KR101817878B1 - Reaction control apparatus and method for controlling stability theerof - Google Patents

Abstract

The present invention relates to an attitude control apparatus and a method thereof. The attitude control device of the present invention can be applied to various objects such as a unmanned aerial vehicle, a building, and a virtual reality wearable device. The posture control device processes the posture control of the object using a reaction wheel, a control moment gyro, a movable inertial body, or the like to stimulate or inhibit the nerve of the vestibular organ to stimulate the cranial nerve using a magnetic field, do. According to the present invention, it is possible to apply to various objects using a reaction wheel, a control moment gyro, and a movable inertial body, and to precisely control the attitude of an object according to various external influences, By optimizing the gravity and impact simulation by calculating the head movement in the direction of the enemy, realism can be maximized.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a posture control apparatus,

More particularly, the present invention relates to an attitude control apparatus, and more particularly, to an attitude control apparatus that uses a driving unit that transmits a rotational force and at least one inertial body having a specific weight according to a purpose of use, The present invention relates to an attitude control apparatus and method for controlling an attitude to balance a center.

Current attitude control technology is applied to various kinds of objects such as satellites and buildings that are influenced by external influences and controls the attitude of the object from external influences caused by external influences, wind, earthquake, and vibration Technology is gradually being developed.

For example, control of the vibrations caused by lateral loads such as wind and earthquakes has become an important consideration in the design of high-rise buildings, due to the high-rise buildings. In Korea, many high-rise buildings from 30 to 60 stories are being constructed and it is obligatory to examine the usability in the horizontal direction at the design stage. If the usability condition can not be satisfied, a method for improving the rigidity of the building is to strengthen the structure itself or to increase the damping force of the building by installing an additional device.

However, nowadays, many methods have been adopted outside of the building rather than the rigidity of the building itself, and the design has not progressed in this direction in Korea.

For example, as a typical vibration damping device for controlling the vibration of a building, there is a tuned mass damper (TMD) method in which a vibrator composed of a mass body, a spring, and a damper is installed in a structure, .

In order to efficiently perform the mission of the satellite which is turning on the earth in outer space, the posture of the satellite must be controlled stably. Especially, maintaining the posture accuracy after the orbit or posture maneuver and changing the posture in the other direction is a part that needs to be performed in advance in performing the mission of the satellite.

Recently, the importance of satellites with flexible structures has increased as the purpose and size of satellites in space have increased and expanded. This is because the attitude of the satellite should be controlled when there is an external disturbance in the satellite, and the performance of the attitude control system can not be precisely predicted when it is designed as a rigid body.

As described above, there is a need for an attitude control that more accurately adjusts the movement of the object due to the external influence generated for various movable objects, so as to center the gravity.

Korean Patent Publication No. 10-2016-0070033 (published on June 17, 2016) Korean Patent Publication No. 10-2013-0027293 (published on March 15, 2013) Korean Patent Registration No. 10-0778098 (Published Nov. 22, 2007) Korean Registered Patent No. 10-1424024 (Published on September 23, 2014)

An object of the present invention is to provide an attitude control apparatus and method for controlling an attitude of an object in response to physical information according to external influences using an inertial body.

Another object of the present invention is to provide an attitude control apparatus and method which can be applied to various objects by various driving methods and control the attitude of the object.

It is still another object of the present invention to provide an attitude control apparatus and method for providing an effective virtual reality of a virtual reality wearable device.

In order to achieve the above objects, the attitude control apparatus of the present invention is characterized in that attitude control of an object is processed by using a reaction wheel, a control moment gyro, and a movable inertial body. The posture control apparatus of the present invention can accurately control the posture of the object according to various external influences.

According to another aspect of the present invention, A body provided on the object; A driving unit installed in the main body and generating a rotational force; A physical information sensing unit for sensing physical information generated from the object itself or from outside; At least one inertial body installed in the body and rotated by receiving a rotational force from the driving unit to adjust the center of gravity of the object to transmit the object to the object; And a control unit for determining the current posture of the object and controlling the driving unit to drive the tubular body in accordance with the physical information sensed by the physical information sensing unit; And the posture of the object is adjusted by the movement of the inertia body.

In one embodiment of this aspect, the main body is provided in any one of a rail and a pipe formed corresponding to the shape of the object, and the inertia body being movably installed.

In another embodiment, the driving unit includes: A motor for rotating the tubular body, a step motor, and a motor having a stop function.

In another embodiment, the physical information sensing unit is provided with a sensor for sensing at least one of wind speed and vibration corresponding to the object.

In yet another embodiment, the tubular body comprises: At least one reaction wheel, at least one moment wheel and a control moment gyro.

In another embodiment, the reaction spherical actuator is integrally provided with the driving unit and the inertial body.

According to another aspect of the present invention, there is provided a control method of an attitude control apparatus.

According to another aspect of the present invention, Determining a current posture of the object by the posture control device; The control unit of the posture control device drives the tubular body according to the current posture so as to maintain the posture of the object; And controlling the posture of the object by driving the tubular body corresponding to the sensed physical information when the physical information is sensed by the physical information sensing unit of the posture control apparatus.

In one embodiment of this aspect, the adjusting comprises: Wherein when the object is an unmanned aerial vehicle, the inertial body in the form of a disc rotating about at least two axes is rotated using a step motor, and the attitude of the object is controlled using the torque generated by the rotation of the inertial body .

In another embodiment, the adjusting comprises: When the object is a building, the disc-shaped tubular body rotated about at least two axes is rotated using a step motor, and the posture of the object is controlled using the torque generated by the rotation of the tubular body Or the spherical shape of the tubular body is rotated using a step motor and the posture of the object is controlled by using the torque generated by the rotation of the tubular body.

In yet another embodiment, the adjusting comprises: When the object is a virtual reality wearable device, a torque generated by acceleration / deceleration and stop of the inertial body is transmitted to the head using a guide member to which the inertial body is movably coupled, So that gravity and shock simulations can be performed.

In yet another embodiment, the adjusting comprises: When the object is a virtual reality wearable device, virtual gravity is simulated by applying a magnetic field generated through an electric coil to a nerve area, which can stimulate or inhibit nerves according to a frequency to be used.

As described above, the posture control apparatus of the present invention can control the posture of the object by using the reaction wheel, the control moment gyro, and the movable orbital body, etc., so as to accurately control the posture of the object according to various external influences.

Further, the posture control device of the present invention can be applied to various objects by using a reaction wheel, a control moment gyro, and a movable inertial body.

Also, the posture control device of the present invention can be applied to a building to enable active posture control and seismic design, thereby minimizing structural damage.

In addition, the posture control device of the present invention can be applied to a virtual reality wearable device to calculate the movement of the head in a three-dimensional direction, thereby realizing optimized gravity and shock simulations, thereby maximizing the sense of reality.

1 is a block diagram showing the configuration of an attitude control apparatus according to the present invention;
2 is a flowchart showing a control procedure of an attitude control apparatus according to the present invention;
FIGS. 3A and 3B are views showing a configuration of a first driving principle of an attitude control apparatus according to the present invention;
4 is a diagram showing a configuration showing a second driving principle of an attitude control apparatus according to the present invention;
FIGS. 5A and 5B are diagrams showing a configuration showing a third driving principle of an attitude control apparatus according to the present invention;
6A and 6B are diagrams showing a configuration showing a fourth driving principle of the posture control device according to the present invention.
FIG. 7 is a schematic view illustrating an unmanned aerial vehicle to which an attitude control system according to a first embodiment of the present invention is applied; FIG.
FIG. 8 is a block diagram showing the configuration of the unmanned aerial vehicle shown in FIG. 7; FIG.
9 is a view showing a configuration according to an embodiment of the tubular body shown in Fig. 7;
10 is a view showing a configuration according to another embodiment of the tubular body shown in Fig. 7; Fig.
11A to 11C are views for explaining the operation according to the attitude control of the unmanned aerial vehicle shown in FIG. 7;
FIG. 12 is a view showing a schematic configuration of a building to which an attitude control device according to a second embodiment of the present invention is applied; FIG.
13A and 13B are diagrams showing a configuration according to an embodiment of the posture control apparatus shown in FIG. 12;
FIG. 14 illustrates a configuration of a virtual reality wearable device to which an attitude control device according to a third embodiment of the present invention is applied; FIG.
FIG. 15 is a view showing a configuration according to an embodiment of the inertial body shown in FIG. 14; FIG.
16 is a diagram showing the configuration of a virtual reality wearable device to which an attitude control device according to a fourth embodiment of the present invention is applied;
17 is a view showing a configuration according to the embodiment of the tubular body shown in Fig. 16;
18 is a diagram illustrating a configuration of a virtual reality wearable device to which an attitude control device according to a fifth embodiment of the present invention is applied;
19A and 19B are views showing the configuration according to the embodiment of the tubular body shown in FIG. 18; And
Fig. 20 is a view showing the configuration according to the embodiment of the tubular body shown in Fig. 19;

The embodiments of the present invention can be modified into various forms and the scope of the present invention should not be interpreted as being limited by the embodiments described below. The present embodiments are provided to enable those skilled in the art to more fully understand the present invention. Therefore, the shapes and the like of the components in the drawings are exaggerated in order to emphasize a clearer explanation.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the configuration of an attitude control apparatus according to the present invention.

Referring to FIG. 1, the posture control apparatus 100 of the present invention detects physical information from external influences using various kinds of inertial bodies, and compensates for the motion of the object in response to the sensed physical information, The posture is controlled, or the moment corresponding to the external influences exerted on the object is accurately transmitted to the user.

For this purpose, the attitude control apparatus 100 of the present invention includes a physical information sensing unit 110 for sensing physical information generated according to various external influences reflected on an object, a physical information sensing unit 110 for sensing physical information sensed by the physical information sensing unit 110, A driving unit 130 for driving the inertial body 140 and a driving unit 130 for driving the inertial body 140 in response to the physical information sensed by the physical information sensing unit 110. [ 140 controls the driving unit 130 to adjust the posture of the object or transmit the moment transmitted to the object by the physical information to the user. The body (140) and the driving unit (130) may be provided as an integrated body (150).

The physical information sensing unit 110 is provided with at least one sensor for sensing movements generated by the object itself or external influences exerted on the object, for example, wind, vibration due to an earthquake, and the like. The physical information sensing unit 110 may be provided with a sensor for sensing gravity to transmit electrical stimulation to the user.

The inertial body 140 is provided, for example, with a reaction wheel, a momentum wheel, a control moment gyro, or the like, and is provided on the body forming the posture control device 100. The body is provided, for example, by a rail, a pipe, or the like, and is installed on an object in a structure corresponding to the shape of the object, and is mounted and accommodated so as to be mounted or movable inside.

The driving unit 130 includes, for example, a motor, a step motor, and a motor having a stop function to rotate or stop the tubular body 140.

The control unit 120 includes a controller, a processor, a programmable logic controller (PLC), a control unit, and the like, and controls the driving unit 130 in response to the physical information sensed by the physical information sensing unit 110. [ do.

2 is a flowchart showing the control procedure of the posture control device according to the present invention.

Referring to FIG. 2, the posture control apparatus 100 of the present invention determines the current posture of the object in step S160, and drives the inertia body 140 according to the current posture in step S170. When physical information is sensed by the physical information sensing unit 110 in step S180, the orientation of the object is adjusted by driving the inertia body 140 in response to the physical information sensed in step S190.

Specifically, the structure and operation for driving the inertial body in the present invention will be described. FIGS. 3A and 3B are views showing the first driving principle of the posture control apparatus according to the present invention.

Referring to FIGS. 3A and 3B, the first driving principle of this embodiment includes rotating a disk-shaped tubular body 140 rotating about an axis, that is, a rotating body using a stepping motor 130, And controls the posture of the object by using the torque. Here, the torque is generated by the angular momentum due to the mass of the inertial body 140 and the rotational speed. The structure for the first driving principle includes a body 102, at least two tubular bodies 140 provided corresponding to the respective shafts, at least two stepping motors 130 for rotating one tubular body 140, And a brake 132 provided on each of the inertia members 140 to stop the rotation.

Since the first driving principle generates a rotation scheme of two or more axes, the three-dimensional attitude control is possible. In addition, when the rotating body 140 is instantaneously stopped (braked) as well as the torque generated by the simple rotation, the torque generated by the stop can be transmitted to the mounted object to transmit instantaneous movement.

4 is a diagram showing a configuration showing a second driving principle of an attitude control apparatus according to the present invention.

Referring to FIG. 4, the second driving principle of this embodiment is a method of driving a rotating spherical inertial body, that is, a reaction sphere actuator by using a step motor, To control the posture. The second driving principle is provided integrally with the spherical shaped inertial body and the motor combined. Therefore, it is possible to unify the rotating body passing through the shaft by using the spherical shaped body. Of course, the rotating body and the motor may be separated from each other, and a motor may be provided on the outside to rotate the rotating body.

Here, the reaction sphere actuator includes a rotor having a plurality of permanent magnets (PM) and generating a torque around an arbitrary axis, and a plurality of electromagnets (EM) And a stator that cooperates with the magnets PM to form a magnetic field. The rotor and the stator are rotatably supported by a ball joint bearing. The torque of the reaction spherical actuator is obtained by rotating the rotor and the stator, that is, by mounting a plurality of permanent magnets and electromagnets, respectively, in the case surrounding the spherical surface and the sphere, .

Such a second driving principle may drive the inertial body in the same or substantially similar manner as the first driving principle to generate the torque, and the corresponding moment may be transmitted to the object to transmit the momentary movement.

FIGS. 5A and 5B are diagrams showing a configuration of a third driving principle of the posture control apparatus according to the present invention.

Referring to Figs. 5A and 5B, the third driving principle of this embodiment processes the linear posture control using the guide member 102a so that the tubular member 140a can move along. The guide member 102a is provided, for example, in a rail on which the inertial body 140a is movably coupled or a cylindrical type in which the inertial body 140a is provided in a pipe shape into which the inertial body 140a is movably inserted.

The cylindrical guide member 102a is provided so that the inertia member 140a can move linearly therein. It is possible to move the tubular member 140a in the other direction by using compressed gas on both sides of the cylindrical guide member 102a and to move the tubular member 140a directly by electronically controlling it with a linear motor or the like.

Therefore, the guide member 102a has a structure in which the guide member 140a can move freely within the guide member 102a, and the movement of the guide member 140a in the guide member 102a using a fluid such as a spring, . The posture of the object is controlled by using the impact generated by the acceleration of the guide member 102a due to the movement of the guide member 102a to one end of the guide member 102a and the inertia thereof.

For example, when the object is a virtual reality wearable device, a plurality of cylindrical guide members 102a (102a, 102b, 102c, 102d) are provided in the virtual reality wearable device 30 having a shape suitable for the user's head shape, ), The impact and inertia simulations are possible by moving the inertial body 140a with respect to each of the directions in which the cylindrical guide member 102a is installed.

6A and 6B are views showing a configuration showing a fourth driving principle of the posture control device according to the present invention.

Referring to FIGS. 6A and 6B, the fourth driving principle of this embodiment is a posture control method using a magnetic field nerve. When a magnetic field generated through an electric coil 140b is applied to a nerve region, And to stimulate or inhibit the nervous system. That is, a magnetic field is used to stimulate or suppress the nerve bundle locally, or simulate virtual gravity by stimulating or suppressing the nerves of the vestibular organ to stimulate the cranial nerve using a magnetic field.

For example, what we feel to be gravitational is that the substances inside the vestibular organ located inside the ear are physically moved by gravity, and this physical movement is converted into a neural signal and transmitted to the brain. When the virtual reality wearable device 30 is experienced by stimulating or suppressing the nerve portion that transmits gravity, the virtual gravity suitable for the content can be transmitted to the brain, thereby maximizing the experience effect.

In this case, since the resolution and the aiming position of the magnetic field are important to stimulate or suppress the nerve portion that transmits gravity, the following two methods are mixed. That is, since the shape and number of the coil 140b generating the magnetic field and the shape of the magnetic field generated according to the arrangement structure of the coil 140b are different, a method of effectively and locally aiming the coil 140b, Applying in various directions, each coil 140b generates a weaker stimulus than the threshold at which the nerve is stimulated. At this time, a method in which a portion where the magnetic fields generated by the plurality of coils 140b are overlapped becomes a target nerve, that is, an aiming point, and each stimulus creates an additive effect to give stimulation above a threshold value It is mixed.

In this case, the resolving power of the magnetic field and the aiming target are determined in such a manner that a part of the magnetic field generated by the plurality of coils 140b overlaps. When each of the magnetic fields by the plurality of coils 140b is overlapped with an output that is less than the threshold value for stimulating the nerve, the nerve is stimulated beyond the threshold value and the nerve or cells of the non-overlapping portion are not affected .

An ultrasonic device (not shown) is mounted on the virtual reality wearable device 30 including the coil 140b to find the position of the vestibular organs and the location of the nerve cell. The angle of the coil 140b It is applicable to adjust the direction. Therefore, the magnetic fields are not affected by neurons or other cells that do not overlap with each other.

Therefore, the posture control apparatus 100 of the present invention can be applied to various objects using the above-described driving principles. For example, objects include unmanned aerial vehicles, buildings, and virtual reality wearable devices.

That is, the configuration and operation of the object to which the posture control device according to the present invention is applied will be described with reference to Figs.

FIG. 7 is a diagram showing a schematic configuration of an unmanned aerial vehicle to which an attitude control device according to a first embodiment of the present invention is applied, FIG. 8 is a block diagram showing the configuration of the unmanned aerial vehicle shown in FIG. 7, Fig. 10 is a view showing a configuration according to another embodiment of the tubular body shown in Fig. 7, and Figs. 11A to 11C are sectional views of the tubular body shown in Fig. 7 FIG. 3 is a view illustrating an operation of the unmanned aerial vehicle according to the posture control of the unmanned aerial vehicle shown in FIG.

Referring to Figs. 7 to 11C, the posture control apparatus 100a of this embodiment is applied to the object of the unmanned air vehicle 20. Fig. That is, the unmanned aerial vehicle 20 of this embodiment is provided, for example, as a drone, and the posture control device 100a is mounted on the center of gravity of the body portion 22. [

The unmanned aerial vehicle 20 includes a plurality of propellers 24, a propeller drive unit 26 for driving the propellers 24, and an attitude control device 100a. The posture control apparatus 100a includes a physical information sensing unit 110a, a control unit 120a, an actuator driving unit 130a, and a control moment gyro 140a.

In this embodiment, the physical information sensing unit 110a is provided with a sensor for sensing physical information about external influences applied to the unmanned aerial vehicle 20, for example, wind speed, air volume, and the like. The control unit 120a controls the inertial body driving unit 130a in response to the physical information sensed by the physical information sensing unit 110a. The inertial body driving unit 130a drives the control moment gyro 140a to adjust the posture of the unmanned air vehicle 20 under the control of the control unit 120a. The control moment gyro 140a is an inertial body and is rotated in at least two axial directions by the inertial body driving portion 130a to adjust the attitude of the unmanned air body 20.

The control moment gyro 140a may be provided with at least two reaction wheels 142a-142d, as shown in FIG. In this embodiment, the reaction wheels 142a to 142d are provided on the upper, lower, left, and right sides respectively corresponding to a plurality of axial directions. At this time, the lower and right reaction wheels 142c and 142d may be optionally provided. Each of the reaction wheels 142a to 142d is provided with step motors 132a to 132d through which it is rotated in each axial direction.

As shown in FIG. 10, the control moment gyro 140a is provided with a reaction spherical actuator 150 in which a spherical shaped body and a motor are integrally formed. The reaction spherical actuator is constituted such that a plurality of permanent magnets and electromagnets are mounted on the surface of the sphere 152 and the case 154 surrounding the sphere 152 as required and the sphere is rotated in a desired direction according to the operation of the electromagnet, .

Therefore, the unmanned aerial vehicle 20 of this embodiment is configured such that the control moment gyro 140a is mounted on the center of gravity of the unmanned air vehicle 20 in the form of a multi-axle wheel or a sphere and is driven by the driving mechanism of the propeller 24 of the unmanned air vehicle 20 You can independently adjust the orientation and posture. Of course, in conjunction with the driving mechanism of the propeller 24, more rapid change of direction and posture adjustment are possible. In addition, since it is possible to maintain a fine posture in response to an influence of an external element, particularly wind, it can be applied to various applications such as unmanned aerial vehicles for delivery.

For example, as shown in FIG. 11A, the propellers 24a and 24b of the UAV 20 are all driven in the same manner, and the attitude control device 100a is rotated in one direction, Alternatively, as shown in Figs. 11B and 11C, one propeller 24a of the unmanned air vehicle 20 is turned off, the other propeller 24b is turned on, and the attitude control device 100a It is possible to adjust the posture so that the unmanned air vehicle 20 descends at a high speed in one downward direction.

12 is a view showing a schematic configuration of a structure to which an attitude control device according to a second embodiment of the present invention is applied, and Figs. 13A and 13B are diagrams showing a configuration according to an embodiment of the attitude control device shown in Fig. These are the drawings.

Referring to Figs. 12 to 13B, the posture control apparatus 100b of this embodiment is installed in the building 40. Fig. That is, the structure 40 of this embodiment is provided with an attitude control device 100b in at least one of an upper portion, an intermediate portion, and a lower portion. The attitude control apparatus 100b includes a physical information sensing unit 110c such as an earthquake sensor or an airflow sensor, an inertial body 140c or 150 having a reaction wheel or spherical shape, and a tuning mass damper 144. [ The posture control device 100b installs the structural body 140c or 150 using the first or second driving principle on the building 40. [

In the case of this embodiment, although the movement of the building is reduced by the existing seismic design for the posture control and the seismic design of the building in the past, there is surplus movement, and as the buildings are made into the superstructure, It receives greatly.

Therefore, in the present invention, as shown in FIG. 13A or 13B, a large control moment gyro 140c or 150 is installed on the upper part of the building 40a or 40b, and large and small buildings 40a or 40b to compensate for the movement of the building 40a or 40b to reduce fatigue failure of the building 40a or 40b. Also, as the building 40a or 40b is elevated, it is installed not only at the upper part but also at the middle part or the lower part, so that the optimized attitude control of the building can be performed in conjunction with the existing seismic design.

A control mass gyro 140c or 150 may be installed on the upper part and a tuning mass damper 144 may be provided on one side of the building 40. [ In this case, a sensor for sensing the movement of the building 40 or an airflow sensor for sensing the intensity of the wind is provided at each of various positions of the building 40, and the movement and air volume of the building 40 are sensed through the sensors, And a tuning mass damper 144 for reducing vibrations and movement by providing a weight having a large weight at the upper part corresponding to the movement and the amount of wind, that is, an inertia body 150 is provided.

The tuned mass damper 144 is, for example, a type of a damper. The tuned mass damper 144 uses a spring mass system or the like having the same natural frequency as the natural frequency or the external frequency of the building added to the building to suppress the vibration of the building It is mainly used for vibration control of buildings by wind or vibration. Therefore, in the present invention, a tuned mass damper (TMD) technique is mainly installed with a large-sized spherical shape, and additional and direct attitude control is possible by installing the spherical control moment gyro.

Also, the building 40a may have a reaction-wheel-shaped control moment gyro 140c having a plurality of axes. In this case, the reaction wheel is rotated about at least two axes to control the posture of the building 40a.

Accordingly, this embodiment provides a structure in which the movement of the building 40 (40a, 40b) is actively reversed by fine or large movements of the building by external elements such as wind, Control and minimize structural damage.

Also, the acceleration, movement distance, measured wind speed, temperature, humidity, seismic wave arrival amount, waveform and the like of each building 40 (40a, 40b) are analyzed and a plurality of control moment gyros 140c, .

Particularly, when the earthquake occurs, the sensor senses the surplus movement buffered by the existing seismic design, and the reaction wheel or the control moment gyro 140c or 150 is located at the upper or lower end of the building 40 or at various positions, ) To minimize the damage and to measure the position, direction, and distance of the external earthquake signal to estimate the arrival time, waveform and direction to the building (40) and control the attitude to actively cope with the earthquake .

FIG. 14 is a view showing a configuration of a virtual reality wearable device to which an attitude control device according to a third embodiment of the present invention is applied, and FIG. 15 is a view illustrating a configuration according to an embodiment of the inertial body shown in FIG.

Referring to FIGS. 14 and 15, the virtual reality wearable device 30a of this embodiment includes an attitude control device to which the above-described first to third driving principles and the magnetic field control method are applied for gravity and external impact simulation . The virtual reality wearable device 30 constitutes the main body 102 in the form of a head of the user. In the posture control device of this embodiment, a plurality of tubular bodies 140 are provided on the side surface, and are driven by the shaft and the motor 130. The body member 140 is not shown in the drawing, but has a plurality of coils for electromagnetic driving and a magnet and a brake pad.

As another example, the tubular body 140 may be provided with an air pressure pad 140d for haptic input, as shown in Fig. The air pressure pad 140d is provided so as to pressurize a region to which a stimulus or an impact is applied by blowing up air by supplying air using an air pressure device 130d for supplying or discharging air. As another example, the tubular member 140 may be provided with a vibration pad (not shown) that transmits vibration using a vibration motor.

FIG. 16 is a view showing a configuration of a virtual reality wearable device to which an attitude control device according to a fourth embodiment of the present invention is applied, and FIG. 17 is a view showing a configuration according to an embodiment of the inertial body shown in FIG.

16 to 17, the virtual reality wearable device 30b of this embodiment also includes an attitude control device for applying the driving principles and the magnetic field control method described above for gravity and shock simulation. The virtual reality wearable device 30b forms a main body in the form of a head of the user. The inertial body 140 is provided with a reaction wheel, and the reaction wheel 140 is rotated or stopped by the step motor 130 and the brake 132.

This virtual reality wearable device 30b is configured such that, for example, when a plurality of rotating body members 140 are positioned on both sides of the user's ear, at the front and rear of the user's head, at the top of the head, etc., and generate torque through proper rotation and braking, By calculating the vector values of the direction and magnitude values and adding them together, a desired three-dimensional direction is created. Since the head moves on the basis of the neck, it combines the directions of the torque generated through the control moment gyro to calculate the three-dimensional direction, ie, the vector value and head movement, and implements optimized gravity and shock simulation It is possible to maximize the reality.

Therefore, the virtual reality wearable devices 30a and 30b are equipped with a control moment gyro, a reaction wheel or an air pressure pad designed to fit the shape of the head on both sides, front and rear, and top, And the torque generated in accordance with the stop can be transmitted to the head, so that gravity and impact simulation can be performed in a direction corresponding to a simulation on a virtual reality or a game signal.

18 is a view showing a configuration of a virtual reality wearable device to which an attitude control device according to a fifth embodiment of the present invention is applied, and FIGS. 19A and 19B are views showing a configuration according to an embodiment of the inertial body shown in FIG. And FIG. 20 is a view showing a configuration according to the embodiment of the inertial body shown in FIG. 19.

Referring to FIGS. 18 to 20, the virtual reality wearable device 30c of this embodiment includes a plurality of rails or pipes 102 that are provided so that the body 140 can move left and right, The inertial body 140 is moved in a desired direction so that the simulation of the virtual reality wearable device 30c can be sensed realistically according to the torque.

The virtual reality wearable device 30c of this embodiment configures a main body in the form of a head of a user. The body comprises a plurality of rails or pipes 102. Each rail or pipe 102 is installed on one side or inside thereof so that the inertial body 140 is movable left and right.

The rail or pipe 102 (102b, 102c) is also provided with a straight or arc shape 102b or 102c, as shown in Figures 18a and 18b, (140, 140b, 140c) is launched by a spring 142, a linear motor, or compressed air, either in a single direction or in a single direction to produce an effect similar to the reaction wheel or control moment gyro described above, 140 may impact the end of the rail or pipe 102 to provide an external impact effect.

It is also possible to maximize the effect by mixing the roles of multiple control moment gyros or reaction wheels and rails or pipes with straight or arc shaped bodies. For example, it is possible to output a torque in a specific direction through a reaction wheel, and at the same time, move and impact the tubular body in the pipe in the same direction to deliver a more dramatic effect.

For example, if a straight or streamlined pipe is mounted on the above-mentioned virtual reality wearable device 30, 30a to 30c and the pipe is provided with a spherical or cylindrical shaped pipe having a certain weight inside the pipe, Accelerating to one end of the pipe at a speed, impact generated by collision with movement due to inertia is transmitted to the head, so that realistic simulation of gravity and external shock according to the virtual reality contents becomes possible.

In addition, it is possible to maximize the realistic experience effect of the virtual reality by using the motion generated using the control moment gyro of the first driving principle and the motion and the shock generated through the second driving principle. In addition, it is also possible to maximize the effect of each driving principle by simultaneously using the magnetic nerve control to the first and second driving principles. For example, in a game in a virtual reality, when a content to be impacted on the right is produced, the virtual reality wearable device to which the posture control device of the present invention is applied substantially rotates the head in an appropriate direction to maximize the sense of reality and immersion .

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. It is possible.

10: object
20: unmanned aerial vehicle
30: Virtual reality wearable devices
40: Architecture
100, 100a, 100b, 100c: posture control device
102 102a to 102c: Body (rail or pipe)
110: physical information sensor unit
120:
130:
140, 140a to 140c:
150: Reaction spherical actuator (spherical shaped body and motor integrated type)

Claims (11)

A posture control apparatus comprising:
A body provided on the object;
A driving unit installed in the main body and generating a rotational force;
A physical information sensing unit for sensing physical information generated from the object itself or from outside;
At least one inertial body installed in the body and rotated by receiving a rotational force from the driving unit to adjust the center of gravity of the object to transmit the object to the object;
And a control unit for determining the current posture of the object and controlling the driving unit to drive the tubular body in accordance with the physical information sensed by the physical information sensing unit; The posture of the object is adjusted by the movement of the inertial body,
The tubular member is movably inserted into the cylindrical guide member,
The cylindrical guide member is configured to move the tubular member in the other direction by using compressed gas on both sides of the tubular guide member. The inertial force generated by the inertial member being accelerated to one end of the cylindrical guide member, Control posture,
Wherein the physical information sensing unit comprises a sensor for sensing at least one of wind velocity and vibration corresponding to the object.
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And a reaction sphere actuator having the driving part and the inertia body integrally formed thereon.
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