Structure, control method, and control program

Abstract

To adapt to an environment of an irregular ground, and to realize comparatively high stability of a shape even to partial damage.SOLUTION: The structure includes an outer skin member having a hollow cylindrical shape and including a plurality of cells including a circumferential cell group divided in a circumferential direction of the cylindrical shape and an axial cell group divided in an axial direction of the cylindrical shape, and a plurality of inner bag members each of which is included in each of the plurality of cells and inflated inside each cell by injecting a fluid.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a structure, a control method, and a control program. [Background technology]

[0002] Patent Document 1 describes a "double air membrane structure configured to maintain air pressure acting between flexible membranes to maintain shape."

[0003] Patent Document 2 describes a simple building constructed by alternately or intermixing elongated bag bodies with bag bodies obtained by dividing the elongated bag bodies into appropriately short pieces to form a single sheet, providing fastening holes at each longitudinal end of the sheet-like elongated bag bodies to form the main body, fastening the fastening hole parts to the ground surface with piles or other means, and injecting air into the bag bodies.

[0004] Patent document 3 describes a simple sheet house in which "the ends of two sheets are mixed in an appropriate number of elongated bag bodies 1 and small bags 2 divided from the elongated bag body 1, and the bags are connected to each other by vertical bag bodies at the center of the sheet, and the center of the sheet is not a bag body but serves as a ceiling part 4. Support pipes with casters 5 can be inserted into the support pipe insertion bag bodies 3 of the sheet at both ends, and the house can be moved by connecting the pipes and pressurizing air into the bag bodies."

[0005] Patent Document 4 describes a "camping tent with an excellent soundproof structure, in which a large number of cylindrical air pipes are arranged in rows between the membranes of a multi-layer film."

[0006] Patent document 5 describes an air tent that "has a polygonal floor shape, with walls rising from every other side...the ceiling is connected to the top of the walls and is formed to have the same shape as the floor."

[0007] Patent Document 6 describes an air-injection structure in which "a cylindrical connecting body 50 having a plurality of holes 51 drilled therein is appropriately arranged between the outer layer membrane 30 and the inner layer membrane 40, and a membrane body 20 in which the outer layer membrane 30 and the inner layer membrane 40 are integrated in a non-contact state is formed by connecting a plurality of outer layer membranes 30 and inner layer membranes 40 in a non-contact state to form an outer shell 10, ... air is injected into the sealed space formed inside the membrane body 20 to form a space inside the main body 1 that a person can enter." [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 5034044 [Patent Document 2] Jitsuhei No. 4-20935 [Patent Document 3] Japanese Patent Publication No. 6-264650 [Patent Document 4] Patent Publication No. 2005-146565 [Patent Document 5] Utility model registration No. 3218402 [Patent Document 6] JP 2003-161054 A Summary of the Invention [Problem to be solved by the invention]

[0009] Patent Documents 1 to 4 only have walls and a ceiling, but no floor, and therefore cannot be adapted to environments with uneven ground, such as uneven ground. On the other hand, Patent Documents 5 and 6 have a floor. However, Patent Document 5 has a structure in which one unit is formed for each side of a polygon, so if one unit is damaged, the damaged area will sink, making it impossible to maintain a stable shape. Similarly, Patent Document 6 has a structure divided only in the longitudinal cross section of a sphere, so if a portion in the longitudinal cross section is damaged, the damaged area will sink, making it impossible to maintain a stable shape.

[0010] The present disclosure has been made in consideration of the above circumstances, and aims to provide a structure, a method for controlling a structure, and a program for controlling a structure that can be adapted to uneven terrain environments and achieve relatively high shape stability even in the event of partial damage. [Means for solving the problem]

[0011] The structure according to the first aspect of the present disclosure comprises an outer skin member having a hollow cylindrical shape and including a plurality of cells including a circumferential cell group divided in the circumferential direction of the cylindrical shape and an axial cell group divided in the axial direction of the cylindrical shape; and a plurality of inner bag members disposed within each of the plurality of cells, each of which expands within each cell when a fluid is injected therein.

[0012] A structure according to a second aspect of the present disclosure is the structure according to the first aspect, wherein the maximum inflatable volume of each of the inner pouch members is greater than the volume of each cell.

[0013] A structure according to a third aspect of the present disclosure is the structure according to the first or second aspect, further comprising a plurality of elastic members that are present in each of the plurality of cells and each of which expands and contracts in the axial direction.

[0014] A control method according to a fourth aspect of the present disclosure is a control method for controlling a structure according to any one of the first to third aspects, in which a controller controls the amount of fluid injected into the multiple inner bag members.

[0015] A control method according to a fifth aspect of the present disclosure is the control method according to the fourth aspect, wherein controlling the amount of fluid includes multiple control units performing distributed control of the amount of fluid injected into each of the multiple inner bag members.

[0016] A control method according to a sixth aspect of the present disclosure is the control method according to the fifth aspect, wherein the distributed control of the amount of fluid includes each of the plurality of control units centrally controlling the amount of fluid to be injected into each of the inner bag members present in the axial cell group among the plurality of inner bag members.

[0017] A control method according to a seventh aspect of the present disclosure is a control method according to any one of the fourth to sixth aspects, in which controlling the amount of fluid includes moving the structure by individually controlling the amount of fluid injected into each of the multiple inner bag members.

[0018] A control method according to an eighth aspect of the present disclosure is the control method according to the seventh aspect, wherein individually controlling the amount of fluid includes rotating the structure in the circumferential direction by controlling the amount of fluid injected into each of the plurality of inner bag members according to a predetermined pattern.

[0019] A control method according to a ninth aspect of the present disclosure is the control method according to the seventh or eighth aspect, wherein individually controlling the amount of fluid includes rotating the structure around an axis parallel to the radial direction of the cylindrical shape by controlling the amount of fluid injected into each of the plurality of inner bag members according to a predetermined pattern.

[0020] A control program according to a tenth aspect of the present disclosure is a control program for controlling a structure according to any one of the first to third aspects, and causes a computer to control the amount of fluid injected into the multiple inner bag members.

[0021] The structure, control method, and control program disclosed herein can be adapted to uneven terrain environments and can achieve relatively high shape stability even in the event of partial damage. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a diagram showing an example of a schematic configuration of a structure 10 according to an embodiment of the present invention. [Figure 2] 1 is a diagram showing an example of a schematic configuration of the internal structure of a structure 10 according to the present embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of a hardware configuration of a controller 100 according to the present embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a system block of a controller 100 according to the present embodiment. [Figure 5] FIG. 2 is a diagram illustrating an example of a control block of a control unit 110 according to the present embodiment. [Figure 6] FIG. 1 is a diagram showing an example of a half-scale model of a structure 10. [Figure 7] 1A to 1C are diagrams showing an example of a deployment sequence of the structure 10. DETAILED DESCRIPTION OF THE INVENTION

[0023] An example of an embodiment of the present disclosure will be described below with reference to the drawings. In each drawing, the same or equivalent components and parts are designated by the same reference numerals. Furthermore, the dimensional proportions in the drawings are exaggerated for the sake of explanation and may differ from the actual proportions.

[0024] 1 is a diagram showing an example of a schematic configuration of a structure 10 according to this embodiment. The structure 10 forms an interior space. Such an interior space may be used as a living space, for example.

[0025] In recent years, with the increasing activity of space development, the scope of human activity is expanding from low Earth orbit to deep space such as the Moon and Mars, and manned space exploration plans are also underway. To realize such manned and commercial activities in outer space beyond low Earth orbit, life in a space environment different from that on Earth will be necessary, and the construction of a space habitat will be essential. Hereinafter, a case where the structure 10 of the present disclosure is used to construct such a space habitat will be described as an example.

[0026] However, the present disclosure is not limited to this. The structure 10 of the present disclosure may be used to construct a living space outdoors or during a disaster, or may be used to construct a housing space for housing animals, objects, etc. other than humans. In addition, the structure 10 of the present disclosure may also be applied to play equipment, etc.

[0027] Space habitats must be launched by rocket. Therefore, when storing them in a fairing, there are significant restrictions on size and mass. Therefore, the use of inflatable structures has been proposed. An inflatable structure is a structure that is supported by inflating it with a fluid such as air. Such inflatable structures have significant advantages in terms of transportation and storage. Below, we will explain an example in which the structure 10 of the present disclosure is such an inflatable structure.

[0028] However, the present disclosure is not limited thereto. The structure 10 of the present disclosure does not necessarily need to be supported by the injection of a fluid alone, but may include any member (such as a rigid member) that can autonomously support the structure.

[0029] Inflatable structures have a risk of being damaged when deployed. Furthermore, when used in outer space, there is a risk of holes being created due to meteorite impacts or other factors. Furthermore, when used in outer space, it is anticipated that the ground may be uneven due to craters or other factors. Therefore, the structure 10 of the present disclosure can be adapted to uneven terrain and achieves relatively high shape stability even when partially damaged.

[0030] To achieve this function, the structure 10 of the present disclosure has a hollow cylindrical shape. Therefore, no matter which surface in the circumferential direction of the cylinder is in contact with the ground, a floor portion exists, and the internal space is not directly exposed to the ground. This allows the structure 10 to mitigate the impact of unevenness on the ground on the internal space.

[0031] The structure 10 has a double structure including an outer skin member S and an inner pouch member B disposed within the outer skin member S. The outer skin member S and the inner pouch member B may be made of, for example, a flexible material. In FIG. 1, only the outer skin member S is visible, as the external appearance of the structure 10 is shown.

[0032] The outer skin member S is divided in the circumferential direction of the cylindrical shape to form a circumferential cell group. In this figure, a case where the outer skin member S is divided into 16 equal-spaced parts in the circumferential direction is shown as an example. However, this is not limited to this. The number of divisions in the circumferential direction may be smaller than 16 or may be larger than 16. Furthermore, the division intervals do not necessarily have to be equal.

[0033] The outer cover member S is divided in the axial direction of the cylindrical shape to form an axial cell group. In this figure, the case where the outer cover member S is divided into three equal-spaced parts in the axial direction is shown as an example. However, this is not limited to this. The number of parts divided in the axial direction may be less than three or may be greater than three. Furthermore, the division intervals do not necessarily have to be equal.

[0034] Hereafter, cell C will be defined by its circumferential position and axial position. That is, for example, cell C configured at circumferential position 1 and axial position x will be defined as cell C1x. Similarly, cell C configured at circumferential position 8 and axial position z will be defined as cell C8z. The same applies to other cells C.

[0035] When defined in this way, at axial position x, cells C1x to C16x form a circumferential cell group. In this case, when there is no need to particularly distinguish between circumferential positions, cells C1x to C16x will be collectively referred to as cell Cx. The same applies to other axial positions. Furthermore, at circumferential position 1, cells C1x, C1y, and C1z form an axial cell group. In this case, when there is no need to particularly distinguish between axial positions, cells C1x, C1y, and C1z will be collectively referred to as cell C1. The same applies to other circumferential positions. In this way, the outer skin member S has a hollow cylindrical shape, and is formed with a plurality of cells C (16 x 3 = 48 cells C in this figure) including a circumferential cell group divided in the circumferential direction of the cylindrical shape and an axial cell group divided in the axial direction of the cylindrical shape. An inner bag member B is present within each of these plurality of cells C.

[0036] 2 is a diagram showing an example of a schematic configuration of the internal structure of the structure 10 according to this embodiment. In this diagram, the internal structure of only one cell C is shown, but the other cells C may have a similar structure.

[0037] An inner bag member B is contained within the cell C. The inner bag member B expands when a fluid is injected and contracts when the fluid is discharged. From here on, an example will be described in which the fluid is air. However, this is not limited to this. The fluid may be a gas other than air, or a liquid such as water. Furthermore, the fluid is not necessarily limited to gas or liquid, and may include solids that behave like a fluid, such as sand.

[0038] The inner pouch member B expands like a balloon inside the cell C when fluid is injected into it. In this figure, a case where the inner pouch member B expands into a cylindrical shape is shown as an example. In this case, the inner pouch member B may be designed so that its maximum expandable volume is larger than the volume of the cell C. In other words, the inner pouch member B expands when fluid is injected into it, but ultimately the shape of the cell C is largely determined by the outer skin member S. This creates tension in the cell C. In this way, the structure 10 includes multiple inner pouch members B that are contained within multiple cells C, and each expands inside the respective cell C when fluid is injected into it.

[0039] Furthermore, the cell C may further include an elastic member E. The elastic member E may be arranged in the cell C so as to expand and contract in the axial direction of the cylindrical shape. Such an elastic member E may function as an assist member that contracts the cell C in the axial direction when the fluid is discharged from the inner bag member B and the structure 10 is stored. In this way, the structure 10 may further include a plurality of elastic members E that are respectively included in the plurality of cells C and each expand and contract in the axial direction.

[0040] As described above, the multiple cells C include a group of circumferential cells divided in the circumferential direction of the cylindrical shape and a group of axial cells divided in the axial direction of the cylindrical shape. The expansion of the inner bag member B inside the cells C generates tension in each cell C. Even if some of the cells C are damaged and fluid leaks out of the inner bag member B, the circumferentially adjacent cells C and the axially adjacent cells C can apply tension to compensate for the damaged cells C. In other words, the multiple cells C push against each other in the circumferential and axial directions to maintain the cylindrical shape as a whole, so that the structure 10 can maintain a stable shape even if some of the cells C are damaged.

[0041] In this way, the structure 10 has what is called passive shape stability, which means that the structure 10 can autonomously maintain its shape without requiring any special control. In addition, the structure 10 can also be actively controlled to maintain its shape. That is, the shape of the structure 10 can be maintained more stably by increasing the amount of fluid injected into the inner pouch members B contained in the cells C circumferentially adjacent to the damaged cell C and the cells C axially adjacent to the damaged cell C. This will be described in detail.

[0042] 3 is a diagram showing an example of the hardware configuration of the controller 100 according to this embodiment. The controller 100 controls the amount of fluid injected into the multiple inner bag members B. The controller 100 may be a computer. More specifically, the controller 100 may include a processor 101, a read-only memory (ROM) 102, a random access memory (RAM) 103, a storage 104, a communication interface 105, and a user interface 106. These components are connected to each other via a bus 109 so as to be able to communicate with each other.

[0043] The processor 101 executes various programs and controls each component. Here, the processor 101 is assumed to be a CPU (Central Processing Unit). The ROM 102 stores various programs and various data. The RAM 103 temporarily stores programs or data as a working area. The storage 104 is configured with an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including an operating system and various data.

[0044] In the controller 100 according to this embodiment, a control program is stored in the ROM 102 or the storage 104. The processor 101 reads the control program from the ROM 102 or the storage 104 and executes it using the RAM 103 as a work area, thereby controlling each component and performing various arithmetic processing in accordance with the control program. This may provide a control method in which the controller 100 controls the amount of fluid to be injected into multiple inner bag members B. Also, a control program may be provided that causes a computer to control the amount of fluid to be injected into multiple inner bag members B.

[0045] The communication interface 105 is an interface that allows the controller 100 to communicate with other devices. The user interface 106 is an input / output interface that allows the controller 100 to exchange information with a user. The user interface 106 may include input devices such as a mouse, keyboard, touch panel, and microphone, and output devices such as a monitor and speaker.

[0046] 4 is a diagram showing an example of a system block of the controller 100 according to this embodiment. The controller 100 includes a plurality of control units 110, an interface server PC 120, and a GUI PC 130. If one control unit 110 is to centrally control all the cells C, it is necessary to gather the wiring from the sensors that measure the internal pressure and the wiring to the valves that supply and exhaust air for all the cells C in one place. This makes routing the wiring difficult and may also lead to an increase in weight.

[0047] On the other hand, if one control unit 110 is provided for each cell C and one control unit 110 is used to control one cell C in a distributed manner, the number of control units 110 will be large (48 in the above-mentioned cell configuration). Therefore, for example, if an attempt is made to connect the control units 110 wirelessly via a wireless LAN or the like, congestion will occur. Furthermore, the number of interfaces with the control units 110 will increase, which will increase the effort required for software management and also increase power consumption.

[0048] Therefore, the controller 100 combines centralized control and distributed control to control the structure 10. As an example, the controller 100 may perform centralized control of the axial cell group using one control unit 110, and may perform distributed control of the circumferential cell group using multiple control units 110.

[0049] In this case, for example, the first control unit 110_1 controls the amount of fluid to be injected into each of the axial cell groups at circumferential position 1, i.e., the inner pouch members B located in cells C1x, C1y, and C1z. Similarly, the second control unit 110_2 controls the amount of fluid to be injected into each of the axial cell groups at circumferential position 2, i.e., the inner pouch members B located in cells C2x, C2y, and C2z. Similarly, the sixteenth control unit 110_16 controls the amount of fluid to be injected into each of the axial cell groups at circumferential position 16, i.e., the inner pouch members B located in cells C16x, C16y, and C16z. The same applies to the other circumferential positions.

[0050] For example, in this manner, each of the multiple control units 110 may centrally control the amount of fluid injected into each of the multiple inner pouch members B that is present in an axial cell group among the multiple inner pouch members B. Then, the multiple control units 110 may decentralize the control of the amount of fluid injected into each of the multiple inner pouch members B.

[0051] The interface server PC 120 collects and integrates information from such a plurality of control units 110 and generates commands to the plurality of control units 110 .

[0052] The GUI PC 130 displays the overall status of the multiple cells C and accepts instructions. For example, in response to a user pressing an "air supply to all cells" button via the GUI PC 130, the interface server PC 120 may instruct the multiple control units 110 to supply air to all of the inner pouch members B contained in the axial cell groups. This may cause the structure 10 to be deployed.

[0053] Furthermore, in response to a user pressing an "evacuate all cells" button via the GUI PC 130, the interface server PC 120 may instruct the multiple control units 110 to evacuate all of the inner pouch members B present in the axial cell groups. This may allow the structure 10 to be stored.

[0054] In the above explanation, an example was given in which all cells C were used as a unit to issue a command, but it is also possible to issue a command for a specific circumferential cell group, a specific axial cell group, or a specific cell C. This makes it possible to dynamically control the deployment process in accordance with external conditions. It is also possible to diversify the shape in accordance with external conditions, for example, by reducing the fluid flow rate only for the circumferential cell group corresponding to the contact surface.

[0055] 5 is a diagram showing an example of a control block of the control unit 110 according to this embodiment. The control unit 110 includes a CPU 111, an ADC 112, a relay 113, an IMU 114, a wireless LAN module 115, and a debugger 116.

[0056] The CPU 111 controls the entire control unit 110. The ADC 112 converts sensor data from a sensor that measures the internal pressure of the cell C from analog to digital. In this figure, it is assumed that one control unit 110 controls an axial cell group, i.e., three cells C, and therefore a case where the interface with the sensor is three channels is shown as an example. Note that the interface between the ADC 112 and the CPU 111 may be, for example, a serial peripheral interface (SPI).

[0057] The relay 113 controls a valve (such as an electromagnetic valve). In this diagram, it is assumed that one control unit 110 controls an axial cell group, i.e., three cells C, and the control unit 110 controls the air supply and exhaust for each cell C, so the interface with the valve has eight channels. Note that the interface between the relay 113 and the CPU 111 may be, for example, a general purpose input output (GPIO).

[0058] The IMU 114 measures local acceleration, rotation speed, and magnetic direction. The interface between the IMU 114 and the CPU 111 may be, for example, an I2C (Inter Integrated Circuit).

[0059] The wireless LAN module 115 provides a wireless network. For example, IEEE802.11.B may be used as the wireless network, which has been used on the International Space Station, has good characteristics, and is easy to configure a system for.

[0060] The debugger 116 executes debugging operations. The interface between the debugger 116 and the CPU 111 may be, for example, a universal asynchronous receiver transmitter (UART).

[0061] Assume that the controller 100 is configured as described above. In this case, for example, suppose that the cell C1y is damaged and fluid leaks out of the inner pouch member B contained in the cell C1y. In this case, the first control unit 110_1 may supply sensor data from a sensor provided in the cell C1y to the interface server PC 120. This allows the interface server PC 120 to recognize that the internal pressure of the cell C1y has decreased. In response to this, the GUI PC 130 may display a message indicating that the internal pressure of the cell C1y has decreased.

[0062] A user seeing this may select cells C1x, C1z, C2y, and C16y as cells C adjacent to cell C1y via the GUI PC 130 and issue an instruction to increase the internal pressure of the selected cells C. In response to this, the interface server PC 120 may instruct the first control unit 110_1 to supply air to the inner bag member B located in cells C1x and C1z. The interface server PC 120 may also instruct the second control unit 110_2 to supply air to the inner bag member B located in cell C2y. The interface server PC 120 may also instruct the sixteenth control unit 110_16 to supply air to the inner bag member B located in cell C16y. The controller 100 may also actively control the structure 10 in this manner, for example.

[0063] In the above description, a case where the user selects the adjacent cell C is shown as an example, but the present invention is not limited to this. The interface server PC 120 may automatically select the adjacent cell C based on the adjacency relationship of the cells C, without relying on the user's selection.

[0064] Up to this point, we have shown an example of actively controlling the structure 10 to adapt or stabilize the shape of the structure 10 to external conditions. However, actively controlling the structure 10 not only contributes to maintaining the shape of the structure 10, but can also provide completely new functions.

[0065] That is, to provide the structure 10 with a movement capability. In other words, the controller 100 can cause the structure 10 to move by individually controlling the amount of fluid injected into each of the multiple inner pouch members B.

[0066] As an example, assume that the structure 10 is in the state shown in FIG. 1. In this case, the controller 100 may rotate and advance the structure 10 in the circumferential direction by relatively reducing the amount of fluid injected into the inner bag member B inherent in the target cell C while changing the target cell C in the order of cell C8 → cell C7 → cell C6... (that is, in descending order of circumferential position). Similarly, the controller 100 may rotate and reverse the structure 10 in the circumferential direction by relatively reducing the amount of fluid injected into the inner bag member B inherent in the target cell C while changing the target cell C in the order of cell C9 → cell C10 → cell C11... (that is, in ascending order of circumferential position).

[0067] The controller 100 can rotate the structure 10 in the circumferential direction by controlling the amount of fluid injected into each of the plurality of inner bag members B according to a predetermined pattern, for example, in this way.

[0068] Further, the controller 100 may turn the structure 10 to the left by advancing as described above with Cx > Cy > Cz for the amount of fluid injected into the inner bag member B. Similarly, the controller 100 may turn the structure 10 to the right by advancing as described above with Cx < Cy < Cz for the amount of fluid injected into the inner bag member B.

[0069] The controller 100 can rotate the structure around an axis parallel to the radial direction in the cylindrical shape by controlling the amount of fluid injected into each of the plurality of inner bag members B according to a predetermined pattern, for example, in this way.

[0070] Thereby, the controller 100 can freely move the structure 10 by controlling the structure 10. Therefore, the controller 100 can function the structure 10 as an object that constructs an internal space and also function as a robot. That is, the structure 10 can be transformed into a so-called active building.

[0071] FIG. 6 is a diagram showing an example of a half-scale model of the structure 10. This diagram shows a half-scale of the structure 10 when it is assumed that the structure 10 will be used to construct a living space. The numbers in this diagram are in millimeters. It is assumed that the person who will be living in the interior space is 1732 millimeters tall.

[0072] Fig. 7 is a diagram showing an example of the deployment sequence of the structure 10. In this diagram, the process by which the structure 10 changes when the prototype structure 10 is deployed at the scale shown in Fig. 6 is shown in the order of the arrows. As shown in this diagram, as fluid is injected into the multiple inner bag members B, the structure 10 gradually deploys and ultimately takes on a cylindrical shape.

[0073] The above-described processing can also be realized by dedicated hardware circuits. In this case, the processing may be performed by a single piece of hardware or by multiple pieces of hardware.

[0074] In addition, in the above description, processor 101 refers to a processor in a broad sense, and includes general-purpose processors (e.g., CPU: Central Processing Unit, etc.) and dedicated processors (e.g., GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic device, etc.).

[0075] Furthermore, the operations of processor 101 in the above description may not only be performed by a single processor, but may also be performed by multiple processors located at physically separate locations working together. Furthermore, the order of the operations of processor 101 is not limited to the above-described order, and may be changed as appropriate.

[0076] The above-mentioned program may be provided by a computer-readable non-transitory recording medium such as a USB (Universal Serial Bus) memory, a flexible disk, or a CD-ROM (Compact Disc Read Only Memory), or may be provided online via a network such as the Internet. In this case, the program recorded on the computer-readable non-transitory recording medium is typically transferred and stored in a memory or storage device. The program may be provided as standalone application software, or may be incorporated into the software of each device as a function of the device.

[0077] The above-described program can be provided as a program product. The program product includes any product for providing the program. For example, the program product includes a program provided over a network such as the Internet, and a non-transitory computer-readable recording medium such as a CD-ROM or DVD on which the program is stored.

[0078] The present disclosure is not limited to the above, and it goes without saying that various modifications can be made without departing from the spirit of the present disclosure. [Explanation of symbols]

[0079] 10 Structures S Outer skin member B. Inner bag material C Cell E Elastic member 100 Controllers 101 processors 102 ROM 103 RAM 104 Storage 105 Communication Interface 106 User Interface 109 Bus 110 control unit 111 CPU 112 ADC 113 Relay 114 IMU 115 Wireless LAN Module 116 Debugger 120 Interface Server PC 130 GUI PC

Claims

1. a skin member having a hollow cylindrical shape and including a plurality of cells including a circumferential cell group divided in the circumferential direction of the cylindrical shape and an axial cell group divided in the axial direction of the cylindrical shape; a plurality of inner pouch members disposed within each of the plurality of cells, each of which expands within each of the cells by injecting a fluid therein; Equipped with structure.

2. The maximum inflatable volume of each of the plurality of inner pouch members is greater than the volume of each cell. The structure of claim 1 .

3. The device further includes a plurality of elastic members that are present in each of the plurality of cells and that each expand and contract in the axial direction. The structure of claim 1 .

4. A control method for controlling a structure according to any one of claims 1 to 3, comprising: a controller for controlling the amount of fluid injected into the plurality of inner pouch members; Control method.

5. controlling the amount of the fluid includes a plurality of control units distributively controlling the amount of the fluid injected into each of the plurality of inner pouch members. The control method according to claim 4.

6. and wherein the distributed control of the amount of the fluid includes centralized control by each of the plurality of control units of the amount of the fluid to be injected into each of the inner pouch members located within the axial cell group among the plurality of inner pouch members. The control method according to claim 5.

7. controlling the amount of fluid includes moving the structure by individually controlling the amount of fluid injected into each of the plurality of inner pouch members. The control method according to claim 4.

8. and individually controlling the amount of fluid includes rotating the structure in the circumferential direction by controlling the amount of fluid injected into each of the plurality of inner pouch members according to a predetermined pattern. The control method according to claim 7.

9. and individually controlling the amount of fluid includes rotating the structure about an axis parallel to a radial direction of the cylindrical shape by controlling the amount of fluid injected into each of the plurality of inner pouch members according to a predetermined pattern. The control method according to claim 7.

10. A control program for controlling the structure according to any one of claims 1 to 3, causing a computer to control the amount of fluid injected into the plurality of inner pouch members; Control program.

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