Low-gravity experimental apparatus and low-gravity experimental system equipped with the low-gravity experimental apparatus

Abstract

The present invention provides a low-gravity experimental apparatus that facilitates the implementation of predetermined gravity experiments, and a low-gravity experimental system equipped with such apparatus. [Solution] The low-gravity experimental apparatus 4 can perform low-gravity experiments that suppress the effect on the semicircular canals of living organisms, for example, in relation to low-gravity experiments relating to biological reactions. The low-gravity experimental apparatus 4 can also perform low-gravity experiments with different accelerations, for example. The low-gravity experimental apparatus 4 of the present invention is a low-gravity experimental apparatus 4 for performing low-gravity experiments inside while falling from a flying object 2, and comprises a capsule device body 10 that forms an internal space in which an apparatus for performing low-gravity experiments is arranged, a wire 12 extending from the capsule device body 10, and a fall control mechanism 14 connected to the wire and controlling upward thrust.

Description

[Technical Field]

[0001] The present invention relates to a low-gravity experimental apparatus and a low-gravity experimental system equipped with the low-gravity experimental apparatus. [Background technology]

[0002] Methods for conducting zero-gravity or low-gravity experiments include low-gravity experiments on the ISS (International Space Station), low-gravity experiments conducted from airplanes as described in Patent Document 1, and low-gravity experiments involving dropping objects from flying vehicles such as balloons. However, low-gravity experiments on the ISS (International Space Station), low-gravity experiments using ballistic flights in airplanes, and low-gravity experiments involving drops from balloons or other projectiles are recognized by those skilled in the art as different low-gravity experimental devices suitable for different types of experiments, because the processes leading up to creating low gravity differ. For example, in low-gravity experiments on the ISS (International Space Station), the process of changing from 1G to 0G is expected to involve creating a 1G state using a centrifugal accelerator and then creating 0G by stopping the centrifugal accelerator. However, if the centrifugal accelerator is stopped suddenly, problems are likely to occur with the object due to the law of inertia, making a rapid change from 1G to 0G difficult. Therefore, experiments that do not involve abrupt changes in gravity are suitable for low-gravity experiments on the ISS (International Space Station). For example, in low-gravity experiments using airplanes, the method involves repeatedly descending and ascending rapidly, resulting in a state where 2G is applied before and after the process of changing from 1G to 0G. Therefore, low-gravity experiments using airplanes are best suited to experiments where the effects of larger G-forces applied beforehand are minimal. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 3-56741 [Overview of the project] [Problems that the invention aims to solve]

[0004] In contrast, low-gravity experiments involving dropping objects from balloons or other flying vehicles have the advantage of allowing experiments to be conducted with rapid changes in gravity, such as from 1G to 0G. For example, experiments on biological responses to rapid transitions from 1G to 0G can be conducted using low-gravity experiments involving dropping objects from flying vehicles. One example of such experiments on biological responses is fall prevention research, which studies how the brain perceives a rapid transition from 1G to 0G as a fall-like state, causing the body to perform reflexive protective actions. For example, low-gravity experiments involving dropping animals from flying vehicles are conducted for purposes such as this.

[0005] However, while low-gravity experiments using free-fall systems could be conducted, they could not replicate the gravity of the Moon or Mars. To evaluate the impact of human migration to the Moon or Mars, there was a challenge in developing a low-gravity experimental apparatus capable of conducting experiments with varying accelerations.

[0006] Furthermore, in animal experiments concerning biological responses, the brain determines a state of instability based on the perception of gravitational acceleration and body orientation by the otoliths within the body, and the resulting biological response is observed. In contrast, in situations where the semicircular canals detect rotational acceleration, the body attempts to correct its perceived balance based on disturbances in anterior-posterior, lateral, and posterior-upper-down sensations. Therefore, there was a problem that disturbances in the semicircular canals' sensations could affect the performance of animal experiments concerning biological responses. Consequently, there was a challenge to develop low-gravity animal experiments that suppress the impact on the semicircular canals.

[0007] This invention was made to solve these problems and aims to provide a low-gravity experimental apparatus that facilitates the implementation of predetermined low-gravity experiments. [Means for solving the problem]

[0008] To achieve the above objective, according to one embodiment of the present invention, a low-gravity experimental apparatus for conducting low-gravity experiments while falling from a flying object comprises a capsule apparatus body forming an internal space for arranging the apparatus for conducting low-gravity experiments, a wire extending from the capsule apparatus body, and a fall control mechanism connected to the wire and controlling an upward thrust force. According to one embodiment of the present invention configured in this manner, the upward thrust force acting on the capsule device body can be controlled by a fall control mechanism connected to a wire extending from the capsule device body, thereby controlling the gravitational acceleration of a low-gravity experiment within the low-gravity experimental apparatus to a predetermined gravitational acceleration. The low-gravity experimental apparatus makes it easier to conduct low-gravity experiments with a predetermined gravitational acceleration. Furthermore, since the capsule device body and the fall control mechanism are connected via a wire, the attitude of the capsule device body can be easily stabilized in relation to the control of the thrust force by the fall control mechanism. Therefore, the thrust force of the fall control mechanism can be easily controlled while the capsule device body maintains a vertically downward attitude. Thus, for example, the impact on experiments can be suppressed even in low-gravity experiments involving living organisms.

[0009] According to one embodiment of the present invention, preferably a low gravity experimental system comprising a low gravity experimental device for conducting low gravity experiments inside a flying body while it is falling, the system comprising the low gravity experimental device according to any one of claims 1 to 7, and a flying body that flies with the low gravity experimental device suspended from it. According to one embodiment of the present invention configured in this manner, the low-gravity experimental system comprises a low-gravity experimental apparatus and a projectile. This allows the low-gravity experimental system to control the upward thrust acting on the capsule apparatus body via a fall control mechanism connected to a wire extending from the capsule body, thereby controlling the gravitational acceleration of the low-gravity experiment within the apparatus to a predetermined gravitational acceleration. The low-gravity experimental apparatus facilitates the implementation of low-gravity experiments with a predetermined gravitational acceleration. Furthermore, since the capsule apparatus body and the fall control mechanism are connected via a wire, the attitude of the capsule apparatus body can be easily stabilized in relation to the thrust control mechanism's thrust control. Therefore, the capsule apparatus body can maintain a vertically downward attitude while the thrust control mechanism's thrust control is easily performed. Thus, for example, the impact on experiments involving living organisms can be suppressed. [Effects of the Invention]

[0010] The low-gravity experimental apparatus and the low-gravity experimental system equipped with the low-gravity experimental apparatus of the present invention make it easier to conduct predetermined low-gravity experiments when conducting experiments under low-gravity conditions in a free-falling state. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic perspective view of a low-gravity experimental system equipped with a low-gravity experimental apparatus according to one embodiment of the present invention. [Figure 2] This is a schematic diagram of a low-gravity experimental system equipped with a low-gravity experimental apparatus according to one embodiment of the present invention. [Figure 3] This is a schematic diagram showing a low-gravity experimental system equipped with a low-gravity experimental device according to one embodiment of the present invention, in a state where the low-gravity experimental device is being dropped. [Figure 4] This is a block diagram showing the internal structure of a flying object in a low-gravity experimental system equipped with a low-gravity experimental apparatus according to one embodiment of the present invention. [Figure 5] This is a schematic diagram showing a low-gravity experimental apparatus according to one embodiment of the present invention. [Figure 6]This is a block diagram showing the internal structure of a low-gravity experiment apparatus according to an embodiment of the present invention. [Figure 7] This is a schematic configuration diagram showing a moving state of a fall control mechanism of the low-gravity experiment apparatus according to an embodiment of the present invention. [Modes for Carrying Out the Invention]

[0012] Hereinafter, a low-gravity experiment system 1 including a low-gravity experiment apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings. Low gravity refers to gravity lower than about 1G (about 9.8 m / s, which is the gravitational acceleration experienced on the ground of the Earth) 2 ). Low gravity may be, for example, microgravity or substantially zero gravity. The low-gravity experiment is also called a so-called zero-gravity experiment, but for example, microgravity is generated even on the International Space Station (ISS) due to slight acceleration generation. In the present embodiment, low gravity indicates gravity lower than the gravity on the Earth, including zero gravity and microgravity. Therefore, the low-gravity experiment is performed under gravity lower than about 1G (9.8 m / s, which is the gravitational acceleration experienced on the ground of the Earth) 2 ). The low-gravity experiment includes, for example, a low-gravity experiment assuming the lunar gravity which is about 1 / 6 of the Earth's gravity, and a low-gravity experiment assuming the Martian gravity which is about 1 / 3 of the Earth's gravity. The embodiments of the present disclosure are described by way of example, and it is apparent to those skilled in the art that many modifications, changes and substitutions can be made within the spirit and scope of the present invention. Accordingly, the present invention is not limited to the disclosed embodiments, and various modifications, changes and the like can be made to its form and details without departing from the scope of the claims. In addition, the constituent elements disclosed in the specification can be freely combined.

[0013] As shown in Figure 1, the low-gravity experiment system 1 according to an embodiment of the present invention can perform a drop-type low-gravity experiment. The low-gravity experiment system 1 includes a flying object 2 (see Figure 2) and a low-gravity experiment apparatus 4. The low-gravity experiment system 1 is provided with the drop-type low-gravity experiment apparatus 4 that performs a low-gravity experiment inside while falling from the flying object 2. Hereinafter, in the description of one embodiment of the present invention, as shown in FIG. 5, the lower side of the posture when the low gravity experiment device 4 falls is defined as the lower side, and the upper side of the posture is defined as the upper side for the description. Further, as shown in FIG. 5, the front side of the paper surface is defined as the front side, the back side of the paper surface is defined as the rear side, the right-hand direction of the low gravity experiment device 4 is defined as the right side, and the left-hand direction of the low gravity experiment device 4 is defined as the left side for the description.

[0014] The flying object 2 is, for example, a balloon. The flying object 2 is, for example, a balloon capable of reaching the altitude of the stratosphere of the Earth, or a large balloon capable of reaching an altitude within the range of 10 km to 50 km from the ground. The flying object 2 is, for example, an unmanned balloon inflated with helium gas. The balloon of the flying object 2 has the portion inflated as a balloon formed of, for example, a polyethylene film or the like. The flying object 2 flies in the air above the ground G (see FIG. 3) and has a function of dropping the low gravity experiment device 4 from the air toward the ground G. The flying object 2 may be an unmanned aerial vehicle such as a drone, an aircraft, a rocket, or the like, as long as it can reach a predetermined altitude while suspending the low gravity experiment device 4.

[0015] As shown in FIG. 3, the flying object 2 cuts the string-like body 21 by the separation device 22 at a predetermined altitude, and causes the low gravity experiment device 4 to fall freely. The low gravity experiment device 4 can perform a low gravity experiment within a period of several seconds to several tens of seconds after starting to fall. When the low gravity experiment device 4 reaches a predetermined altitude, it opens a parachute 50 (see FIG. 5) to be described later, reduces its speed, and is then recovered on the ground G or on the water.

[0016] As shown in FIG. 4, the flying object 2 further includes a string-like body 21, a separation device 22, a camera 23, an altitude measurement device 24, a GPS device 27, an operation unit 25, a monitor unit 28, and a system control unit 26. The flying object 2 is provided with a communication unit (not shown) that performs wireless communication with the operation unit 25 and the like.

[0017] The string-like body 21 connects the flying vehicle 2 and the low-gravity experimental apparatus 4. The string-like body 21 is a flexible member. The string-like body 21 is formed to a predetermined length. The string-like body 21 is formed to have sufficient strength to allow the low-gravity experimental apparatus 4 to be suspended from the flying vehicle 2 during flight. The lower part of the string-like body 21 can be detached at any time by a detachment device 22. Preferred materials for the string-like body 21 are nylon fibers, Kevlar® cable, etc., which are strong and resistant to low temperatures. The string-like body 21 may also be configured so that it does not remain attached to the low-gravity experimental apparatus 4 when it falls.

[0018] The separation device 22 has the function of separating the low-gravity experimental apparatus 4 from the flying object 2. For example, the separation device 22 is configured to separate the lower part of the string-like body 21 from the upper part of the string-like body 21. The separation device 22 is, for example, a cutter device, a thermal cutting mechanism, etc.

[0019] Camera 23 can photograph and observe the surrounding environment from the flying object 2. Camera 23 allows for remote monitoring of the environment around it. Camera 23 is installed to allow monitoring of the environment and surrounding environment at the landing site of the low-gravity experimental device 4.

[0020] As shown in Figure 3, the altitude measuring device 24 can measure the altitude H (distance) of the flying object 2 relative to the ground G. The altitude measuring device 24 is composed of a combination of a GPS altimeter and a barometric altimeter. The altitude measurement by the barometric altimeter can be combined with the altitude measurement data reception interval of the GPS altimeter. The altitude measuring device 24 may be composed of either a GPS altimeter or a barometric altimeter. Furthermore, the altitude measuring device 24 may be composed of any of the following, or any combination thereof: a barometric pressure sensor that can measure flight altitude by measuring atmospheric pressure, an ultrasonic sonar that can measure the distance from the flying object 2 to the ground G, a laser measurement sensor that can measure the distance from the flying object 2 to the ground G, etc. This allows the altitude measuring device 24 to measure the altitude H (distance) from the flying object 2 to the ground G. After the altitude measuring device 24 recognizes the altitude H (distance) to the ground G, for example, the system control unit 26 controls the descent of the low-gravity experimental device 4.

[0021] The GPS device 27 is capable of determining the current position of the flying object 2 using satellites.

[0022] The control unit 25 (see Figure 2) can issue control commands for the flight of the flying object 2 and for initiating the descent of the low-gravity experimental device 4. The control unit 25 is located separately from the main body of the flying object 2 and is electrically connected to the system control unit 26, which will be described later, via wireless communication. The control unit 25 can be remotely operated by a user, for example. The user can also control the flight of the flying object 2 by operating the control unit 25. In addition, the descent start position and timing of the low-gravity experimental device 4 may be controlled by the system control unit 26, which will be described later, but the descent start position and timing of the low-gravity experimental device 4 may also be instructed and controlled by the user by operating the control unit 25. The control unit 25 can also control only any part of the flight or the descent of the low-gravity experimental device 4. For example, only the descent start position may be controlled by the control unit 25, and the other operations may be automatically controlled by the system control unit 26. The control unit 25 may also be displayed on the monitor unit 28 that displays images. Thus, the control unit 25 may be an information terminal device such as a smartphone or tablet terminal. Other examples include dedicated controllers or operating devices such as radio-controlled car controllers.

[0023] As shown in Figure 4, the system control unit 26 is provided on the flying object 2. The system control unit 26 may also be provided on an information terminal device on the operation unit 25 side. The system control unit 26 controls the low gravity experiment system 1 and the flight of the flying object 2. More specifically, the system control unit 26 can control the descent start position (coordinates, altitude) and timing of the low gravity experiment device 4. The system control unit 26 can control the flight altitude, flight route, and the release operation of the string-like body 21 by the release device 22 of the flying object 2. The system control unit 26 can achieve control to make the flying object 2 reach a predetermined altitude of the target and cause the low gravity experiment device 4 to free fall toward the ground G. The system control unit 26 has a built-in CPU and memory and other storage devices, and controls connected devices to execute predetermined controls based on predetermined control programs recorded in the memory, etc. The system control unit 26 is electrically connected to the release device 22, camera 23, altitude measuring device 24, GPS device 27, operation unit 25, monitor unit 28, etc. These electrical connections may be made by wireless communication or the like. The system control unit 26 and the control unit 46, which will be described later, may be formed as a single device.

[0024] As shown in Figures 1 to 3, Figure 5, etc., the low-gravity experimental apparatus 4 is a drop-type low-gravity experimental apparatus 4 that conducts low-gravity experiments inside while in a state of free fall from a flying object 2. The low-gravity experimental apparatus 4 can, for example, provide low-gravity experiments at a predetermined gravity, and in addition, can provide an experimental environment with excellent noise and vibration suppression for the experimental subject. The low-gravity experimental apparatus 4 comprises a capsule device body 10 that forms an internal space 10d (see Figure 5) in which the apparatus for conducting low-gravity experiments is placed, a wire 12 extending upward from the capsule device body 10, and a drop control mechanism 14 connected to the wire 12 and controlling the upward thrust force.

[0025] The capsule device body 10 forms a flying object that falls from a predetermined altitude H (see Figure 3) to near the ground G, and also forms a laboratory inside which low-gravity experiments, microgravity experiments, or zero-gravity experiments corresponding to a predetermined low gravity are conducted. As shown in Figure 5, the capsule device body 10 comprises a lower section 10a that tapers downwards and a cylindrical body section 10b. The capsule device body 10 is formed in the shape of a hollow capsule. The capsule device body 10 and the aerodynamic stabilizer plate 11 are made of a metal such as aluminum or a carbon material.

[0026] The capsule device body 10 has its center of gravity located below the vertical center so that the lower part 10a is the leading edge when it falls. The vertical length from the lower part 10a to the top part 10c is approximately 1m, and the width of the body part 10b is approximately 0.8m. The capsule device body 10 has the lower part 10a forming the head facing the ground, and the top part 10c forming the tail connected to the fall control mechanism. The external shape of the capsule device body 10 can be changed as long as it is hollow enough to accommodate a laboratory inside. The capsule device body 10 is less likely to rotate and contributes more to attitude stability if it is formed into other vertically elongated shapes such as bullet shape, capsule shape, cone shape, pyramidal shape, or rocket shape rather than a spherical shape. The weight of the capsule device body 10 is in the range of 300g to 100kg, more preferably in the range of 1kg to 30kg.

[0027] The capsule device body 10 is formed in a vertically elongated shape from the top 10c to the bottom 10a. By positioning the center of gravity at the bottom, it is possible to easily maintain the falling posture of the capsule device body 10.

[0028] As shown in Figure 5, the capsule device body 10 forms an internal space 10d for arranging equipment for conducting low-gravity experiments. The capsule device body 10 is designed to arrange animal experiment equipment 40 in a laboratory within the internal space 10d. The capsule device body 10 houses the animal experiment equipment 40, such as equipment for conducting animal experiments and equipment for conducting biological experiments. Furthermore, for example, the capsule device body 10 is equipped with a camera 41 within the internal space 10d for monitoring the experiment with video.

[0029] The capsule device body 10 is connected to the wire 12 at its top 10c side, and the capsule device body 10 is suspended from the flying object 2 via the fall control mechanism 14 and the wire 12, allowing the flying object 2 to take flight.

[0030] As shown in Figure 1, multiple aerodynamic stabilizers 11 are formed along the outer circumference of the top of the capsule device body 10. The aerodynamic stabilizers 11 are formed outward from the fuselage 10b. The aerodynamic stabilizers 11 are positioned at four divisions of the outer circumference of the fuselage 10b. The aerodynamic stabilizers 11 can be formed in any number between, for example, 3 and 10. The aerodynamic stabilizers 11 form plate-shaped blades that extend vertically. In a side view, the aerodynamic stabilizers 11 form, for example, triangular or square wings. Unlike movable wings, the aerodynamic stabilizers 11 are fixed to the outer surface of the capsule device body 10. The aerodynamic stabilizers 11 also have the function of stabilizing the descent attitude. For example, the aerodynamic stabilizers 11 can suppress rotation of the capsule device body 10 around its central axis in the vertical direction.

[0031] The wire 12 is made of a metal wire. The wire 12 may also be made of nylon fiber, Kevlar® cable, or the like, which is strong and resistant to low temperatures. The wire 12 is made to a predetermined length, for example, within the range of 5m to 20m. By making it to such a length, it is possible to easily maintain the vertically downward attitude of the capsule device body 10 (an attitude that extends vertically from the lower part 10a to the top part 10c) in response to lateral movement and attitude changes of the fall control mechanism 14. In addition, since the distance from the capsule device body 10 to the fall control mechanism 14 is a predetermined distance, the wind noise and vibration of the propeller 42 and the operating sound of the directional control rudder 48 are less likely to be transmitted to the capsule device body 10. An electrical signal line connecting the capsule device body 10 and the fall control mechanism 14 may be provided along the wire 12.

[0032] When the fall control mechanism 14 is suspended from the flying object 2, the fall control mechanism 14 is positioned above the capsule device body 10. When the fall control mechanism 14 and the capsule device body 10 are free-falling from the flying object 2, the fall control mechanism 14 is positioned above the capsule device body 10. When the fall control mechanism 14 and the capsule device body 10 are free-falling from the flying object 2, the fall control mechanism 14, as a device connected to the capsule device body 10, has the function of generating upward thrust or lateral movement. When the low-gravity experimental device 4 is falling, the fall control mechanism 14 is positioned above the capsule device body 10.

[0033] As shown in Figure 5, the fall control mechanism 14 includes a propeller 42 that generates upward thrust through rotation, a motor 44 that rotates the propeller 42, a directional control rudder 48 which controls the lateral position of the object as it falls, a parachute 50, an inertial measurement unit 52, a GPS device 54, and a control unit 46 that controls the rotation speed of the motor 44 and the directional control rudder 48. In the low gravity experimental apparatus 4, the fall control mechanism 14 is used from 0G (e.g., 0.01G) to 0.5G (9.8m / s²). 2 from 4.9 m / s 2The system is configured to allow control of the magnitude of the upward thrust force F, enabling low-gravity experiments that generate gravitational acceleration within the range of (up to).

[0034] The propeller 42 generates an upward thrust F (see Figure 5) when the motor 44 rotates in a predetermined direction (for example, forward rotation). The propeller 42 is configured to generate an upward thrust (lift) F on its blades by pushing the air beneath it downward as it rotates. As shown in Figure 1, the propeller 42 has four blades, but it may have other numbers of blades, such as three or two. A counter-rotating propeller may also be used to reduce the counter-torque during rotation.

[0035] Here, we will explain the theory regarding the acceleration of the low-gravity experimental apparatus 4. During the fall of the low-gravity experimental apparatus 4, at the start of the fall (when the low-gravity experimental apparatus 4 is detached), a free fall of 1G (approximately 9.8 m / s²) is generated. 2 The gravitational acceleration of ) is applied to the low-gravity experimental apparatus 4. If a predetermined upward thrust force F is generated by the propeller 42 at the start of the fall, the acceleration a, which is the thrust force F minus the acceleration a, will be applied downward to the low-gravity experimental apparatus 4. Therefore, as shown in Figure 5, acceleration a is applied to the animal experimental apparatus 40. For example, if the mass of the low-gravity experimental apparatus 4 is m(g), the acceleration a, after subtracting the thrust force F and air resistance D, can be calculated as follows. m × 9.8 [m / s 2 ]-(F+D)=ma The air resistance D during free fall is proportional to the air density ρ and velocity V, for example, as shown in the following equation, when the velocity is relatively high, and the frontal projected area S(m²) of the object. 2 It is known that the drag coefficient (a constant determined by the shape of the object) CD is taken into consideration when calculating the drag coefficient. D = (1 / 2) × ρ × CD × S × V 2 Accordingly, in order to generate and maintain a predetermined low gravitational acceleration a in the low-gravity experiment apparatus 4, the control unit 46 maintains the value of F+D to be constant. The control unit 46 recognizes the air density ρ derived from the falling speed V and the altitude of the low-gravity experiment apparatus 4. Further, the control unit 46 controls the rotation speed of the propeller 42 to control the propulsive force F. Therefore, by controlling the propulsive force F according to the air density and the falling speed, the control unit 46 can generate the predetermined low gravitational acceleration a in the low-gravity experiment apparatus 4. The predetermined low gravitational acceleration a is, for example, a gravitational acceleration within a range from substantially zero gravity to 1G, and more preferably, for example, from 0G (e.g., 0.01G) to 0.5G (9.8 m / s 2 to 4.9 m / s 2 ). The predetermined low gravitational acceleration a is, for example, a gravitational acceleration corresponding to the gravity of the Moon, or a gravitational acceleration corresponding to the gravity of Mars.

[0036] The motor 44 is arranged such that the rotation of the shaft of the motor 44 is transmitted to the propeller 42. Accordingly, gears, shafts and the like for rotation transmission are arranged between the shaft of the motor 44 and the propeller 42. The motor 44 is a motor whose rotation speed can be controlled.

[0037] As shown in FIG. 1, the direction control rudder 48 forms an X-shaped rudder in top view. The direction control rudder 48 includes four rudder plates 49 around a central portion. Each of the rudder plates 49 is configured to be capable of independently controlling its inclination from the vertical direction. In a reference state, the rudder plates 49 extend in the vertical direction from below to above. The rudder plates 49 are configured such that their inclination relative to the vertical direction can be changed. The rudder plates 49 are arranged in a cross shape, and in FIG. 5, the rudder plates 49 extending in the front-rear direction and the rudder plates 49 extending in the left-right direction form an angle of 90 degrees. By changing the inclination of the rudder plates 49, air strikes the rudder plates 49, and forces in the front, rear, left and right directions can be applied to the fall control mechanism 14.

[0038] The parachute 50 reduces the falling speed of the capsule device body 10 and the fall control mechanism 14. In Figure 1, the parachute is stored within the fall control mechanism 14, and when deployed, it receives air resistance, significantly reducing the falling speed of the capsule device body and other components, allowing the device to be recovered. The parachute 50 is located on top of the fall control mechanism 14 and is equipped with an altimeter (not shown), and the control unit 46 is configured to deploy the parachute 50 at a predetermined altitude. The parachute 50 may also be equipped with a clock device (or the clock function of the control unit 46), in which case the parachute 50 may be configured to automatically open after a predetermined time has elapsed from the start of the fall, regardless of altitude or other values.

[0039] The Inertial Measurement Unit (IMU) 52 is equipped with a 3-axis angular velocity (gyro) sensor, a 3-axis accelerometer, and the like. The Inertial Measurement Unit 52 can measure angular velocity and acceleration and detect translational and rotational motion in the orthogonal 3-axis directions. The Inertial Measurement Unit 52 can calculate the position and orientation of the fall control mechanism 14. The Inertial Measurement Unit 52 may be installed in the capsule device body 10.

[0040] The GPS device 54 is capable of determining the current position of the fall control mechanism 14 using satellites. The GPS device 54 may also be installed on the capsule device body 10.

[0041] The control unit 46 is configured to control the rotational speed of the motor 44. The control unit 46 is configured to control each rudder plate of the directional control rudder 48. The control unit 46 is electrically connected to the motor 44. The control unit 46 incorporates a CPU 47 and a storage device 51 such as memory, and controls connected devices based on a predetermined control program recorded in the memory, etc. The control unit 46 functions as a computer. The electrical connection between the control unit 46 and other devices may be connected in whole or in part by wireless communication such as infrared communication or other methods. The control unit 46 may be electrically connected to an external control unit of the fall control mechanism 14 via the internet. Part of the control unit 46 may be located in a location physically separate from the fall control mechanism 14, or it may be provided in the form of a program on a server via the internet. The storage device 51 stores a predetermined program, but it does not necessarily have to store all programs, and some or all of them may be stored on other servers via the internet.

[0042] The control unit 46 controls the fall control mechanism 14 and the equipment necessary for conducting low-gravity experiments within the internal space 10d. More specifically, the control unit 46 estimates the attitude, position, and motion of the fall control mechanism 14 using the inertial measurement unit 52 and GPS device 54, estimates the attitude, position, and motion of the capsule body 10, and, if necessary, controls the attitude, position, and motion of the fall control mechanism 14, thereby indirectly controlling the fall control mechanism 14 necessary to control the attitude, position, and motion of the capsule body 10. The control unit 46 monitors the actual acceleration of the fall using the inertial measurement unit 52 and can control the operation and rotation speed of the propeller 42 to achieve a target acceleration a. For example, since the acceleration of the fall of the low-gravity experimental apparatus 4 changes gradually depending on air resistance and velocity, the control unit 46 controls the operation and rotation speed of the propeller 42 to maintain the acceleration a of the capsule apparatus body 10 for a predetermined period from the start of the fall, for example, several seconds to tens of seconds. When correcting the landing point, the control unit 46 moves the fall control mechanism 14 in the forward, backward, left, and right directions using the directional control rudder 48. Therefore, the landing point or water landing point of the low-gravity experimental device 4 can be moved. As shown by arrow J, when the fall control mechanism 14 moves, the position of the capsule device body 10 is also moved by the fall control mechanism 14. However, since the capsule device body 10 is connected to the fall control mechanism 14 via the wire 12, the capsule device body 10 tends to move while maintaining a downward vertical orientation, as shown by arrow J. Therefore, lateral rotation of the capsule device body 10 relative to the vertical direction is suppressed, and rotational acceleration is suppressed from being applied to objects in the internal space 10d. Therefore, rotation can suppress the occurrence of rotational acceleration reactions in the semicircular canals of living organisms. The control unit 46 may also control equipment necessary for conducting low-gravity experiments, for example, by storing data from animal experiments using the camera 41 or transmitting the data to the control unit of another electronic device on the ground.

[0043] The control unit 46 is electrically connected to the inertial measurement unit 52, GPS device 54, motor 44, directional control rudder 48, operating unit 39, camera 41, etc. These electrical connections may be made by wireless communication or the like.

[0044] The low-gravity experimental apparatus 4 may have an operating unit 39 located separately from the capsule apparatus body 10. For example, the operating unit 39 can change the control content of the control unit 46. Alternatively, the operating unit 39 may perform attitude control of the capsule apparatus body 10 in place of all or part of the control by the control unit 46. The operating unit 39 may directly operate equipment connected to the control unit 46. The operating unit 39 may also be provided on an electronic device such as an information terminal, and the control content, camera images of the experiment, etc., may be displayed on the monitor of the electronic device.

[0045] An example of one embodiment of the present invention may be provided in the following embodiments.

[0046] (1) A low-gravity experimental apparatus for conducting low-gravity experiments while falling from a flying object, comprising: a capsule apparatus body forming an internal space for arranging the apparatus for conducting low-gravity experiments; a wire extending from the capsule apparatus body; and a fall control mechanism connected to the wire and controlling upward thrust. According to the embodiment of the present invention configured in this way, the upward thrust force acting on the capsule body 10 can be controlled by the fall control mechanism 14 connected to a wire extending from the capsule body 10, and the gravitational acceleration of the low-gravity experiment in the low-gravity experimental apparatus 4 can be controlled to a predetermined gravitational acceleration. The low-gravity experimental apparatus 4 makes it easier to conduct low-gravity experiments with a predetermined gravitational acceleration. Furthermore, since the capsule body 10 and the fall control mechanism 14 are connected via a wire, the attitude of the capsule body 10 can be easily stabilized in relation to the control of the thrust force of the fall control mechanism 14. Therefore, the thrust force of the fall control mechanism 14 can be easily controlled while the capsule body 10 maintains a vertically downward attitude. Thus, the impact on experiments can be suppressed, for example, in low-gravity experiments involving living organisms.

[0047] (2) The low-gravity experimental apparatus according to (1), wherein the fall control mechanism comprises a propeller that generates an upward thrust force by rotation, a motor that rotates the propeller, and a control unit that controls the rotation speed of the motor. According to the embodiment of the present invention configured in this manner, the fall control mechanism 14 can rotate the propeller 42 to generate an upward thrust, and can also control the thrust of the propeller 42 by controlling the rotation speed of the propeller 42. As a result, the low-gravity experimental apparatus 4 can control the gravitational acceleration of the low-gravity experiment within the low-gravity experimental apparatus 4 to a predetermined gravitational acceleration.

[0048] (3) The low-gravity experimental apparatus according to (2), wherein the fall control mechanism further comprises a direction control unit that controls the lateral position of the object to which it falls. According to the embodiment of the present invention configured in this manner, the fall control mechanism 14 is equipped with a directional control rudder 48 that controls the lateral position of the object as it falls. This allows the fall control mechanism 14 to control the lateral position of the low-gravity experimental device 4 as it falls. Furthermore, since the capsule device body 10 and the fall control mechanism 14 are connected via a wire 12, when the fall control mechanism 14 controls the fall position of the fall control mechanism 14 and the capsule device body 10, the capsule device body 10 can easily maintain a vertically downward orientation. This makes it possible to suppress the lateral rotation of the low-gravity experimental apparatus 4 when controlling the lateral position of the object as it falls, as in conventional methods, which could have an effect on the semicircular canals of living organisms during biological experiments within the low-gravity experimental apparatus 4. Thus, a low-gravity experimental apparatus with reduced impact on the semicircular canals of living organisms can be provided.

[0049] (4) The low-gravity experimental apparatus described in (1), wherein the wire is formed to a predetermined length. According to this embodiment of the present invention, since the capsule device body 10 and the fall control mechanism 14 are connected via a wire 12 of a predetermined length, the attitude of the capsule device body 10 can be more easily stabilized in relation to the control of the thrust force of the fall control mechanism 14. Therefore, the thrust force of the fall control mechanism 14 can be easily controlled while the capsule device body 10 maintains a vertically downward attitude. Thus, the impact on experiments can be further suppressed, for example, in low-gravity experiments involving living organisms.

[0050] (5) The low-gravity experimental apparatus according to (1), wherein the fall control mechanism is equipped with a parachute that reduces the rate of fall. According to one embodiment of the present invention configured in this way, the fall control mechanism 14 is equipped with a parachute 50 that reduces the falling speed. This allows the fall control mechanism 14 and the capsule device body 10 to be decelerated and recovered on land or at sea while remaining connected by the wire 12.

[0051] (6) The fall control mechanism in the low gravity experimental apparatus is 9.8 m / s2 from 4.9 m / s 2 The low-gravity experimental apparatus according to claim 1, which can control an upward thrust force so that low-gravity experiments can be conducted that generate gravitational acceleration within a certain range. According to the embodiment of the present invention configured in this way, the fall control mechanism 14, in the low gravity experimental apparatus 4, at 9.8 m / s 2 from 4.9 m / s 2 The upward thrust can be controlled to enable low-gravity experiments that generate gravitational acceleration within a certain range. This allows, for example, the low-gravity experiment apparatus 4 to conduct low-gravity experiments simulating the gravity of the Moon, which is about one-sixth of Earth's gravity. Alternatively, for example, the low-gravity experiment apparatus 4 can conduct low-gravity experiments simulating the gravity of Mars, which is about one-third of Earth's gravity.

[0052] (7) The low-gravity experimental apparatus described in (1), wherein the capsule apparatus body is formed to accommodate an animal experimental apparatus inside. According to one embodiment of the present invention configured in this way, the capsule device body 10 is formed to accommodate an animal experiment apparatus inside. Therefore, low-gravity experiments on living organisms can be conducted at a predetermined gravitational acceleration.

[0053] (8) A low gravity experimental system comprising a low gravity experimental device for conducting low gravity experiments inside a flying object while it is falling from the object, the low gravity experimental device as described in any one of (1) to (7), and the flying object which flies with the low gravity experimental device suspended from it. According to the embodiment of the present invention configured as described above, the low-gravity experiment system 1 comprises a low-gravity experimental device 4 and a projectile. This allows the low-gravity experiment system 1 to control the upward thrust acting on the capsule device body 10 by a fall control mechanism 14 connected to a wire 12 extending from the capsule device body 10, thereby controlling the gravitational acceleration of the low-gravity experiment in the low-gravity experiment device 4 to a predetermined gravitational acceleration. The low-gravity experiment device 4 makes it easier to conduct low-gravity experiments with a predetermined gravitational acceleration. Furthermore, since the capsule device body 10 and the fall control mechanism 14 are connected via the wire 12, the attitude of the capsule device body 10 can be easily stabilized in relation to the control of the thrust force of the fall control mechanism 14. Therefore, the capsule device body 10 can easily maintain a vertically downward attitude while the thrust force of the fall control mechanism 14 is controlled. Thus, for example, the impact on experiments can be suppressed even in low-gravity experiments involving living organisms. [Explanation of Symbols]

[0054] 1: Low-gravity experimental system 2: Projectile object 4: Low-gravity experimental apparatus 10: Capsule device main body 10d: Internal space 12: Wire 14: Fall control mechanism 40: Animal experiment apparatus 42: Propeller 44: Motor 46: Control Unit F: Propulsive force

Claims

1. A low-gravity experimental device for conducting low-gravity experiments while in a state of falling from a flying object, A capsule device body that forms an internal space for arranging equipment to conduct low-gravity experiments, A wire extending from the capsule device body, A low-gravity experimental apparatus comprising a fall control mechanism connected to the aforementioned wire and controlling upward thrust.

2. The low-gravity experimental apparatus according to claim 1, wherein the fall control mechanism comprises a propeller that generates an upward thrust force by rotation, a motor that rotates the propeller, and a control unit that controls the rotation speed of the motor.

3. The low-gravity experimental apparatus according to claim 1, wherein the fall control mechanism further comprises a direction control unit that controls the lateral position of the object to which it falls.

4. The low-gravity experimental apparatus according to claim 1, wherein the wire is formed to a predetermined length.

5. The low-gravity experimental apparatus according to claim 1, wherein the fall control mechanism is equipped with a parachute for reducing the falling speed.

6. The aforementioned fall control mechanism is used in a low-gravity experimental apparatus, with a rate of 9.8 m / s². ２ from 4.9 m / s ２ The low-gravity experimental apparatus according to claim 1, which can control an upward thrust force so that low-gravity experiments can be conducted that generate gravitational acceleration within a certain range.

7. The low-gravity experimental apparatus according to claim 1, wherein the capsule apparatus body is formed to accommodate an animal experiment apparatus inside.

8. A low-gravity experimental system equipped with a low-gravity experimental device for conducting low-gravity experiments while in a state of falling from a flying object, The low-gravity experimental apparatus according to any one of claims 1 to 7, A low-gravity experimental system comprising a flying object that flies with the low-gravity experimental device suspended from it.

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