective gravity control device 1000 of the present invention is a device that realizes zero gravity, microgravity, low gravity or pseudo gravity state of the internal module 120 carried by the moving external module 110. Hereinafter, "gravity change" means to include all zero gravity, microgravity, low gravity or pseudo gravity states.

[0043] The effective gravity control device 1000 of the present invention comprises: a dual module 100, a control unit 200, an actuator 300 and a support body 400. Figure 2 As shown, the effective gravity control device 1000 of the present invention may further include a user input / output unit and a power supply unit.

[0044] The double module 100 is a module that realizes the gravity change. For the structure of the double module 100, refer to the following Figure 3 and Figure 4 Provide specific instructions.

[0045] Figure 3 The structure of the dual module 100 included in the effective gravity control device 1000 of the present invention is shown; Figure 4 Another embodiment of the dual module 100' included in the effective gravity control device 1000 of the present invention is shown; Figure 5 The structure of the internal module 120 included in the dual module 100 is shown; Figure 6 The cross section of the dual module 100 included in the active gravity control device 1000 of the present invention is shown.

[0046] Reference Figure 3 The dual module 100 includes an external module 110 and an internal module 120 , and the internal module 120 is mounted inside the external module 110 .

[0047] The external module 110 is provided with a movement space of the internal module 120. The external module 110 is a module whose movement is controlled by the actuator 300. The external module 110 is controlled by the actuator 300 to have at least one physical quantity related to the movement. Here, the physical quantity related to the movement of the external module 110 may be the position or the moving speed of the external module 110. For the specific control method of the external module 110 being controlled by the actuator 300, reference will be made to Figures 7 to 10 This is explained below.

[0048] The effective gravity control device 1000 of the present invention may include a motor 310 and a rope 320 as an actuator 300, and the motor 310 and the rope 320 are connected to the external module 110 to move the external module 110. Hereinafter, the actuator 300 is described based on the motor 310 and the rope 320.

[0049] The external module 110 includes a supporting member 111 .

[0050] The support member 111 defines a movement space in which the internal module 120 moves inside the external module 110 and supports the external module 110 .

[0051] The support member 111 is a strip-shaped member disposed along the length direction of the external module 110. The support member 111 is a strip-shaped member connecting the upper part and the lower part of the external module 110.

[0052] Here, the lower part of the external module 110 forms a greater load than the upper part of the external module 110. When the external module 110 falls in the falling space 500, due to the air resistance applied to the external module 110, the upper and lower parts of the external module 110 may have inappropriate movements such as flipping or rotating. In order to prevent such a problem, preferably, the lower part of the external module 110 forms a greater load than the upper part of the external module 110, and the support member 111 is preferably connected to the upper part while bearing the load of the lower part of the external module 110.

[0053] The external module 110 includes a connection component 112 , at least one side of which is connected to a rope 320 .

[0054] The external module 110 receives an external force from the actuator 300 through the connection member 112. The connection member 112 may be provided at a central portion of an upper end portion of the external module 110. The connection member 112 may be formed in a hook shape and may be connected to the rope 320.

[0055] A bearing may be included inside the connection member 112. The connection member 112 may include a bearing member that performs a function of not transmitting the rotation or torsion of the rope 320 to the external module 110 or the rotation of the external module 110 to the rope 320. That is, the connection member 112 may include a member such as a bearing that does not allow inappropriate movements of the rope 320 or the external module 110 to affect each other.

[0056] The outer module 110 may include a shock absorbing member 113 .

[0057] The impact absorbing member 113 is disposed at at least one end portion of the inner side of the outer module 110, and absorbs the impact generated by the movement of the inner module 120. Specifically, the impact absorbing member 113 is a structure for reducing the impact applied by the inner module 120 to the outer module 110 when the inner module 120 moves upward or downward in the movement space of the outer module 110.

[0058] The impact absorbing member 113 may also be used as a structure for connecting a plurality of supporting members 111, and may have a ring shape. For example, the ring-shaped impact absorbing member 113 contacts the inner cover member 123 to be described later, and the impact applied by the inner module 120 to the outer module 110 may be reduced. The impact absorbing member 113 or the inner cover member 123 is preferably made of an elastic material.

[0059] On the other hand, Figure 3 FIG. 1 shows that the impact absorbing component 113 is only disposed on the lower side of the external module 110 , but the invention is not limited thereto. The impact absorbing component 113 may also be disposed on the upper side of the external module 110 .

[0060] The external module 110 may include an external cover member 114 .

[0061] The external cover member 114 is disposed at at least one end portion of the outer side of the external module 110 and can reduce the air resistance generated by the movement of the external module 110. Specifically, the external cover member 114 is a structure formed at both ends of the external module 110 and minimizes the air resistance acting on the external module 110 when the external module 110 moves upward or downward. The above-mentioned connection member 112 can be formed at the end portion of the external cover member 114.

[0062] On the other hand, when the external module 110 falls in the falling space 500, the external cover member 114 disposed at the lower end of the external module 110 may also accommodate an object that applies a load in order to prevent the upper and lower parts of the external module 110 from turning over or rotating. For example, the object that applies a load may be a component such as a battery mounted on the dual module 100.

[0063] The external module 110 may include a position sensing sensor 131 that senses the position of the internal module 120 .

[0064] The position sensing sensor 131 is a tool configured at at least one inner end of the outer module 110 and sensing the position of the inner module 120 in the motion space. Here, the position sensing sensor 131 may be a laser radar (LiDAR) sensor, which measures the time it takes for a laser pulse to be reflected back after being emitted to measure the position coordinates of the reflector, that is, the inner module 120. Figure 3 2 shows that the position sensing sensor 131 is disposed on the upper side of the external module 110 , but the invention is not limited thereto, and the position sensing sensor 131 may of course be disposed on the lower side of the external module 110 .

[0065] Referring to a diagram showing a dual module 100' according to another embodiment Figure 4 The dual module 100 ′ includes an external module 110 ′ and an internal module 120 . The internal module 120 is mounted inside the external module 110 .

[0066] Compared to the above-mentioned external module 110 , the external module 110 ′ may further include a wing member 115 .

[0067] The wing member 115 can prevent the upper and lower parts of the external module 110 from turning over or rotating and other inappropriate actions when the external module 110 falls in the falling space 500 .

[0068] The wing member 115 may be formed one on each side of the external module 110, or may be formed in three or more forms, so that there is a predetermined angle range between each wing member 115. Figure 4 As shown, the wing member 115 may also have a curved shape, but other than that, it may also have various wing shapes.

[0069] The dual module 100 includes an internal module 120 mounted inside an external module 110 .

[0070] The internal module 120 is a module that moves independently of the external module 110 within a movement space of the external module 110 except using an external force transmitted through the external module 110 .

[0071] The internal module 120 has an internal space for transporting objects. Here, the object may be a subject body for performing experiments by gravity changes, and the subject body may include various types. For example, the internal module 120 may accommodate a subject body ranging from a cell unit to a subject body equivalent to an animal or a human body.

[0072] The inner module 120 includes a plurality of protruding parts 121 extending toward the inner wall side of the outer module 110 .

[0073] like Figure 6 As shown, the protruding part 121 can limit the internal module 120 and the supporting part 111 of the external module 110 from rotating above a critical value in the motion space of the external module 110. Even if the internal module 120 rotates in the motion space, the protruding part 121 cannot exceed the setting position of the supporting part 111, so the internal module 120 can be limited to rotate above a predetermined angle.

[0074] The internal module 120 includes a roller 122 disposed at an end of each protruding member 121 .

[0075] The roller 122 is a structure for reducing friction generated by the contact between the external module 110 and the internal module 120. The roller 122 is configured to extend from the internal module 120 and can contact the inner wall of the external module 110. When the internal module 120 contacts the external module 110 during movement, the roller 122 can minimize unnecessary external forces such as friction acting on the internal module 120. Preferably, the internal module 120 moves gently along the inner wall of the external module 110.

[0076] In the description of the present invention, the roller 122 is exemplified, but as long as it is a structure that can reduce the friction between the internal module 120 and the external module 110, in addition to the roller 122, various tools can also be used. Figure 5 and Figure 6 The ball bearing component shown as performing one-dimensional linear motion may also be a ball bearing component performing multi-dimensional rotational motion.

[0077] On the other hand, the support body 400 is a device configured with a falling space 500 for the movement of the dual module 100. The support body 400 is set on the ground or a building to form a falling space 500 for the movement of the dual module 100. Figure 1 As shown, the support body 400 may be a facility extending upward and downward from the reference plane. Figure 1 The example shows that the support body 400 extends underground from the ground to form a vertical space for the dual module 100 to move, and extends above ground to form an installation space for the effective gravity control device 1000.

[0078] Various sensor units 510 for monitoring the movement of the dual module 100 may be disposed in the drop space 500 .

[0079] The sensor unit 510 includes a position sensing sensor 511, which senses the movement or position of the dual module 100, especially the external module 110. In addition, the sensor unit 510 may include a camera 512 to obtain an image for monitoring the movement or position of the external module 110. The sensor unit 510 provided in the drop space 500 may include various sensors such as an infrared sensor, a temperature sensor, etc. in addition to the position sensing sensor 131 and the camera 512.

[0080] Below, refer to Figures 7 to 10 , the control method of the effective gravity control device 1000 of the present invention to achieve gravity change is specifically described. Figures 1 to 6 Provide explanation.

[0081] Figure 7 and Figure 8 A graph showing the change in relative speed between the external module 110 and the internal module 120 over time in the implementation of zero gravity or microgravity of the effective gravity control device 1000 of the present invention;

[0082] Fig. 9 The schematic diagram shows the motion states of the external module 110 and the internal module 120 observed from the outside in the implementation of zero gravity or microgravity of the effective gravity control device 1000 of the present invention.

[0083] The control part 200 generates a control signal of the actuator 300 that controls the movement of the external module 110. The control part 200 generates a control signal of at least one physical quantity related to the movement of the external module 110.

[0084] The control unit 200 receives data related to the external module 110 and the internal module 120 from the sensor unit 130 and 510, and based on the received data, generates a control signal for controlling the movement of the external module 110. The control unit 200 receives data related to the positions of the external module 110 and the internal module 120 from the position sensing sensors 131 and 511 and the camera 512, and based on the received position data of the external module 110 and the internal module 120, generates a control signal for controlling the movement of the external module 110.

[0085] On the other hand, the control unit 200 can receive data related to the state of the dual module 100 through the sensor unit 130 mounted on the dual module 100 and the sensor unit 510 installed in the drop space 500 in addition to the position sensing sensor 131. For example, the control unit 200 can generate a control signal such as emergency braking when the sensor units 130 and 510 determine that the machine is overheated, abnormal motion is sensed, impact occurs, and the like.

[0086] The actuator 300 moves the external module 110 according to a control signal received from the control unit 200 so that the external module 110 has at least one physical quantity. The actuator 300 may include a motor 310 , a motor driver for controlling the motor, and a rope 320 connected to the motor 310 .

[0087] On the other hand, in the description of the effective gravity control device 1000 of the present invention, the actuator 300 is limited to the motor 310 and the rope 320, but the scope of the present invention is not limited to this. Of course, pneumatic actuators, hydraulic actuators, track structures, magnetic levitation methods, etc. can be used as the actuator 300.

[0088] The physical quantity related to the movement of the external module 110 may be the speed of the external module 110 , the position of the external module 110 , the relative position of the external module 110 and the internal module 120 , or the relative speed of the external module 110 and the internal module 120 . Figure 7 , Figure 8 and Fig.10 The motion state of the dual module 100 of the present invention is explained from the perspective of controlling the relative speed between the external module 110 and the internal module 120; Fig. 9 The motion state of the dual module 100 of the present invention is described from the perspective of controlling the relative distance between the external module 110 and the internal module 120 .

[0089] In the present invention, Fig. 9 As shown, the control unit 200 starts from the bottom of the falling space 500 formed by the support body 400, raises the dual module 100 from the bottom, and generates a control signal for controlling the gravity of the dual module 100. The control unit 200 applies tension to the rope 320 connected to the upper side of the external module 110, so that the external module 110 and the internal module 120 rise vertically upward from the bottom as the starting point.

[0090] Reference Figure 7 and Figure 8 , the control unit 200 may generate control signals for accelerating the dual module 100 (corresponding to the first interval), guiding the gravity change (corresponding to the second interval), and braking (corresponding to the third interval). Specifically, the control unit 200 generates a first control signal in the first interval of accelerating the dual module 100. The control unit 200 generates a second control signal in the second interval of generating a gravity change, such as zero gravity or microgravity, in the internal module 120 of the dual module 100. In addition, the control unit 200 generates a third control signal in the third interval of braking the dual module 100.

[0091] The following describes a method for controlling the motion of the external module 110 and the internal module 120 in the first section.

[0092] The control unit 200 generates a first control signal for controlling the actuator 300 in a first section so as to apply an external force to the internal module 120 through the external module 110 .

[0093] The first control signal is a control signal for pulling the rope 320 connected to the external module 110 with the force or torque of the motor. By the first control signal, the external module 110 and the internal module 120 integrally perform a movement of rising from the bottom in the first section of the acceleration section.

[0094] like Figure 7 and Figure 8 As shown, in the first interval, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) have the same speed and can be accelerated. In the first interval, the external module 110 and the internal module 120 perform a movement of rising to a set speed (v0) through the actuator 300. In the first interval, the relative speed of the internal module 120 and the external module 110 may be less than the first critical speed, here. The first critical speed may actually correspond to 0. That is, the relative speed of the internal module 120 and the external module 110 in the first interval may be 0.

[0095] like Fig. 9 As shown, in the first interval, the external module 110 and the internal module 120 perform a movement of rising from the bottom (not shown) to the point "R". At this time, the internal module 120 is located in a position in a state of being placed on the lower side of the external module 110, and the internal module 120 performs an upward movement together with the external module 110 using the external force applied by the external module 110. In the first interval, the relative distance between the internal module 120 and the external module 110 may be less than the first critical distance, and the first critical distance may actually correspond to 0. That is, in the first interval, the relative distance between the internal module 120 and the external module 110 may be 0.

[0096] The following describes a method for controlling the motion of the external module 110 and the internal module 120 in the second section.

[0097] First, the second control signal in the second interval is a combination of various control signals for the internal module 120 mounted in the external module 110 to guide the effective gravity change.

[0098] The second interval as an effective gravity control interval may include: interval 2-1, detaching the internal module 120 from the external module 110; interval 2-2, calibrating the speed or position of the external module 110 based on the position data of the internal module 120; interval 2-3, the external module 110 follows the speed or position of the internal module 120.

[0099] First, the motion control method of the external module 110 and the internal module 120 in the 2-1 period will be described.

[0100] The control unit 200 generates the 2-1 control signal for separating the internal module 120 from the external module 110. The control unit 200 generates the signal for causing the internal module 120 to start moving independently of the external module 110 in the 2-1 section at the moment of entering the second section from the first section.

[0101] The 2-1 control signal is a motor control signal for detaching the internal module 120 from the external module 110. The 2-1 control signal may be a signal for releasing the external force applied to the internal module 120 by the external module 110 at the moment when the dual module 100 reaches the set speed or the moment when the dual module 100 reaches the set position. In other words, the 2-1 control signal may be a signal for temporarily releasing the force or torque of the motor 310 at the rope 3210 connected to the external module 110 at the moment when the dual module 100 reaches the set speed or the moment when the dual module 100 reaches the set position.

[0102] like Figure 7 and Figure 8 As shown, in the 2-1 interval, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) gradually differ. Because of the external force such as air resistance applied by the external module 110, the speed of the external module 110 decelerates faster than the speed of the internal module 120. The difference between the speed of the external module 110 and the speed of the internal module 120 gradually increases. Until the relative speed of the internal module 120 and the external module 110 reaches the set second critical speed, the movement in the 2-1 interval is maintained. Until the speed difference between the internal module 120 and the external module 110 reaches the set second critical speed, the movement in the 2-1 interval is maintained. Here, the second critical speed can correspond to the difference between the dotted line and the solid line in the boundary surface between the 2-1 interval and the 2-2 interval.

[0103] The point of entering the 2-1 interval is at Fig. 9 At this time, the internal module 120 placed under the external module 110 moves upward independently of the external module 110. At the moment of entering the second interval after the first interval, the internal module 120 starts to be separated from the external module 110.

[0104] In the 2-1 section, the internal module 120 moves vertically upward in the external module 110 due to the inertia generated by the external force transmitted from the external module 110. Fig. 9The interval in which the external module 110 rises from point "R" to point "0" corresponds to the interval. In the 2-1 interval, a gap gradually arises between the position of the external module 110 and the position of the internal module 120. Because of external forces such as air resistance applied to the external module 110, the rising speed of the external module 110 decelerates more rapidly than the rising speed of the internal module 120. The gap between the position of the external module 110 and the position of the internal module 120 gradually becomes larger. Until the relative distance between the internal module 120 and the external module 110 reaches the set second critical distance, the movement in the 2-1 interval is maintained. Here, the second critical distance can also be the distance from the bottom of the external module 110 to the bottom of the internal module 120, or it can be the distance from the top of the external module 110 to the top of the internal module 120.

[0105] In the 2-1 interval, the external module 110 performs a deceleration motion relative to the ground. At this time, the force applied to the external module 110 may be a force obtained by adding gravity and air resistance. The internal module 120 may perform an ideal parabolic motion relative to the ground. An ideal parabolic motion refers to a parabolic motion in a vacuum or a motion close thereto. At this time, the force applied to the internal module 120 is preferably gravity. The inclination of the velocity curve (shown by a dotted line) of the internal module 120 preferably has an inclination value corresponding to the acceleration of gravity. However, the presence of a small air resistance, etc., applied to the internal module 120 is not excluded within the scope of the present invention.

[0106] Next, a method for controlling the motion of the external module 110 and the internal module 120 in the 2-2 period will be described.

[0107] The control unit 200 generates the 2-2 control signal for calibrating the speed or position of the external module 110. The control unit 200 generates the signal for calibrating the position of the external module 110 based on the position data of the internal module 120 in the 2-2 section after the 2-1 section.

[0108] The 2-2 control signal is a motor control signal for the external module 110 to catch up with the movement of the internal module 120. The 2-2 control signal may be a signal for applying a larger tension of the rope 320 to the external module 110. That is, the 2-2 control signal may be a signal for temporarily applying a larger force or torque of the motor 310 to the rope 320 connected to the external module 110 at the moment when the speed difference between the internal module 120 and the external module 110 reaches the set second critical speed or the position difference between the internal module 120 and the external module 110 reaches the set second critical distance.

[0109] like Figure 7 and Figure 8As shown, in the 2-2 interval, the difference between the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) gradually narrows. In order to compensate for the external force such as air resistance applied to the external module 110, if tension is applied to the external module 110 instantaneously, the speed of the external module 110 is temporarily accelerated. At this time, the difference between the speed of the external module 110 and the speed of the internal module 120 gradually narrows. The movement in the 2-2 interval is maintained until the relative speed of the internal module 120 and the external module 110 reaches 0 or the relative speed of the internal module 120 and the external module 110 reaches the set third critical speed. Here, the third critical speed may correspond to the difference between the dotted line and the solid line of the boundary surface between the 2-2 interval and the 2-3 interval.

[0110] In the 2-2 interval, the external module 110 moves upward at a greater amplitude than the internal module 120. That is, in the 2-2 interval, the external module 110 moves to catch up with the internal module 120. Fig. 9 The interval 2-2 corresponds to the interval in which the external module 110 rises from the "0" point to the "H" point. The 2-2 interval is an interval in which the tension of the rope 320 applied to the external module 110 is maintained. In the 2-2 interval, the difference between the position of the external module 110 and the position of the internal module 120 can be gradually narrowed. By overcoming the tension of the air resistance applied to the external module 110, the rising speed of the external module 110 is accelerated faster than the rising speed of the internal module 120. The movement in the 2-2 interval is maintained until the relative distance between the internal module 120 and the external module 110 reaches the set third critical position. Here, the third critical position can be the distance from the bottom of the external module 110 to the bottom of the internal module 120, or it can be the distance from the upper part of the external module 110 to the upper part of the internal module 120.

[0111] Next, a method for controlling the motion of the external module 110 and the internal module 120 in the 2-3 period will be described.

[0112] The control unit 200 generates the 2nd-3rd control signal for the external module 110 to follow the speed or position of the internal module 120. The control unit 200 generates the feedback control signal for causing the external module 110 to follow the position of the internal module 120 based on the position data of the internal module 120 in the 2nd-3rd section after the 2nd-2 section.

[0113] The 2nd-3rd control signal is a motor control signal for causing the external module 110 to follow the movement of the internal module 120. The 2nd-3rd control signal may be a signal for controlling the tension of the rope 320 applied to the external module 110 based on the position or speed feedback of the internal module 120. In other words, the 2nd-3rd control signal may be a feedback control signal for causing the external module 110 to follow the position of the internal module 120 at the moment when the speed difference between the internal module 120 and the external module 110 reaches the set third critical speed or the moment when the position difference between the internal module 120 and the external module 110 reaches the set third critical position.

[0114] like Figure 7 and Figure 8 As shown, in the 2nd-3rd interval, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) can be substantially the same. If the tension applied is equivalent to the degree of compensating the external force applied to the external module 110, such as air resistance, the speed of the external module 110 can be similar to the speed of the internal module 120 in the state of maintaining an ideal parabolic motion state.

[0115] Here, if Figure 7 As shown in the figure, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) being substantially the same may be a state in which the relative speed between the internal module 120 and the external module 110 is substantially 0. Different from this, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) being substantially the same may also mean a state in which the speed of the external module 110 is continuously adjusted according to the speed of the internal module 120 even if there is a slight difference between the relative speeds of the internal module 120 and the external module 110. That is, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) being substantially the same includes Figure 7 The state in the 2nd-3rd interval shown is the same as that in Figure 8 The state in the 2nd-3rd interval is shown.

[0116] The second-third interval is a state in which the inner module 120 and the outer module 110 keep moving until they are actually in contact. The movement in the second-third interval can be maintained until the inner cover member 123 of the inner module 120 and the impact absorbing member 113 of the outer module 110 approach to a predetermined distance.

[0117] Section 2-3 and Fig. 9The interval in which the external module 110 rises from point "H" to point "HH" and then descends corresponds to the interval. The 2nd to 3rd interval is an interval in which the tension of the rope 320 applied by the external module 110 is released after being maintained for a predetermined interval. In the 2nd to 3rd interval, the difference between the position of the external module 110 and the position of the internal module 120 is preferably maintained within a set distance range.

[0118] In the 2nd-3rd interval, the movement of the external module 110 following the internal module 120 is equivalent to a movement based on at least a part of an ideal parabolic movement with respect to the ground. This is an ideal parabolic movement of the internal module 120 falling by gravity, while the movement of the external module 110 is realized by feedback and control by the control unit 200 and the actuator 300. Here, the ideal parabolic movement refers to a parabolic movement in a vacuum or a movement close to it.

[0119] Therefore, the control method of the control unit 200 in the second interval has the advantage of extending the hovering time (i.e., pure landing time) of the internal module. The control method of the control unit 200 in the second interval can stably maintain the ideal parabolic motion state of the internal module 120 contained in the external module 110 for as long as possible by controlling the relative position of the internal module 120 to the external module 110 in an environment where the external module 110 is decelerated due to air resistance.

[0120] The following describes a method for controlling the motion of the external module 110 and the internal module 120 in the third section.

[0121] The control unit 200 generates a third control signal in the third interval to brake the external module 110 and the internal module 120. The third control signal is a control signal for pulling the rope 320 connected to the external module 110 with the force or torque of the motor. The external module 110 and the internal module 120 accelerated by the third control signal perform a deceleration motion integrally.

[0122] like Figure 7 and Figure 8 As shown, in the third interval, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) have the same speed and can be decelerated. In the third interval, the external module 110 and the internal module 120 perform a stop motion through the actuator 300. At this time, the external module 110 and the internal module 120 are actually in a connected state, so the relative speed of the internal module 120 and the external module 110 in the third interval can be 0.

[0123] Reference Fig. 9 , the third interval may be the point where the external module 110 and the internal module 120 meet again (at Fig. 9The motion state (not shown) follows the last state shown.

[0124] on the other hand, Fig.10 A curve diagram showing the change in the relative speed of the external module 110 and the internal module 120 over time in low gravity achieved by the effective gravity control device 1000 of the present invention.

[0125] When the internal module 120 realizes the low gravity state, the external module 110 and the internal module 120 actually move in a connected state. The internal module 120 is placed under the external module 110, and the internal module 120 rises and falls together with the external module 110 by the external force applied by the external module 110.

[0126] Reference Fig.10 The control unit 200 can generate control signals for accelerating the dual module 100 (corresponding to the first interval), guiding the gravity change (corresponding to the second interval), and braking (corresponding to the third interval). Specifically, the control unit 200 generates a first control signal in the first interval of accelerating the dual module 100. The control unit 200 generates a second control signal in the second interval in which the internal module 120 in the dual module 100 exerts a low gravity effect. In addition, the control unit 200 generates a third control signal in the third interval of braking the dual module 100.

[0127] Here, the first acceleration interval and the third braking interval are actually the same as those for achieving microgravity. Figures 7 to 9 However, in the second interval of guiding gravity change, low gravity is achieved. Fig.10 The motion is characterized in that the 2-1 interval in which the external module 110 is separated from the internal module 120 and the 2-2 interval in which the speed or position of the external module 110 is calibrated based on the position data of the internal module 120 are not included. Fig.10 The movement is characterized in that the second interval for guiding the gravity change only includes intervals similar to the 2nd to 3rd interval in which the outer module 110 follows the inner module 120.

[0128] In most sections where the internal module 120 realizes low gravity, the relative speed between the internal module 120 and the external module 110 may be less than the first critical speed, and the first critical speed may actually correspond to 0. That is, in most sections where the internal module 120 realizes low gravity, the relative speed between the internal module 120 and the external module 110 may be 0. In addition, in most sections where the internal module 120 realizes low gravity, the relative distance between the internal module 120 and the external module 110 may be less than the first critical distance, and the first critical distance may actually correspond to 0. That is, in most sections where the internal module 120 realizes low gravity, the relative distance between the internal module 120 and the external module 110 may be 0.

[0129] In this case, the control unit 200 may generate a signal for controlling the speed or position of the external module 110. The second-third control signal for realizing low gravity is a motor control signal for controlling the speed or position of the external module 110 to have a set speed or position.

[0130] In realizing microgravity, the 2nd-3rd control signal is a feedback control signal for controlling the speed or position of the external module 110 based on the speed or position data of the internal module 120. Conversely, in realizing low gravity, the 2nd-3rd control signal is a motor control signal for controlling the speed or position of the external module 110 to have a set speed or position.

[0131] The embodiments of the present invention are described above with reference to the accompanying drawings. A person skilled in the art with common knowledge in the technical field to which the present invention belongs may understand that the present invention may be implemented in other specific forms without changing the technical concept or essential features of the present invention. Therefore, the embodiments described above should only be understood as being illustrative in all aspects and not restrictive.

Claims

1. An effective gravity control device, which realizes zero gravity, microgravity, low gravity or pseudo gravity state of an internal module carried by a moving external module, characterized in that: include: The external module is internally configured with a motion space of the internal module and is controlled with at least one physical quantity related to the motion; The internal module moves independently of the external module in the movement space through the external force transmitted by the external module; and A position sensing sensor is disposed at at least one inner end of the outer module to sense the position of the inner module in the motion space.

2. The effective gravity control device according to claim 1, characterized in that: The outer module comprises a support member, The support member defines the movement space inside the outer module and supports the shape of the outer module.

3. The effective gravity control device according to claim 1, characterized in that: The effective gravity control device includes a motor and a rope, The motor and the rope are connected to the external module to move the external module; The external module comprises a connecting component, The connecting member connects the rope on at least one side.

4. The effective gravity control device according to claim 1, characterized in that: The outer module includes a shock absorbing component; The shock absorbing member is disposed at at least one end portion inside the outer module and absorbs shock generated by movement of the inner module.

5. The effective gravity control device according to claim 1, characterized in that: The external module comprises an external cover member, The outer cover member is disposed at at least one end portion of the outer side of the outer module and reduces air resistance generated by movement of the outer module.

6. The effective gravity control device according to claim 2, characterized in that: The supporting member is a strip-shaped member arranged along the length direction of the external module to connect the upper part and the lower part of the external module. The lower part of the outer module forms a greater load than the upper part of the outer module.

7. The effective gravity control device according to claim 1, characterized in that: The internal module is configured with an internal space for transporting objects.

8. The effective gravity control device according to claim 1, characterized in that: The inner module includes a plurality of protruding parts extending toward an inner wall side of the outer module.

9. The effective gravity control device according to claim 8, characterized in that: The internal module includes a roller, The roller is arranged at the end of each of the protruding parts to reduce the friction generated by the contact between the external module and the internal module.

10. The effective gravity control device according to claim 1, characterized in that: The internal module includes an internal cover component, The inner cover member is disposed at at least one end of the inner module to reduce an impact between the inner module and the outer module caused by movement of the inner module.

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