Effective gravity control device including a dual module

Abstract

The present invention relates to an effective gravity control device that realizes a zero-gravity, microgravity, low-gravity, or pseudo-gravity state of an internal module based on a moving external module. An effective gravity control device according to an embodiment of the present invention is an effective gravity control device that realizes a zero-gravity, microgravity, low-gravity, or pseudo-gravity state of an internal module mounted on a moving external module, wherein a movement space for the internal module is provided inside, and at least one physical quantity related to movement is controlled. The external module, the internal module that moves independently of the external module within the movement space by an external force transmitted through the external module, a position detection sensor that detects the position of the internal module within the movement space, and based on the position of the internal module detected by the position detection sensor, a control unit that generates a control signal for controlling at least one physical quantity related to the movement of the external module, and an actuator that moves the external module so that the external module has the at least one physical quantity according to the control signal.

Description

Technical Field

[0001] The present invention relates to an Effective Gravity control device including a dual module, and more specifically, to an effective gravity control device that realizes a state of zero gravity, microgravity, low gravity or pseudo-gravity of an internal module based on a moving external module.

Background Art

[0002] Generally, zero gravity or microgravity means a state in which the earth's gravity is canceled out and the effective gravity approaches 0 (zero), which means a state of having no weight inside an artificial satellite or spacecraft orbiting the earth's orbit or a freely falling elevator.

[0003] One way to create the same state as zero gravity on the earth is to move an object in free fall. However, on the earth, while the object is falling, external forces such as air resistance are applied to the object in addition to gravity, so it is difficult for the effective gravity acting on the object to approach 0 (zero).

[0004] Conventionally, some experimental devices for understanding and experiencing gravity change phenomena have been proposed, but most of them are composed of complex and expensive devices, and there is a problem that gravity change, zero gravity or microgravity cannot be easily understood and experimented with.

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the effective gravity control device of the present invention is to present a dual-module device capable of inducing a change in effective gravity such as zero gravity, microgravity, low gravity or pseudo-gravity and a control method for controlling the same.

[0006] In addition, the effective gravity control device of the present invention aims to present a device and a control method that configure an external module and an internal module in the form of a dual module, and enable the internal module located inside the external module to stably maintain a gravity change state without the action of external forces such as air resistance.

[0007] Furthermore, the effective gravity control device of the present invention aims to present a specific control method for efficiently controlling the movement of the dual module based on data acquired from various sensor units.

Means for Solving the Problems

[0008] An effective gravity control device according to an embodiment of the present invention for solving the above problems is an effective gravity control device that realizes a zero-gravity, microgravity, low-gravity, or pseudo-gravity state of an internal module mounted on a moving external module. An external module provided with a moving space for the internal module inside and having at least one physical quantity related to movement controlled; the internal module that moves independently of the external module within the moving space by an external force transmitted through the external module; a position detection sensor that detects the position of the internal module within the moving space; a control unit that generates a control signal for controlling at least one physical quantity related to the movement of the external module based on the position of the internal module detected by the position detection sensor; and an actuator that moves the external module so that the external module has the at least one physical quantity in response to the control signal.

[0009] In addition, in the effective gravity control device according to an embodiment of the present invention, the physical quantity related to the movement of the external module may be the position or the moving speed of the external module.

[0010] Furthermore, in an effective gravity control device according to an embodiment of the present invention, in the first section, the control unit generates a first control signal for controlling the actuator so that an external force is applied to the internal module via the external module, and in a second section after the first section, after the external force applied to the internal module is released, a second control signal for controlling the actuator is generated with reference to the position of the internal module.

[0011] Also, in an effective gravity control device according to an embodiment of the present invention, in the second section, the control unit may generate the second control signal so that the relative distance between the external module and the internal module becomes less than a predetermined critical distance.

[0012] Furthermore, in an effective gravity control device according to an embodiment of the present invention, the second section may include a section in which the internal module moves in a parabola with respect to the ground and the external module moves following the internal module.

[0013] Also, in an effective gravity control device according to an embodiment of the present invention, the movement in which the external module follows the internal module may correspond to a movement at least partially based on a parabolic movement with respect to the ground, and may be a movement realized by the actuator.

[0014] Furthermore, in an effective gravity control device according to an embodiment of the present invention, in the first section, the relative distance between the internal module and the external module is less than a first critical distance, and in the second section, the relative distance between the internal module and the external module may be less than a second critical distance.

[0015] Also, in an effective gravity control device according to an embodiment of the present invention, in the first section, the internal module and the external module perform an accelerated movement with the same moving speed by the external force, and in the second section, the internal module and the external module have independent moving states, and the relative distance between the internal module and the external module may be less than a second critical distance.

Advantages of the Invention

[0016] The effective gravity control device including the dual module of the present invention and its control method can control the movement of the external module to control the relative position of the internal module even in an environment where the external module decelerates due to air resistance, so that the zero-gravity or low-gravity state of the internal module accommodated in the external module can be maintained for as long and stably as possible.

[0017] Moreover, according to the effective gravity control device of the present invention, the internal module in which an object is accommodated is doubly protected by the external module, and is provided with a dual-module structure that blocks various types of external noise transmitted through the air resistance or ropes around the module, and has the advantage that a more stable gravity change experiment can be performed.

[0018] Furthermore, according to the gravity change device of the present invention, by including various sensor means, the stability of experiments performed in invisible regions is greatly improved, and by applying a feedback control method based on data obtained from the sensors, the accuracy and precision of experiments by the device of the present invention can be greatly improved.

Brief Description of the Drawings

[0019]

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Embodiments for Carrying Out the Invention

[0020] The advantages, features, and the methods for achieving them of the present invention will become apparent by referring to the embodiments described in detail hereinafter together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and can be realized in various different forms. Merely, these embodiments are provided to make the disclosure of the present invention complete and to fully inform those skilled in the art of the scope of the invention. The present invention is only defined by the scope of the claims.

[0021] The first, second, etc. are used to describe various components, but of course, these components are not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it goes without saying that the first component mentioned hereinafter may be the second component within the scope of the technical idea of the present invention.

[0022] In the following embodiments, terms such as "comprising" or "having" mean that the features or components described in the specification exist, and do not preclude in advance the possibility of adding one or more other features or components.

[0023] In the drawings, for convenience of explanation, the size of components may be exaggerated or reduced. For example, the size and shape of each configuration shown in the drawings are arbitrarily shown for convenience of explanation, and the present invention is not necessarily limited to what is shown.

[0024] Throughout the specification, the same reference numerals refer to the same components.

[0025] Each feature of the various embodiments of the present invention can be combined or combined with each other partially or wholly, and various linkages and drives are technically possible as can be fully understood by those skilled in the art. Some embodiments may be implemented independently of each other, and some may be implemented together in relation to each other.

[0026] Hereinafter, with reference to the accompanying drawings, the effective gravity control device 1000 of the present invention and its control method will be described in detail.

[0027] FIG. 1 shows the overall configuration of the effective gravity control device 1000 of the present invention, and FIG. 2 shows a schematic block diagram of the effective gravity control device 1000 of the present invention.

[0028] Referring to FIG. 1, the effective gravity control device 1000 of the present invention is a device that realizes gravity change using a dual module 100. Specifically, the effective gravity control device 1000 of the present invention is a device that realizes a state of zero gravity, micro gravity, low gravity, or pseudo gravity of the internal module 120 mounted on the moving external module 110. Hereinafter, "gravity change" means including all of zero gravity, micro gravity, low gravity, or pseudo gravity states.

[0029] The effective gravity control device 1000 of the present invention includes a dual module 100, a control unit 200, an actuator 300, and a support 400. Further, as shown in FIG. 2, the effective gravity control device 1000 of the present invention can further include a user input / output unit and a power supply unit.

[0030] The dual module 100 is a module that realizes gravity change. The structure of the dual module 100 will be specifically described below with reference to FIGS. 3 and 4.

[0031] FIG. 3 shows the structure of the dual module 100 included in the effective gravity control device 1000 of the present invention, FIG. 4 shows another embodiment of the dual module 100' included in the effective gravity control device 1000 of the present invention, FIG. 5 shows the structure of the internal module 120 included in the dual module 100, and FIG. 6 shows the end face of the dual module 100 included in the effective gravity control device 1000 of the present invention.

[0032] Referring to FIG. 3, the dual module 100 includes an external module 110 and an internal module 120 mounted inside the external module 110.

[0033] The external module 110 is provided with a moving space for the internal module 120 inside. The external module 110 is a module whose movement is controlled by the actuator 300. At least one physical quantity related to the movement of the external module 110 is controlled by the actuator 300. 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. The specific control method by which the external module 110 is controlled by the actuator 300 will be described later with reference to FIGS. 7 to 10.

[0034] The effective gravity control device 1000 of the present invention can include, as an actuator 300, a motor 310 and a rope 320 that are connected to an external module 110 and move the external module 110. Hereinafter, the description will be based on the motor 310 and the rope 320 as the actuator 300.

[0035] The external module 110 includes a support member 111.

[0036] The support member 111 defines a moving space in which an internal module 120 inside the external module 110 moves, and supports the form of the external module 110.

[0037] The support member 111 is a rod-shaped member arranged along the longitudinal direction of the external module 110. The support member 111 is a rod-shaped member that connects the upper and lower parts of the external module 110.

[0038] Here, the load on the lower part of the external module 110 can be made larger than the load on the upper part of the external module 110. When the external module 110 falls from the falling space 500, due to the air resistance applied to the external module 110, inappropriate movements such as the upper and lower parts of the external module 110 reversing or rotating may occur. To prevent such problems, it is preferable that the load on the lower part of the external module 110 is made larger than the load on the upper part of the external module 110, and the support member 111 preferably withstands the load on the lower part of the external module 110 and is connected to the upper part.

[0039] The external module 110 includes a connecting member 112 to which the rope 320 is connected on at least one side.

[0040] An external force from the actuator 300 is applied to the external module 110 via the connecting member 112. The connecting member 112 may be provided at the central part of the upper end of the external module 110. The connecting member 112 can be formed in an annular shape so that the rope 320 is connected.

[0041] The connecting member 112 can include a bearing inside. The connecting member 112 can include a bearing member that functions so that the rotation or torsion of the rope 320 is not transmitted to the external module 110, or so that the rotation of the external module 110 is not transmitted to the rope 320. In other words, the connecting member 112 can include a member such as a bearing that prevents the improper movements of the rope 320 or the external module 110 from affecting each other.

[0042] The external module 110 can include a shock absorbing member 113.

[0043] The shock absorbing member 113 is provided at at least one end inside the external module 110 and absorbs the shock caused by the movement of the internal module 120. Specifically, the shock absorbing member 113 is configured to reduce the impact of the internal module 120 on the external module 110 when the internal module 120 moves up or down within the movement space of the external module 110.

[0044] The shock absorbing member 113 can also be utilized in a configuration that connects a plurality of support members 111 and may be ring-shaped. Exemplarily, the internal cap member 123 described later abuts against the ring-shaped shock absorbing member 113, and the impact of the internal module 120 on the external module 110 can be reduced. The shock absorbing member 113 or the internal cap member 123 is preferably formed of an elastic material.

[0045] On the other hand, in FIG. 3, the shock absorbing member 113 is shown as being provided only on the lower side of the external module 110, but it is not limited thereto, and the shock absorbing member 113 can of course be provided on the upper side of the external module 110.

[0046] The external module 110 can include an external cap member 114.

[0047] The external cap member 114 is provided at at least one end on the outside of the external module 110, and reduces the air resistance caused by the movement of the external module 110. Specifically, the external cap member 114 is formed at both ends of the external module 110, and is configured to minimize the air resistance acting on the external module 110 when the external module 110 moves up or down. The above-described connection member 112 can be formed at the end of the external cap member 114.

[0048] On the other hand, when the external module 110 falls from the falling space 500, in order to prevent inappropriate movements such as the upper and lower parts of the external module 110 reversing or rotating, an object that applies a load to the external cap member 114 provided at the lower end of the external module 110 may be accommodated. For example, the object that applies a load may be a structure such as a battery mounted on the dual module 100. The external module 110 can include a position detection sensor 131 that detects the position of the internal module 120.

[0049] The position detection sensor 131 is provided at at least one inner end of the external module 110 and is a means for detecting the position of the internal module 120 in the movement space. Here, the position detection sensor 131 may be a LiDAR sensor that measures the time taken for a laser pulse to be emitted, reflected, and returned, and measures the position coordinates of the reflector, that is, the internal module 120. In FIG. 3, the position detection sensor 131 is shown as being provided on the upper side of the external module 110, but is not limited thereto, and the position detection sensor 131 may of course be provided on the lower side of the external module 110.

[0050] Referring to FIG. 4 showing the dual module 100' according to another embodiment, the dual module 100' includes an external module 110' and an internal module 120 mounted inside the external module 110.

[0051] The external module 110’ can further include wing members 115 as compared with the aforementioned external module 110.

[0052] When the external module 110 falls from the falling space 500, the wing members 115 can prevent inappropriate movements such as the upper and lower parts of the external module 110 from reversing or rotating.

[0053] One wing member 115 may be formed on each of both sides of the external module 110, or three or more wing members 115 may be formed so that there is a predetermined angular range between the wing members 115. As shown in FIG. 4, the wing member 115 may have a bent shape, and it goes without saying that it may be formed to have various other wing forms.

[0054] The dual module 100 includes an internal module 120 mounted inside the external module 110.

[0055] The internal module 120 is a module that moves independently of the external module 110 within the moving space of the external module 110 by an external force transmitted through the external module 110.

[0056] The internal module 120 is provided with an internal space for transporting an object. Here, the object may be an object for conducting an experiment through a gravity change, and the object can include various types. For example, the internal module 120 can accommodate objects ranging from cell units to animals or humans corresponding to humans.

[0057] The internal module 120 includes a plurality of protruding members 121 extending to the inner wall side of the external module 110.

[0058] As shown in FIG. 6, the protruding member 121, together with the support member 111 of the external module 110, can limit the internal module 120 from rotating more than a critical value within the movement space of the external module 110. Even if the internal module 120 rotates within the movement space, the protruding member 121 does not exceed the position where the support member 111 is provided, thereby restricting the internal module 120 from rotating more than a predetermined angle.

[0059] The internal module 120 includes rollers 122 provided at the ends of the respective protruding members 121.

[0060] The roller 122 is configured to reduce the friction caused by the contact between the external module 110 and the internal module 120. The roller 122 is arranged to extend from the internal module 120 and abut against the inner wall of the external module 110. When the internal module 120 abuts against the external module 110 during movement, the roller 122 can minimize the action of unnecessary external forces such as the frictional force acting on the internal module 120. Preferably, the internal module 120 moves smoothly along the inner wall of the external module 110.

[0061] When describing the present invention, the roller 122 is exemplified, but it goes without saying that various means other than the roller 122 can be applied as long as the configuration can reduce the friction between the internal module 120 and the external module 110. For example, the roller 122 may be a roller bearing member that performs one-dimensional linear motion as shown in FIGS. 5 and 6, or may be a ball bearing member that performs multi-angle rotational motion.

[0062] On the one hand, the support 400 is a device that provides a falling space 500 for the dual module 100 to move. The support 400 is provided on the ground or a building and can form a falling space 500 for the dual module 100 to move. As shown in FIG. 1, the support 400 may be a facility extending upward and downward from a reference plane. FIG. 1 illustrates a state where the support 400 extends underground with respect to the ground, forms a vertical space for the dual module 100 to move, and extends above the ground to provide an installation space for the effective gravity control device 1000.

[0063] Various sensor units 510 for monitoring the movement of the dual module 100 can be arranged in the falling space 500.

[0064] The sensor unit 510 includes a position detection sensor 511 that detects the movement or position of the dual module 100, particularly the external module 110. Further, the sensor unit 510 can include a camera 512 that acquires an image for monitoring the movement or position of the external module 110. The sensor unit 510 provided in the falling space 500 can include various sensors such as an infrared sensor and a temperature sensor in addition to the position detection sensor 131 and the camera 512.

[0065] Hereinafter, with reference to FIGS. 7 to 10, a control method for the effective gravity control device 1000 of the present invention to realize gravity change will be specifically described. The description will be made with reference to FIGS. 1 to 6 described above in combination.

[0066] FIGS. 7 and 8 show relative velocity graphs of the external module 110 and the internal module 120 over time when the effective gravity control device 1000 of the present invention realizes zero gravity or microgravity. FIG. 9 is a diagram schematically showing the movement states of the external module 110 and the internal module 120 observed from the outside when the effective gravity control device 1000 of the present invention realizes zero gravity or microgravity.

[0067] The control unit 200 generates a control signal for the actuator 300 that controls the movement of the external module 110. The control unit 200 generates a control signal for controlling at least one physical quantity related to the movement of the external module 110.

[0068] The control unit 200 can receive data regarding the external module 110 and the internal module 120 from the aforementioned sensor units 130 and 510, and generate a control signal for controlling the movement of the external module 110 based on the received data. The control unit 200 can receive data regarding the positions of the external module 110 and the internal module 120 from the position detection sensors 131 and 511 and the camera 512, and generate a control signal for controlling the movement of the external module 110 based on the received position data of the external module 110 and the internal module 120.

[0069] On the other hand, in addition to the position detection sensor 131, the control unit 200 can receive data regarding the state of the dual module 100 via the sensor unit 130 mounted on the dual module 100 and the sensor unit 510 provided in the falling space 500. For example, when the control unit 200 determines via the sensor units 130 and 510 that events such as overheating of the device, detection of abnormal operation, and detection of impact generation have occurred, it can also generate a control signal such as emergency braking.

[0070] The actuator 300 moves the external module 110 so that the external module 110 has at least one physical quantity in response to the control signal received from the control unit 200. The actuator 300 can include a motor 310, a motor drive for controlling the motor, and a rope 320 connected to the motor 310.

[0071] On the other hand, when explaining the effective gravity control device 1000 of the present invention, the actuator 300 is described using the motor 310 and the rope 320, but the scope of the present invention is not limited thereto, and it goes without saying that a pneumatic actuator, a hydraulic actuator, a rail structure, a magnetic levitation method, etc. can be applied as the actuator 300.

[0072] The physical quantities related to the movement of the external module 110 may be the velocity of the external module 110, the position of the external module 110, the relative position between the external module 110 and the internal module 120, or the relative velocity between the external module 110 and the internal module 120. FIGS. 7, 8, and 10 illustrate the movement state of the dual module 100 of the present invention from the viewpoint of controlling the relative velocity between the external module 110 and the internal module 120, and FIG. 9 illustrates the movement state of the dual module 100 of the present invention from the viewpoint of controlling the relative distance between the external module 110 and the internal module 120.

[0073] In the present invention, as shown in FIG. 9, the control unit 200 generates a control signal that starts from the bottom of the falling space 500 formed by the support 400, rises from the bottom, and controls 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, which is the starting point.

[0074] Referring to FIGS. 7 and 8, the control unit 200 can generate a control signal that accelerates the dual module 100 (corresponding to the first section), induces a change in gravity (corresponding to the second section), and brakes (corresponding to the third section). Specifically, the control unit 200 generates a first control signal in the first section that accelerates the dual module 100. The control unit 200 generates a second control signal in the second section in which a change in gravity, for example, zero-gravity or microgravity, acts on the internal module 120 among the dual module 100. Further, the control unit 200 generates a third control signal in the third section in which the dual module 100 is braked.

[0075] Hereinafter, a method for controlling the movement of the external module 110 and the internal module 120 in the first section will be described.

[0076] The control unit 200 generates a first control signal for controlling the actuator 300 so that an external force is applied to the internal module 120 via the external module 110 in the first section.

[0077] The first control signal is a control signal that pulls the loop 320 connected to the external module 110 with the force or torque of the motor. In the first section, which is the acceleration section, the external module 110 and the internal module 120 move upward integrally from the bottom by such a first control signal.

[0078] In the first section, as shown in FIGS. 7 and 8, the speed of the external module 110 (indicated by the solid line) and the speed of the internal module 120 (indicated by the dotted line) have the same speed and can be accelerated. In the first section, the external module 110 and the internal module 120 are moved upward by the actuator 300 to a preset speed v0. In the first section, the relative speed between the internal module 120 and the external module 110 may be less than the first critical speed, where the first critical speed can correspond substantially to 0 (zero). In other words, the relative speed between the internal module 120 and the external module 110 in the first section may be 0 (zero).

[0079] In the first section, as shown in FIG. 9, the external module 110 and the internal module 120 move upward from the bottom (not shown) to the point R. At this time, the internal module 120 is positioned in a state of being placed under the external module 110, and the internal module 120 moves upward together with the external module 110 by the external force applied through the external module 110. In the first section, the relative distance between the internal module 120 and the external module 110 may be less than the first critical distance, where the first critical distance may correspond substantially to 0. In other words, the relative distance between the internal module 120 and the external module 110 in the first section may be 0.

[0080] Hereinafter, a method for controlling the movement of the external module 110 and the internal module 120 in the second section will be described.

[0081] First, the second control signal in the second section is a combination of various control signals that induce an effective gravity change in the internal module 120 mounted within the external module 110.

[0082] The second section, which is the effective gravity control section, can include a second - 1 section where the internal module 120 detaches from the external module 110, a second - 2 section where the speed or position of the external module 110 is corrected based on the position data of the internal module 120, and a second - 3 section where the external module 110 follows the speed or position of the internal module 120.

[0083] First, a method for controlling the movement of the external module 110 and the internal module 120 in the second - 1 section will be described.

[0084] The control unit 200 generates a second - 1 control signal for detaching the internal module 120 from the external module 110. The control unit 200 generates a signal such that the internal module 120 starts independent movement from the external module 110 in the second - 1 section, which is the moment of entering from the first section to the second section.

[0085] The second - 1 control signal is a motor control signal for detaching the internal module 120 from the external module 110. The second - 1 control signal may be a signal for releasing (Release) the external force applied to the internal module 120 via the external module 110 at the moment when the dual - module 100 reaches a preset speed or at the moment when the dual - module 100 reaches a preset position. In other words, the second - 1 control signal may be a signal for temporarily releasing the force or torque of the motor 310 to the loop 320 connected to the external module 110 at the moment when the dual - module 100 reaches a preset speed or at the moment when the dual - module 100 reaches a preset position.

[0086] In the 2-1 interval, as shown in FIGS. 7 and 8, the speed of the external module 110 (shown by the solid line) and the speed of the internal module 120 (shown by the dotted line) gradually differ. Due to external forces such as air resistance applied to 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 becomes larger and larger. The movement in the 2-1 interval is maintained until the relative speed between the internal module 120 and the external module 110 reaches a preset 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 preset second critical speed. Here, the second critical speed may correspond to the difference value between the dotted line and the solid line at the boundary surface between the 2-1 interval and the 2-2 interval.

[0087] The point where it enters the 2-1 interval is shown as point R in 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 separation of the internal module 120 from the external module 110 starts.

[0088] In the second - 1 interval, the internal module 120 moves vertically upward within the external module 110 due to the inertia caused by the external force transmitted from the external module 110. The second - 1 interval corresponds to the interval in FIG. 9 where the external module 110 rises from point R to point 0. In the second - 1 interval, the positions of the external module 110 and the internal module 120 gradually differ. Due to external forces such as air resistance applied to the external module 110, the rising speed of the external module 110 decelerates faster compared to the rising speed of the internal module 120. The difference between the position of the external module 110 and the position of the internal module 120 becomes larger and larger. The movement in the second - 1 interval is maintained until the relative distance between the internal module 120 and the external module 110 reaches a preset second critical distance. Here, the second critical distance may be the distance from the bottom of the external module 110 to the bottom of the internal module 120, or may be the distance from the top of the external module 110 to the top of the internal module 120.

[0089] In the second - 1 interval, with the ground as a reference, the external module 110 moves with deceleration. At this time, the force applied to the external module 110 may be the combined force of gravity and air resistance. The internal module 120 can move in an ideal parabolic motion with the ground as a reference. The ideal parabolic motion may be a parabolic motion in a vacuum or a motion close to this. At this time, the force applied to the internal module 120 is preferably gravity. The slope of the velocity graph (indicated by a dotted line) of the internal module 120 preferably has an inclination value corresponding to the gravitational acceleration. However, the case where there is fine air resistance or the like applied to the internal module 120 is not excluded from the scope of the present invention.

[0090] Next, a method for controlling the movement of the external module 110 and the internal module 120 in the second - 2 interval will be described.

[0091] The control unit 200 generates a second - 2 control signal for correcting the speed or position of the external module 110. The control unit 200 generates a signal for correcting the position of the external module 110 based on the position data of the internal module 120 in the second - 2 section which is after the second - 1 section.

[0092] The second - 2 control signal is a motor control signal for enabling the external module 110 to catch up with the movement of the internal module 120. The second - 2 control signal may be a signal for greatly applying the tension of the rope 320 to the external module 110. In other words, the second - 2 control signal is a signal for temporarily and greatly applying the force or torque of the motor 310 to the loop 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 a preset second critical speed, or at the moment when the position difference between the internal module 120 and the external module 110 reaches a preset second critical distance.

[0093] In the second - 2 section, as shown in FIGS. 7 and 8, the speed of the external module 110 (shown by the solid line) and the speed of the internal module 120 (shown by the dotted line) gradually become less different. In order to compensate for external forces such as air resistance applied to the external module 110, when tension is instantaneously applied to the external module 110, the speed of the external module 110 undergoes temporary acceleration. At this time, the speed difference between the external module 110 and the speed of the internal module 120 gradually becomes smaller. The movement in the second - 2 section is maintained until the relative speed between the internal module 120 and the external module 110 reaches 0 (zero), or until the relative speed between the internal module 120 and the external module 110 reaches a preset third critical speed. Here, the third critical speed may correspond to the difference value between the dotted line and the solid line at the boundary surface between the second - 2 section and the second - 3 section.

[0094] In the second to second interval, the external module 110 moves with an upward movement that has a greater width than the upward width of the internal module 120. In other words, in the second to second interval, the external module 110 moves to catch up with the internal module 120. The second to second interval corresponds to the interval in FIG. 9 where the external module 110 rises from point 0 to point H. The second to second interval is an interval in which the tension of the rope 320 applied to the external module 110 is maintained. In the second to second interval, the positional difference between the position of the external module 110 and the internal module 120 can gradually decrease. Due to the tension that overcomes the air resistance applied to the external module 110, the upward speed of the external module 110 accelerates faster than the upward speed of the internal module 120. The movement in the second to second interval is maintained until the relative distance between the internal module 120 and the external module 110 reaches a preset third critical position. Here, the third critical position may be the distance from the bottom of the external module 110 to the bottom of the internal module 120, or may be the distance from the top of the external module 110 to the top of the internal module 120.

[0095] Next, a method for controlling the movement of the external module 110 and the internal module 120 in the second to third interval will be described.

[0096] The control unit 200 generates a second to third control signal for the external module 110 to follow the speed or position of the internal module 120. The control unit 200 generates a feedback control signal based on the position data of the internal module 120 so that the external module 110 follows the position of the internal module 110 in the second to third interval, which is after the second to second interval.

[0097] The second-third control signal is a motor control signal for causing the external module 110 to follow the movement of the internal module 120. The second-third control signal may be a signal for feedback control of the tension of loop 320 applied to the external module 110 based on the position or speed of the internal module 120. In other words, the second-third control signal is a feedback control signal that causes 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 a preset third critical speed, or at the moment when the position difference between the internal module 120 and the external module 110 reaches a preset third critical position.

[0098] In the second-third section, as shown in FIGS. 7 and 8, the speed of the external module 110 (shown by the solid line) and the speed of the internal module 120 (shown by the dotted line) may be substantially the same. When a tension is applied to compensate for an external force such as air resistance applied to the external module 110, the speed of the external module 110 can have the same speed as the state of the internal module 120 that maintains an ideal parabolic movement state.

[0099] Here, that the speed of the external module 110 (shown by the solid line) and the speed of the internal module 120 (shown by the dotted line) are substantially the same may mean a state where the relative speed between the internal module 120 and the external module 110 becomes substantially 0 (zero), as shown in FIG. 7. In contrast, that the speed of the external module 110 (shown by the solid line) and the speed of the internal module 120 (shown by the dotted line) are substantially the same can mean a state where the speed of the external module 110 is continuously adjusted to the speed of the internal module 120 even if there is a minute difference in the relative speed between the internal module 120 and the external module 110. In other words, that the speed of the external module 110 (shown by the solid line) and the speed of the internal module 120 (shown by the dotted line) are substantially the same includes the state in the second-third section shown in FIG. 7 and the state in the second-third section shown in FIG. 8.

[0100] In the second to third section, the movement is maintained until the internal module 120 and the external module 110 are substantially in contact. The movement in the second to third section is maintained until the internal cap member 123 of the internal module 120 approaches the shock absorbing member 113 of the external module 110 by a preset distance.

[0101] In FIG. 9, the second to third section corresponds to the section where the external module 110 descends after rising from point H to point HH. The second to third section is the section where the tension of the loop 320 applied to the external module 110 is maintained for a certain period and then released. It is preferable that the positional difference between the position of the external module 110 and the internal module 120 in the second to third section is maintained within a preset distance range.

[0102] In the second to third section, the movement of the external module 110 following the internal module 120 corresponds to a movement that is at least partially based on an ideal parabolic movement with respect to the ground. This is because the internal module 1120 undergoes an ideal parabolic movement of falling due to gravity, while the movement of the external module 110 is realized by being feedback controlled by the control unit 200 and the actuator 300. Here, the ideal parabolic movement may be a parabolic movement in a vacuum or a movement close thereto.

[0103] Therefore, there is an advantage that the airtime (i.e., the pure falling time) of the internal module can be increased by the control method in the second section of the control unit 200. By the control method in the second section of the control unit 200, even in an environment where the external module 110 decelerates due to air resistance, the ideal parabolic movement state of the internal module 120 housed in the external module 110 can be maintained as long and stably as possible through relative position control between the internal module 120 and the external module 110.

[0104] Hereinafter, a method for controlling the movement of the external module 110 and the internal module 120 in the third section will be described.

[0105] The control unit 200 generates a third control signal for braking the external module 110 and the internal module 120 in the third section. The third control signal is a control signal that pulls the loop 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 such a third control signal move integrally to reduce the speed.

[0106] In the third section, as shown in FIGS. 7 and 8, the speed of the external module 110 (shown by the solid line) and the speed of the internal module 120 (shown by the dotted line) have the same speed and can decelerate. In the third section, the external module 110 and the internal module 120 move to stop by the actuator 300. At this time, since the external module 110 and the internal module 120 are substantially in contact with each other, the relative speed between the internal module 120 and the external module 110 may be 0 in the third section.

[0107] Referring to FIG. 9, the third section may be a moving state (not shown) after the point where the external module 110 and the internal module 120 meet again (the last state shown in FIG. 9).

[0108] On the other hand, FIG. 10 shows a time-dependent relative speed graph of the external module 110 and the internal module 120 when the effective gravity control device 1000 of the present invention realizes hypogravity or low gravity.

[0109] When realizing a low gravity state in the internal module 120, the external module 110 and the internal module 120 will move in a substantially adhered state. The internal module 120 is positioned in a state of being placed under the external module 110, and the internal module 120 moves up and down together with the external module 110 by an external force applied through the external module 110.

[0110] Referring to FIG. 10, the control unit 200 can generate a control signal that accelerates the dual module 100 (corresponding to the first section), induces a change in gravity (corresponding to the second section), and brakes (corresponding to the third section). Specifically, the control unit 200 generates a first control signal in the first section that accelerates the dual module 100. The control unit 200 generates a second control signal in the second section where low gravity acts on the internal module 120 among the dual modules 100. Also, the control unit 200 generates a third control signal in the third section where the dual module 100 is braked.

[0111] Here, the first section for acceleration and the third section for braking are substantially the same as those described in FIGS. 7 to 9 for realizing microgravity. However, the movement according to FIG. 10 for realizing low gravity in the second section for inducing a change in gravity does not include the second - 1 section where the internal module 120 is detached from the external module 110 and the second - 2 section for correcting the speed or position of the external module 110 based on the position data of the internal module 120. The movement according to FIG. 10 for realizing low gravity is characterized by including only a section similar to the second - 3 section where the external module 110 follows the internal module 120 in the second section for inducing a change in gravity.

[0112] In most sections where low gravity is realized in the internal module 120, the relative speed between the internal module 120 and the external module 110 may be less than the first critical speed, where the first critical speed can substantially correspond to 0. In other words, in most sections where low gravity is realized in the internal module 120, the relative speed between the internal module 120 and the external module 110 may be 0. Also, in most sections where low gravity is realized in the internal module 120, the relative distance between the internal module 120 and the external module 110 may be less than the first critical distance, where the first critical position can be substantially corresponded to 0. In other words, in most sections where low gravity is realized in the internal module 120, the relative distance between the internal module 120 and the external module 110 may be 0.

[0113] In this case, the control unit 200 can generate a signal for controlling the speed or position of the external module 110. The second and third control signals for realizing low gravity are motor control signals for controlling such that the speed or position of the external module 110 has a preset speed or position.

[0114] The second to third control signals for realizing microgravity are feedback control signals for controlling the speed or position of the external module 110 based on the speed or position data of the internal module 120, while the second to third control signals for realizing low gravity are motor control signals for controlling such that the speed or position of the external module 110 has a preset speed or position, which is different.

[0115] As described above, the embodiments of the present invention have been described with reference to the accompanying drawings. Those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical idea or essential features of the present invention. Therefore, the embodiments described above should be understood to be exemplary in all respects and not restrictive.

Claims

1. In an effective gravity control device for realizing a zero-gravity, microgravity, low-gravity or pseudo-gravity state of an internal module mounted on a moving external module, an external module provided therein with a moving space for the internal module and controlling at least one physical quantity related to movement; the internal module moving independently of the external module within the moving space by an external force transmitted through the external module; a position detection sensor for detecting the position of the internal module within the moving space; a control unit for generating a control signal for controlling at least one physical quantity related to the movement of the external module based on the position of the internal module detected by the position detection sensor; and an actuator for moving the external module so that the external module has the at least one physical quantity in response to the control signal An effective gravity control device comprising.

2. The effective gravity control device according to claim 1, wherein the physical quantity related to the movement of the external module is the position or the moving speed of the external module.

3. The control unit, in a first section, generates a first control signal for controlling the actuator so that an external force is applied to the internal module through the external module, in a second section after the first section, after the external force applied to the internal module is released, generates a second control signal for controlling the actuator with reference to the position of the internal module. The effective gravity control device according to claim 1.

4. The control unit, in the second section, generates the second control signal so that the relative distance between the external module and the internal module becomes less than a predetermined critical distance. The effective gravity control device according to claim 3.

5. The second section is, The effective gravity control device according to claim 4, wherein the internal module moves in a parabola with reference to the ground, and the external module moves in a manner to follow the internal module.

6. The movement of the external module following the internal module is, The effective gravity control device according to claim 5, which corresponds to a movement based at least in part on a parabolic movement with reference to the ground and is a movement realized by the actuator.

7. In the first section, the relative distance between the internal module and the external module is less than a first critical distance. The effective gravity control device according to claim 3, wherein in the second section, the relative distance between the internal module and the external module is less than a second critical distance. **Claim 8** In the first section, the internal module and the external module perform accelerated movement with the same moving speed under the external force. The effective gravity control device according to claim 3, wherein in the second section, the internal module and the external module have independent moving states, and the relative distance between the internal module and the external module is less than a second critical distance.

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