Training apparatus and training method

Abstract

A training device is provided that can easily reproduce low-gravity environments, including weightlessness. [Solution] The training device includes a lifting device that suspends the subject and lifts the subject vertically upward.

Description

Technical Field

[0001] The present invention relates to a training device and a training method.

Background Art

[0002] Training of subjects (trainees) such as astronauts is widely carried out in an environment that reproduces the surface of celestial bodies different from the Earth, such as the moon or Mars (for example, a wasteland on Earth or an artificial celestial body surface).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, it is very difficult to reproduce the gravitational environment of other celestial bodies (more specifically, a low-gravity environment) on Earth.

[0005] Therefore, an object of the present invention is to provide a training device and a training method that can easily reproduce a low-gravity environment including microgravity.

Means for Solving the Problems

[0006] In one aspect, a training device for a subject that reproduces a low-gravity environment including microgravity is provided. The training device includes a fixture attached to the center-of-gravity position of the subject, and a lifting device that suspends the subject through the fixture and lifts the subject vertically upward.

[0007] In one aspect, the lifting device is configured to lift the subject such that the perceived gravity of the subject matches a target gravity corresponding to the low-gravity environment. In one embodiment, the lifting device comprises an upright shaft extending in the vertical direction, a rotating device for rotating the upright shaft, a lifting arm connected to the upright shaft and linked to the mounting device, and a tilting device for tilting the lifting arm with respect to the upright shaft. In one embodiment, the attachment corresponds to a gimbal mechanism configured to rotate the subject on multiple axes of rotation.

[0008] In one embodiment, the lifting device comprises a plurality of support shafts arranged on a plurality of rails, a first moving actuator configured to move each of the plurality of support shafts along each of the plurality of rails, a lifting shaft stretched across the plurality of support shafts, and a second moving actuator configured to move along the lifting shaft and connected to the mounting device. In one embodiment, the lifting device comprises a balloon filled with buoyancy gas and connected to the attachment, and a thrust generating device attached to the balloon and which counteracts the air resistance to the balloon. In one embodiment, the training device is equipped with an auxiliary device attached to at least one of the subject's limbs to reproduce partial changes in gravity.

[0009] In one embodiment, the assistive device corresponds to an assistive balloon that applies buoyancy to the limbs of the person to whom the assistive device is attached. In one embodiment, the training device includes a detection device for detecting the state of the subject suspended by the lifting device. In one embodiment, the state of the subject corresponds to at least one of the subject's position, direction of rotation, rotational speed, and angular velocity. In one embodiment, the training device includes a control device electrically connected to the lifting device and the detection device, and the control device is configured to control the operation of the lifting device based on a signal detected by the detection device.

[0010] In one embodiment, a training method for a subject is provided that reproduces a low-gravity environment, including weightlessness. The training method involves suspending the subject through a device attached to the subject's center of gravity by a lifting device that lifts the subject vertically upward.

[0011] In one embodiment, the training method includes a method of lifting the subject using the lifting device such that the subject's perceived gravity matches the target gravity corresponding to the low-gravity environment. In one embodiment, the training method includes a method of reproducing a partial change in gravity using an assistive device attached to at least one of the limbs of the subject. In one embodiment, the assistive device corresponds to an assistive balloon that applies buoyancy to the limbs of the person to whom the assistive device is attached.

[0012] In one embodiment, the training method includes a method for controlling the operation of the lifting device based on a signal detected by a detection device that detects the state of the subject suspended by the lifting device. In one embodiment, the state of the subject corresponds to at least one of the subject's position, direction of rotation, rotational speed, and angular velocity. [Effects of the Invention]

[0013] The training device is equipped with a lifting device for hoisting the subject. Therefore, the training device can easily reproduce low-gravity environments, including weightlessness. [Brief explanation of the drawing]

[0014] [Figure 1] This figure shows one embodiment of a training device. [Figure 2] This figure shows another embodiment of the attachment device. [Figure 3] This figure shows another embodiment of the lifting device. [Figure 4] This figure shows another embodiment of the lifting device. [Modes for carrying out the invention]

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings described below, the same or corresponding components are denoted by the same reference numerals, and redundant descriptions are omitted. In the following plurality of embodiments, the configuration of one embodiment not particularly described is the same as that of other embodiments, so the redundant description thereof is omitted.

[0016] FIG. 1 is a diagram showing an embodiment of a training device. The training device 100 is configured to reproduce a low-gravity environment including microgravity, and is a device for training a trainee (that is, the subject T) such as an astronaut.

[0017] As shown in FIG. 1, the training device 100 includes a harness H attached to the center-of-gravity position of the subject T, and a lifting device 1 that suspends the subject T through the harness H and lifts the subject T vertically upward. The harness H corresponds to, for example, a harness.

[0018] According to the present embodiment, the lifting device 1 is configured to lift the subject T so that the perceived gravity of the subject T matches the target gravity corresponding to the low-gravity environment. Therefore, without using a large facility (for example, an aquarium) for training the subject T, the training device 100 can easily reproduce a low-gravity environment including microgravity.

[0019] In the embodiment shown in FIG. 1, the training device 100 may include a ground surface GR that reproduces the surface of a celestial body different from the Earth. The ground surface GR is, for example, an artificial celestial body surface. In one embodiment, the ground surface GR may be a wasteland on the Earth.

[0020] In order to reproduce a microgravity state, training of a subject in a large aquarium has been carried out. However, in such a method, it is not possible to train the subject in an environment that reproduces the target celestial body. Simulating the surface of the target celestial body on the bottom of the aquarium requires high costs and is not realistic.

[0021] In this embodiment, the training device 100 can easily and inexpensively reproduce the surface of a celestial body by simply installing the lifting device 1 so that the subject T is positioned above the Earth's surface GR.

[0022] As shown in Figure 1, the lifting device 1 comprises a vertical shaft S1 extending in the vertical direction, a rotating device RD for rotating the vertical shaft S1, a lifting arm S2 connected to the vertical shaft S1 and linked to a mounting device H via a rope HR, and a tilting device TD for tilting the lifting arm S2 with respect to the vertical shaft S1.

[0023] The training device 100 includes a control device CT electrically connected to the lifting device 1 (more specifically, the rotating device RD and the tilting device TD). The control device CT is configured to control the operation of at least one of the rotating device RD and the tilting device TD to change the state of the subject T relative to the ground GR (e.g., the position, rotation direction, rotation speed, and angular velocity of the subject T).

[0024] The control device CT rotates the upright axis S1 (and the lifting arm S2) around the upright axis S1 by operating the rotating device RD. The subject T, connected to the lifting arm S2, rotates around the upright axis S1 as the upright axis S1 rotates.

[0025] The control device CT changes the relative angle of the lifting arm S2 with respect to the upright axis S1 by operating the tilting device TD. The subject T, connected to the lifting arm S2, moves either toward or toward the ground surface GR.

[0026] The lifting arm S2 is configured to be extendable and retractable. An example of the lifting arm S2 is a cylinder structure (e.g., an air cylinder, a hydraulic cylinder). The control device CT is configured to control the movement of the lifting arm S2. Therefore, by operating the lifting arm S2, the control device CT can move the subject T in the horizontal direction (more specifically, in the direction of approaching or moving away from the vertical axis S1).

[0027] As shown in Figure 1, the training device 100 is attached to at least one of the limbs of subject T and includes an auxiliary device SM for reproducing partial changes in gravity on the limbs of subject T. The auxiliary device SM corresponds, for example, to an auxiliary balloon that applies buoyancy to the limbs of subject T. In this case, the auxiliary device SM is a small gas bag filled with buoyancy gas.

[0028] As described above, the lifting device 1 is configured to suspend the subject T through the attachment H. Therefore, for example, when subject T is training while wearing a spacesuit, which is a heavy object, the load (e.g., gravity or the weight of the spacesuit) acts on subject T's limbs.

[0029] Therefore, the training device 100 is equipped with an auxiliary device SM to reduce the load acting on the limbs of the subject T. The auxiliary device SM is configured to apply buoyancy to the limbs of the subject T in a vertical upward direction and can be attached to the limbs of the subject T. For example, the buoyancy of the auxiliary device SM is the same as the lifting force of the lifting device 1.

[0030] In one embodiment, another example of the assistive device SM is a power assist suit (in other words, a muscle suit). The assistive device SM as a power assist suit is worn on at least one of the limbs of a subject T and can reproduce partial changes in gravity.

[0031] In this case, in order to counteract the load acting on the assistive device SM as a power assist suit, the lifting device 1 may be configured to lift not only the subject T but also the assistive device SM. For example, the lifting device 1 may include a rope HR connected to the attachment H and a rope (not shown) connected to the assistive device SM.

[0032] The assistive device SM, acting as a power assist suit, assists the movement of the subject T's arms, legs, or trunk, including the waist and spine. This configuration allows subject T to experience a sensation closer to that of a low-gravity environment. In one embodiment, the assistive device SM may be a combination of an assistive balloon and a power assist suit.

[0033] The training device 100 is equipped with a detection device that detects the state of the subject T suspended by the lifting device 1. The state of the subject T corresponds to at least one of the following: the position of the subject T, the direction of rotation, the rotational speed, and the angular velocity.

[0034] An example of a detection device is a sensor SN attached to the body of subject T. The control device CT is electrically connected to the sensor SN and is configured to control the operation of the lifting device 1 based on the signal detected by the sensor SN.

[0035] With this configuration, the control device CT can reproduce a low-gravity environment with greater accuracy. For example, the control device CT is configured to rapidly calculate (analyze) the equations of motion in a low-gravity environment based on the signals detected by the sensor SN, and to control the operation of the lifting device 1 to achieve the expected motion of the subject T.

[0036] Another example of a detection device is an imaging device CA that images the body of subject T. In this embodiment, multiple imaging devices CA are provided, but at least one imaging device CA may be provided.

[0037] Multiple imaging devices CA are positioned around the subject T and the lifting device 1 to image both the subject T and the lifting device 1. By employing imaging devices CA as detection devices, the control device CT, which is electrically connected to the imaging devices CA, can monitor the subject T's condition in real time.

[0038] Figure 2 shows another embodiment of the attachment device. In the embodiment shown in Figure 2, the attachment device H corresponds to a gimbal mechanism configured to rotate the subject T on multiple axes of rotation. The attachment device H as a gimbal mechanism comprises an inner frame Jb that holds the subject T and provides the subject T with a first axis of rotation, and an outer frame Ja that holds the inner frame Jb and provides the subject T with a second axis of rotation.

[0039] The gimbal mechanism, attachment H, is connected to the lifting device 1 via rope HR. With this configuration, the training device 100 can reproduce the freely rotating state of the subject T in a low-gravity environment.

[0040] In a low-gravity environment, to accurately reproduce the rotational state of the subject T, the training device 100 may include an actuator AT attached to a suitcase H. The actuator AT is configured to operate the suitcase H and adjust the rotational direction and / or rotational speed of the subject T wearing the suitcase H. A control device CT is electrically connected to the actuator AT and is configured to control the operation of the actuator AT.

[0041] Figure 3 shows another embodiment of the lifting device. In the embodiment shown in Figure 3, the lifting device 1 comprises a plurality of support shafts SB arranged on a plurality of rails L arranged parallel to each other, a first moving actuator AC1 configured to move each of the plurality of support shafts SB along each of the plurality of rails L, a lifting shaft HG stretched across the plurality of support shafts SB, and a second moving actuator AC2 configured to move along the lifting shaft HG and connected to a mounting device H.

[0042] As shown in Figure 3, the control device CT is electrically connected to the first moving actuator AC1 and the second moving actuator AC2, and is configured to control the operation of these moving actuators AC1 and AC2, respectively.

[0043] The control device CT moves the subject T horizontally along the laying direction of the rail L by operating the first moving actuator AC1. The subject T is connected to the second moving actuator AC2 via a rope HR.

[0044] The second moving actuator AC2 moves the subject T horizontally between the adjacent support shafts SB (in other words, along a direction perpendicular to the laying direction of the rail L) through its operation. Furthermore, the second moving actuator AC2 is configured to wind up and unwind the rope HR.

[0045] Therefore, the control device CT moves the subject T horizontally along a direction perpendicular to the rail laying direction, and also moves the subject T vertically, by operating the second moving actuator AC2.

[0046] Figure 4 shows another embodiment of the lifting device. In the embodiment shown in Figure 4, the lifting device 1 comprises a balloon BL filled with a buoyancy gas (e.g., hydrogen gas, helium gas) and connected to a mounting device H via a rope HR, and a thrust generating device PL attached to the balloon BL and counteracting the air resistance to the balloon BL.

[0047] In the embodiment shown in Figure 4, multiple thrust generating devices PL are arranged, but at least one thrust generating device PL may be arranged. The thrust generating device PL is, for example, a propeller.

[0048] The buoyancy of balloon BL can be adjusted according to the amount of lifting gas filled inside balloon BL. Therefore, in this embodiment, balloon BL is prepared with buoyancy adjusted so that the perceived gravity of subject T corresponds to that of a low-gravity environment.

[0049] By connecting the subject T to a balloon BL having such buoyancy, the training device 100 can train the subject T in a low-gravity environment. In this embodiment, the subject T is connected to the balloon BL by a single rope HR, but in one embodiment, the subject T may be connected to the balloon BL by multiple ropes HR.

[0050] The embodiments described above are intended to enable persons with ordinary skill in the art to implement the present invention. Various modifications of the above embodiments can be made naturally by those skilled in the art, and the technical idea of ​​the present invention can be applied to other embodiments as well. Therefore, the present invention is not limited to the embodiments described, but is to be interpreted in the broadest sense according to the technical idea defined by the claims. [Explanation of Symbols]

[0051] 1. Lifting device 100 training equipment T target audience H fitting device GR surface S1 upright axis S2 Lifting Arm RD Rotating Device HR Rope TD tilt device CT control device SM aids SN sensor CA Imaging System Ja Outer frame Jb inner frame AT Actuator L Rail SB support shaft AC1 First moving actuator AC2 Second Mobile Actuator HG Lifting Axis BL balloon PL thrust generator

Claims

1. A training device for subjects that reproduces low-gravity environments, including weightlessness, A device attached to the center of gravity of the subject, A training device comprising: a lifting device that suspends the subject through the aforementioned attachment and lifts the subject vertically upward.

2. The training apparatus according to claim 1, wherein the lifting device is configured to lift the subject so that the subject's perceived gravity matches the target gravity corresponding to the low-gravity environment.

3. The aforementioned lifting device is An upright axis extending in the vertical direction, A rotating device for rotating the aforementioned upright shaft, A lifting arm connected to the upright shaft and connected to the mounting device, The training apparatus according to claim 1, further comprising a tilting device for tilting the lifting arm with respect to the upright axis.

4. The training device according to claim 1, wherein the attachment corresponds to a gimbal mechanism configured to rotate the subject on multiple rotation axes.

5. The aforementioned lifting device is Multiple support shafts arranged on multiple rails, A first moving actuator configured to move each of the plurality of support shafts along each of the plurality of rails, A lifting shaft stretched across the aforementioned multiple support shafts, The training device according to claim 1, further comprising a second moving actuator configured to move along the lifting axis and connected to the mounting device.

6. The aforementioned lifting device is A balloon filled with buoyancy gas and connected to the aforementioned attachment, The training apparatus according to claim 1, further comprising a thrust generating device attached to the balloon and which cancels out the air resistance to the balloon.

7. The training device according to claim 1, wherein the training device is attached to at least one of the limbs of the subject and includes an auxiliary device for reproducing partial changes in gravity.

8. The training device according to claim 7, wherein the assistive device corresponds to an assistive balloon that applies buoyancy to the limbs of the subject to whom the assistive device is attached.

9. The training device according to claim 1, further comprising a detection device for detecting the state of the subject suspended by the lifting device.

10. The training device according to claim 9, wherein the state of the subject corresponds to at least one of the subject's position, direction of rotation, rotational speed, and angular velocity.

11. The training device includes a control device electrically connected to the lifting device and the detection device. The training apparatus according to claim 9, wherein the control device is configured to control the operation of the lifting device based on the signal detected by the detection device.

12. A training method for subjects that reproduces low-gravity environments, including weightlessness, A training method comprising suspending the subject through a device attached to the subject's center of gravity using a lifting device that lifts the subject vertically upward.

13. The training method according to claim 12, further comprising a method of lifting the subject using the lifting device such that the subject's perceived gravity matches the target gravity corresponding to the low-gravity environment.

14. The training method according to claim 12, wherein the training method includes a method of reproducing a partial change in gravity using an assistive device attached to at least one of the limbs of the subject.

15. The training method according to claim 14, wherein the assistive device corresponds to an assistive balloon that applies buoyancy to the limbs of the subject to whom the assistive device is attached.

16. The training method according to claim 12, further comprising a method of controlling the operation of the lifting device based on a signal detected by a detection device that detects the state of the subject suspended by the lifting device.

17. The training method according to claim 16, wherein the state of the subject corresponds to at least one of the subject's position, direction of rotation, rotational speed, and angular velocity.

Images