WO2019185228A1

WO2019185228A1 - Movement-compensating system for an apparatus for passenger transportation, apparatus for passenger transportation with the movement-compensating system, and method for preventing kinetosis

Info

Publication number: WO2019185228A1
Application number: PCT/EP2019/053354
Authority: WO
Inventors: Heiko Freienstein; Dietmar Martini; Thomas Schlender
Original assignee: Robert Bosch Gmbh
Priority date: 2018-03-26
Filing date: 2019-02-12
Publication date: 2019-10-03
Also published as: DE102018204540A1

Abstract

The invention relates to a movement-compensating system (100) for an apparatus for passenger transportation (105), wherein the apparatus (105) has at least one conveying device (110) which is designed to bring about a movement of the apparatus (105). The movement-compensating system (100) has at least one accommodating device (115) for accommodating a person, and at least one mechanical coupling device (120). The at least one mechanical coupling device (120) for coupling the accommodating device (115) to the conveying device (110) is designed to permit a relative movement between the accommodating device (115) and the conveying device (110) along at least one movement path, in order to avoid kinetosis.

Description

description

title

Motion compensation system for a passenger transport device,

Passenger transport device with motion compensation system and

Method for kinetosis prevention

State of the art

The invention is based on a device or a method according to the preamble of the independent claims.

Kinetosis, also known as travel sickness, seasickness, motion sickness or SMS (symptoms of motion sickness), represents a significant limiting factor of future mobility in general and of automated driving in particular. Kinetosis is caused by contradictory

Information of the sense organs to the movement of the body and the spatial situation.

In order to avoid kinetosis, it is possible to give the occupant of a vehicle visible or tactile signals while driving, which are modified in dependence on driving-specific movement data.

DE 10 2014 210 170 A1 describes a method for reducing motion sickness in a motor vehicle and a motor vehicle for carrying out such a method by means of the use of air currents.

Disclosure of the invention

Against this background, the approach presented here is used

Motion compensation system, a device for transporting people with Such a motion compensation system and method for

Prevention of kinetosis according to the main claims presented. The measures listed in the dependent claims are advantageous

Further developments and improvements of the device specified in the independent claim possible.

The passenger transport device may be a mobile means of transport such as a passenger car, an automated ferry vehicle, a train, a bus or an aircraft.

The passenger transport device, for example a car, has at least one transport device which is designed to effect a movement of the device. By the transport device, the device can be moved with respect to the environment of the device. Thus, the conveyor may include means for accelerating and / or decelerating the device. In the

Transportation device may be, for example, a body together with the drive train of a vehicle.

The motion compensation system has at least one

Recording device for receiving a person and a mechanical coupling device for coupling the receiving device with the

Carriage on. The receiving device can be, for example, a capsule or a seat for at least one occupant who wishes to use the device for transporting people as a means of transportation. In the recording device and several people can sit n. Whereby at least n-1 persons with the head are not in the optimal position with regard to minimizing the horizontal forces. The at least one mechanical coupling device for coupling the receiving device to the conveying device is designed to allow a relative movement between the receiving device and the conveying device along at least one movement path in order to avoid kinetosis. The coupling device may comprise, for example, a universal joint or a ball joint. Also, the coupling device can be designed either as a rigid connecting rod or spring-damper unit. The Enabling the relative movement can advantageously the creation of a near-own inertial system of the receiving device

recorded person, such as a vehicle occupant effect. The recorded person noticed so advantageously the travel movement hardly. In addition, the optically hermetic shield has the advantage that the recorded person can also be positioned backwards with respect to the direction of travel.

According to one embodiment, the receiving device is designed to optically hermetically shield a field of view of a person picked up by the receiving device with respect to an environment of the receiving device. For example, the receiving device may be formed as an optically shieldable or shielded capsule, which is attached to an element of the

Carriage, such as a body of a vehicle, can be coupled. For this purpose, the receiving device a

have opaque wall or shell. The receiving device may be visually shielded so that an occupant the outside of the

Recording device can not recognize. Alternatively, the

Receiving device may be formed as a seat, for example, a driving cab, wherein the optically hermetic shield by a corresponding

molded glasses can be achieved, for example by a video glasses or a data glasses or a virtual reality glasses (VR glasses). These

Embodiments advantageously offer the possibility of a particularly simple and elegant integration of facilities for media consumption.

According to one embodiment, this makes it possible

Motion compensation system to compensate for unwanted movements of the device, so that the unwanted movements are not perceived by a person who is located in an interior or on a seat of the device. Kinetosis can thus be avoided by means of the motion compensation system. The cause of the kinetosis is combated. In addition, an artificial sensory impression can be created. The approach presented here can prevent the movement caused by traveling from being perceived by an occupant. This allows a much more comfortable way of traveling, and effective kinetosis prevention. The occupant of the device is according to one embodiment in its own inertial system and can be almost free of lateral and

Longitudinal accelerations such as media consumption operate, reading, writing or painting. This is in current cars with the current one

Driving dynamics of traffic - especially on rural roads and urban areas - not possible for the majority of people without suffering from nausea (kinetosis). Advantageously, a much higher travel comfort can be achieved according to embodiments of the approach presented here. Moreover, the approach presented here also allows persons who suffer from kinetosis to engage in other things while traveling, in particular to engage in media consumption. The occupant of a vehicle is also optically hermetically shielded from the surroundings of the vehicle, which advantageously makes it possible to position the occupant with respect to the direction of travel also backwards, which can reduce the injury severity of the occupant in collisions of the vehicle and thus increase his safety. Thus, according to one embodiment, kinetosis caused by longitudinal or lateral acceleration can be avoided. It can be used on chassis, which are designed so that no critical vertical vibrations occur, with vibrations between 0.1 - 0.7 Hz in the z-direction as critical (according to VDI Guideline 2057) are considered.

The coupling device of the motion compensation system is formed according to an embodiment to the relative movement of the

Induce and / or accelerate, and / or maintain, and / or attenuate and / or keep at rest a recording device to prevent kinetosis. This can advantageously enable active and thus particularly effective kinetosis prevention.

The relative movement, according to one embodiment, a compensating pendulum movement of the receiving device with respect to the

Transport device include. The pendulum motion can cause a leveling of the pendulum equalizing the horizontal forces to avoid kinetosis. The balancing pendulum movement offers the advantage that travel movements are particularly gentle and therefore effective

can be compensated. The receiving device can accordingly be moved in different directions on trajectories which ideally resemble those of a pendulum. This allows a particularly comfortable compensation of the driving movement.

In addition, a further relative movement or stabilization of the receiving device can be made possible, for example, when picking up the person in the receiving device, so for example when Ein- or

Getting out of an occupant.

According to one embodiment, the coupling device is designed to adjust the relative movement with respect to the magnitude of the deflection of the relative movement along the at least one movement path. Additionally or alternatively, the coupling device may be formed to accommodate the

Lock recording device. For example, the relative movement can be adjusted to allow only the size of the rash of relative movement, which is still perceived by the recorded person as comfortable. Advantageously, for example, an individual adjustment of the relative movement with respect to the kinetosis sensitivity is possible. The ability to adjust the size of the deflection of the movement path of the relative movement, also offers the possibility of a particularly compact design of the proposed movement system in combination with a transport device in which the relative movement of the

Recording direction can be enabled. The possibility of adjusting the size of the rash of relative motion and the possibility of a

Locking the receiving device also offer the advantage of increased security in the event of a collision of the device for passenger transport, for example during a braking operation in a collision.

In addition, the coupling device according to one embodiment is designed to prevent an uncontrolled rotational movement of the receiving device about the vertical axis of the receiving device. This can advantageously prevent the receiving device from rotating around itself. The motion compensation system comprises, according to one embodiment, a control device which is designed in order to control those of the

Coupling device allowed relative movement for kinetosis prevention to bring about, accelerate or dampen

Additionally or alternatively, the regulating device can be designed to trigger the relative movement actuated by the coupling device, in particular to avoid kinetosis. The control device advantageously allows a particularly accurate control of

Relative movement for kinetosis prevention.

According to one embodiment, the control device may be configured to receive a control signal for approximating the relative movement to the aperiodic limit case by an adjusting device for providing the control signal. The aperiodic limit case is the attenuation state of a harmonic oscillator. The approach to the periodic limit case is advantageous because overshoot can be avoided, and according to the aperiodic limiting case, the deflection of the relative movement and thus the damping of travel movements can be particularly gentle.

According to one embodiment, the coupling device may comprise at least one joint and / or one elastomeric connection element for enabling the relative movement. The joint may be, for example, a universal joint or a ball joint. A joint as

Coupling device may be advantageous because the coupling device can then be particularly well constructed in the form of a pendulum. One

Elastomer connecting element for coupling the receiving device with the conveying device has the advantage that the relative movement is already damped by the elastically deformable property of an elastomer, which may be advantageous for the prevention of unwanted vibrations.

The receiving device may be formed according to an embodiment as a capsule or a seat or a capsule with a seat. The shape as a capsule or capsule with a seat advantageously allows a particularly simple way of optically hermetic shielding and thus a compact design. The shaping of the receiving device as a seat advantageously makes it possible to install the motion compensation system in a device for transporting people, in which several persons can be transported. In addition, this shaping can, for example, also enable the person or inspecific adaptation of the relative movement to the recorded person, which advantageously makes possible a particular adaptation of the kinetosis prevention, for example, to the extent of the kinetosis sensitivity.

According to one embodiment, the motion compensation system comprises an image display device for displaying an image for at least one person picked up by the recording device. It is the

Image display device according to one embodiment mechanically coupled to the receiving device. Due to the mechanical coupling, the image display device is advantageously coupled to the same inertial system as the occupants and thus carries along their movements. The image display device may be, for example, a screen in the recording device or projected around the recording device

Picture signal or coupled to a seat screen or act on a coupled to a multimedia system of a vehicle screen. Also, the image display device may be data glasses or video glasses that can be carried by an occupant. In addition, advantageously a particularly comfortable media use can be made possible.

The approach presented here also provides a device for

Passenger transportation. The device comprises at least one

Transport device, which is adapted to a movement of the

Device to cause, and a said motion compensation system, wherein the receiving means of the motion compensation system via the coupling means of the motion compensation system with the

Transport device is coupled. This device may be a vehicle with a described motion compensation system according to embodiments, in particular a car, for example a car with an automated driving system. There will be a method for preventing kinetosis in a corresponding

Passenger transport device presented according to embodiments. The method comprises a step of actuating a relative movement to prevent kinetosis in order to effect a minimization of the horizontal forces within the receiving device of the motion compensation system and / or a rest position of the receiving device of the motion compensation system

Maintain or bring about motion compensation system. The actuation thus takes place in order to bring about and / or to accelerate, and / or to maintain and / or to dampen the relative movement of the receiving device of the motion compensation system for preventing kinetosis. According to one embodiment, the actuation may be, for example, in

Approaching the aperiodic borderline case.

The method may include a step of displaying an image for a person picked up by the receiving device of the motion compensation system to assist in preventing the kinetosis. This method advantageously allows the support of kinetosis prevention by visual presentation.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.

Embodiments of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows:

1 shows a schematic representation of a motion compensation system for a device for passenger transport according to an embodiment;

FIG. 2 shows a schematic representation with respect to a relative movement of a receiving device according to an embodiment; FIG.

3 is a flowchart of a method according to a

Embodiment; 4 characteristic curves with respect to a movement of the receiving device according to an embodiment;

5 characteristic curves with respect to a movement of the receiving device according to a further embodiment;

6 characteristic curves with respect to a movement of the receiving device according to a further embodiment;

7 is a schematic representation of a control device according to an exemplary embodiment;

Fig. 8 is a schematic representation of a motion compensation system for a device for transporting people with several

Receiving devices as seats according to an embodiment;

9 characteristic curves with respect to a movement of the receiving device according to a further embodiment;

10 shows characteristic curves relating to a movement of the receiving device according to an embodiment; and

Fig. 11 curves with respect to a movement of the receiving device according to another embodiment.

In the following description of favorable embodiments of the present invention are for the in the various figures

represented and similar elements acting the same or similar

Reference numeral used, wherein a repeated description of these elements is omitted.

Fig. 1 shows a schematic representation of a

Motion compensation system 100 for a device 105 for

Passenger transport according to one embodiment. The passenger transport device 105 comprises a transport device 110 for Passenger transport and the motion compensation system 100. The conveyor 110 is configured to cause movement of the passenger transport device 105.

According to the embodiment shown, the device 105 is designed as a vehicle. The conveying device 110 comprises a body with an outer capsule and wheels which allow the device 105 to roll, for example along a road. The transport device 110 comprises a drive train via which at least one of the wheels can be driven. For example, the drive train to an electric motor or an internal combustion engine. Also shown are deformation areas of the conveyor 110.

The motion compensation system 100 includes a receptacle 115 for receiving persons and a mechanical coupling 120. For example, the receptacle 115 is formed as an inner capsule disposed within the outer capsule of the conveyor 110. The coupling device 120 movably couples the receiving device 115 to the conveying device 110. The coupling device 120 is designed to allow a relative movement between the receiving device 115 and the conveying device 110 along at least one movement path in order to avoid kinetosis.

By way of example, FIG. 1 also shows a seat 125 and a picked-up person 130 in the receiving device 115. In addition, the

Direction of travel 135 of the device 105 shown for passenger transport.

The receiving device 115 is optionally configured according to an embodiment to a field of view of at least one of the receiving device 115 recorded person 130 against an environment of

Optically hermetically shield receiving device 115. According to the embodiment shown here, the receiving device 115 is shaped capsule-shaped. For optical screening, the wall of the receiving device 115 is formed, for example, from an opaque, opaque material. Both the receiving device 115 and the outer capsule of

Carriage 110 may be formed differently, for example, include only a support frame.

Both the inner capsule, so the receiving device 115, and the outer capsule of the conveyor 110 are according to a

Embodiment designed as a safety cage stable, comparable to today's passenger compartments. The shape of the receiver 115 and the outer capsule of the conveyor 110 may be oval. In an optimization in terms of space requirements, however, the enabling of sufficiently large relative movements, according to an embodiment in the form of pendulum rashes, to ensure. Due to the optical

Shielding and mechanical decoupling of the interior of the

Recording device 115, the recorded person 130, so the passenger, with respect to the direction of travel 135 are positioned backwards.

In the optically hermetically sealed capsule of the receiving device 115 can the occupant by means of an optional image display device

For example, image signals are projected onto the inner wall of the receiving device 115. The inner wall is thus used according to an embodiment as a monitor or screen, especially in a vehicle with an automated driving system. In a further exemplary embodiment, the display can take place on an image display device 140 which is mechanically coupled to the recording device 115.

Both rigid and moving images can be projected, as well as, if appropriate, particularly favorable environments and / or motifs which make the vibrations that are still perceptible to the occupant or the occupants of the receiving device 115 possibly due to the driving movements and thus further improve the kinetosis prevention can. Due to the mechanical coupling to the suspended interior of the

Receiving device 115, or according to a further embodiment with the receiving device 115 as a suspended seat and the Image display device 140 in the form of VR glasses, the projected image is mechanically coupled to the same inertial system as the recorded person 130.

As a result, no costly adjustments to the tilt and position of the projected image are necessary. This provides a robust and elegant way to create a largely isolated from the driving movements multimedia environment (interior as a "private movie theater") for the occupant.

This also creates the prerequisite for the display of an artificial horizon, which can be designed as desired and - optionally switchable by the (technology-savvy) occupants - can be faded into the image. Thus, in one embodiment, the image display device 140 is configured to display an artificial horizon in response to a request from an occupant.

According to one embodiment, the coupling device 120 comprises a joint, a damping element and at least one spring, ie a spring-damper system, e.g. made of steel and / or by hydraulic or pneumatic, analogous to a known shock absorber in a commercial chassis. The joint is connected on the one hand to the outer capsule of the conveyor 110 and on the other hand to the composite of damping element and spring. The composite of damping element and spring is connected to the receiving device 115 at an end facing away from the joint. About the joint, the receiving device 115 is movable on the

Transport device 110 suspended. Thus, the receiver 115 may perform the relative movement with respect to the conveyor 110. The spring is exemplified as a helical spring, wherein the damping element is enclosed by the coil spring.

Depending on the embodiment, the coupling device allows a damping of a linear relative movement in the z direction of the coordinate system of the receiving device. This can be an increased comfort both regarding.

Unevenness of the road and in the reversal points of the pendulum movements can be achieved. In addition, according to one embodiment, the coupling device is designed to prevent a rotational movement of the receiving device about the vertical axis of the receiving device. This can advantageously prevent the receiving device from rotating around itself.

FIG. 2 shows a schematic representation with respect to a relative movement of a receiving device 115 according to an exemplary embodiment. Shown is a device 105 in the form of a vehicle, as already described with reference to FIG. 1. The device 105 comprises the receiving device 115, which can be moved with the aid of the coupling device 120

Carriage 110 is coupled.

By way of example, end positions for two movement paths 205, 210 of a relative movement of the receiving device 115 of the

Motion compensation system 100 shown.

According to one embodiment, the coupling device 120 is designed to actuate the relative movement to a rest position of the

Maintain or bring in recording device 115.

The relative movement according to one embodiment comprises a

compensating pendulum movement of the receiving device 115 with respect to the conveying device 110. The end positions for two trajectories 205, 210 shown by way of example in FIG. 2 exemplarily show such

Relative movement in the form of a pendulum movement, wherein the end positions of the movement path 205 exemplarily show a pendulum motion for the comfort of a person recorded in the receiving device 115, and the

Endpositions of the trajectory 210 exemplify a pendulum motion for the passive safety of a recorded in the receiving device 115 person. Accordingly, the movement path 210 goes beyond the movement path 205.

If the relative movement according to this embodiment takes place as a compensating pendulum movement, the center of gravity of the pendulum in the form of the receiving device 115, for example in the position of Head, or the balance organ of the recorded person 130 are located.

To effect the relative movement according to an embodiment as a pendulum motion, serves to avoid kinetosis. If, for example, a cup filled with water is packed in a cloth which is folded as a pendulum, horizontal forces are equalized by the deflection of the pendulum so that the water in the cup is given an inertial system which is (almost) free of horizontal forces (exactly valid for a point mass, see

mathematical pendulum). The water thus remains despite "tilt" in the cup. In order to prevent the kinetosis, it is necessary to equalize the horizontal forces. Based on the above example results in the approach that

Receiving device 115 in the form of a seat or a complete capsule, as the interior of a transport device 110, for example, perform the body of a car, as a pendulum. The inner and outer sheath, so the receiving device 115 and the conveyor 110 are to be presented according to this embodiment, such as nutshells, of which the inner capsule on the roof of the outer capsule (suspended) is suspended. The suspension of the receiving device 115, for example in the form of the inner capsule, as a pendulum is carried out according to an embodiment so that they do not rotate, but can move in the x and y direction swinging within certain limits. Optionally, freedom of movement can also be provided in the z direction.

According to one embodiment, the relative movement of the

Receiving device 115 along a plane which is transverse to the transverse axis of the conveyor 110. In this case, the relative movement comprises a portion which corresponds to a pendulum movement about the joint of the coupling device 120 and optionally a proportion corresponding to a pendulum movement along the connecting rod of the coupling device 120, ie along the longitudinal axis of the conveyor 110.

The coupling device 120 is formed according to an embodiment to the relative movement in terms of the size of the rash of

Relative movement along the at least one movement path 205, 210 adjust. Additionally or alternatively, the coupling device 120 is shaped to the receiving device 115 relative to the

Transport device 110 to lock.

In addition, the coupling device 120 is formed according to an embodiment in order to prevent a rotational movement of the receiving device 115 about the vertical axis of the receiving device 115.

The coupling device 120 according to an embodiment for enabling the relative movement at least one joint and / or a

Elastomeric connection member. Exemplary here is the coupling of

Receiving device 115 is shown to the conveyor 110 using a joint.

When coupling with an elastomeric connector is a

Suspension and damping of the relative movement of the receiving device 115 by means of the elastomeric connector.

The coupling is carried out according to embodiments as a suspension of the receiving device 115 to the conveyor 110. Suitable as a suspension, for example, a universal joint and / or a ball joint. Here, additional measures for preventing rotation of the receiving device 115 about the z-axis of the receiving device 115 are provided. For this purpose, suitable limiting elements can be provided. For example, elastomers or, for example, climbing ropes are also suitable as suspensions. Again, additional measures for preventing rotation of the receiving device 115 are provided about the z-axis of the receiving device 115.

According to one embodiment, the relative movement comprises a compensating pendulum motion of the receiver 115 with respect to the conveyor 110. The coupling of the receiver 115 to the conveyor 110 then occurs via a coupling device 120 in the form of a pendulum. In the case of a pendulum, its length is decisive for the stability during weight shifting within the receiving device 115, for example in the form of a capsule. Some measures to active damping of the relative movement according to embodiments and the active actuation of the relative movement according to embodiments are also for stabilizing the interior - eg weight shift within the interior, so the receiving device 115, suitable. These measures are performed in the context of the representation of a control device for controlling the relative movement in a following figure.

FIG. 3 shows a flow diagram of a method for kinetosis prevention 1200 according to one exemplary embodiment. In this case, the method 1200 in conjunction with a device for transporting people, as shown for example in Fig. 1, executable. The method 1200 includes at least one step of the actuation 1205

In a step 1205 of the actuation, in the method 1200, a

Relative movement to prevent kinetosis actuated to minimize the horizontal forces within the receiving device of the

To effect movement compensation system and / or maintain a rest position of the receiving device of the motion compensation system or bring about. The relative movement is actuated to cause and / or accelerate, and / or accelerate, and / or maintain, and / or dampen and / or rest the movement of the receiving means of the motion compensation system. A corresponding actuation signal is provided, for example, by an adjusting device, as shown with reference to FIG. 7.

The method 1200 may include a step of displaying 1210 in addition to the step of actuating 1205. In a step 1210 of displaying, an image for one of the pickup means of the

Movement compensation system recorded person to support the Kinetose- prevention.

Fig. 4 shows characteristics 405, 410 with respect to a movement of a

Recording device, as with reference to the preceding figures

is described, according to an embodiment. Shown is a graphical representation of a result of a simulation to approximate the Relative movement of the receiving device to the aperiodic limit case. Shown is a characteristic curve 405 in a coordinate system in which the time in seconds is plotted on the abscissa and the acceleration a_y in g is plotted on the ordinate. The characteristic curve 405 represents the acceleration profile of the

Recording device in a simulation according to an embodiment. In this simulation was used as a device for passenger transport

Van used. The loading space of the van is considered part of the transport device described with reference to the preceding figures. As a recording device a seat in the cargo space in the x and y direction is suspended freely swinging. A damping unwanted

Ringing was realized by means of a coupling device comprising elastomeric tensioning cables at all four corners of the lower frame of the seat. The load compartment is completely darkened so that no visual reference of the horizon is visible.

In the simulation, the damping of the vibrations of the

Recording device to a small extent by means of elastomeric bands as

Elastomeric connection member. In the target, the oscillations of the pendulum in the form of the coupling device are adjusted by a spring-damper system and / or a suitable actuator so that a transient takes place in the form of the aperiodic limit case, in the current application: e.g. by means of shock absorber.

The movement of the receiving device can be explained by the following

Represent differential equation: phi_dotdot = F_tangential_ext / m / l - d / (m * l) * phi_dot - g / l * sin (phi); m: mass in the center of gravity of the pendulum

I: length of the pendulum

g: gravitational acceleration (9.81 m / (s ^A 2))

a_y: acceleration due to braking or centrifugal forces d = 2 * sqrt (l * g) * m: aperiodic limiting case

F_tangential_ext = m * cos (phi) * a_y: force tangential to the trajectory of the pendulum Phi: deflection angle of the pendulum (rad)

phi_dot: angular velocity (rad / s)

phi_dotdot: angular acceleration (rad / (s ^A 2))

In addition, a family of curves 410 is shown in another coordinate system. In the further coordinate system, the time in seconds is plotted on the abscissa and the angle of deflection f in degrees is plotted on the ordinate. The family of curves 410 shows the angle that sets itself in passive mode on its own, with three different attenuations. In FIG. 4, the result of the described simulation is shown with a 1 g jump and the aperiodic limit case.

By means of a controlled damping / actuator system, the achievement of the target position can be accelerated without having to give up the advantages of the aperiodic limit case. Two exemplary simulations by means of P controllers are shown in the following FIG. 5.

FIG. 5 shows characteristic curves 505, 510, 515, 520, 525 with respect to a movement of the receiving device according to a further exemplary embodiment. Shown is a graphical representation of a result of a simulation; comparable to the simulation described above, but with a control signal (a P controller) for approximating the relative movement to the aperiodic limit case. Accordingly, FIG. 5 shows the result of the simulation with a lg jump and an aperiodic limit case with P controller.

Shown is a characteristic curve 505 in a coordinate system in which the time in seconds is plotted on the abscissa and the acceleration a_y in g is plotted on the ordinate. In another coordinate system, a family of curves 510 and two curves 515, 520 are shown. In the further coordinate system, the time in seconds is also plotted on the abscissa and the deflection angle cp in degrees on the ordinate. The family of curves 510 shows the angle, as it sets itself in passive mode on its own, with three different attenuations. The characteristic 515 shows the setpoint curve of the angle and the

Characteristic 520 shows an actuated pendulum. In addition, a characteristic 525 is shown. Characteristic 525 shows the torque curve in another

Coordinate system in which the time in seconds and the ordinate the torque are plotted on the abscissa.

6 shows characteristic curves 605, 610, 615, 620, 625 with respect to a movement of the receiving device according to a further exemplary embodiment. Shown is a graphical representation of another result of a simulation;

comparable to the simulation described above, with a control signal (a P-controller) for approximating the relative movement to the aperiodic limit case. In Fig. 6, a 0.2 / -0.2g change jump and an aperiodic limit case with P-controller is shown.

Shown is a characteristic curve 605 in a coordinate system, in which the time in seconds is plotted on the abscissa and the acceleration a_y in g is plotted on the ordinate. In a further coordinate system, a family of characteristics 610 and curves 615, 620 are shown. In this coordinate system also the time in seconds is plotted on the abscissa, and on the ordinate the deflection angle cp in degrees. The family of curves 610 shows the angle, as it sets itself in passive mode by itself, with three attenuations. The characteristic 615 shows the nominal curve of the angle and the characteristic 620 shows an actuated pendulum. In addition, a characteristic curve 625 is shown. Characteristic 625 shows the

Torque curve in a coordinate system in which the time in seconds and the ordinate the torque are plotted on the abscissa.

The damping can be actively controlled, adaptive or constant. Due to the different sensitivity with respect to kinetosis within the human population, it may be useful to make the intensity of the damping and actuation adaptive or adjustable by the driver. So some prefer

People may overshoot, but sensitive people are not.

Embodiments for controlling the damping and actuation of the relative movement are shown in the following FIG. 7. Fig. 7 shows a schematic representation of a

Motion compensation system 100 with a control device 705 in a device 105 according to an embodiment. The

Control device 705 is designed to dampen the relative movement made possible by the coupling device 120. Additionally or alternatively, the regulating device 705 is configured to trigger the relative movement actuated by the coupling device 120.

In one embodiment, the controller 705 is configured to receive a control signal for approximating the relative movement to the aperiodic limit via an interface to an adjuster 710. Illustratively, the adjuster 710 is configured to provide the control signal using sensor signals including, for example, the

Sensing relative movement and / or movement of the conveyor 110.

The control device 705 can be realized according to an embodiment by means of an eddy current brake, as shown by way of example in Fig. 7. Additionally or alternatively, the control device 705, a magnetic powder clutch and / or a magnetic powder brake, and / or at least one electric motor, and / or hydraulic and / or magnetorheological

Elastomers and / or magnetorheological fluids and / or

(electroactive) elastomers and / or brake technology, in particular a friction brake, a drum, disc or rim brake and / or a spring-damper system, e.g. Include steel / hydraulics similar to a shock absorber in a chassis.

An actuator of the controller 705 may be configured to more rapidly adapt to an acceleration of the conveyor 110 as a motor, hydraulics or means for generating one or more magnetic fields. An actuation in the form of pushing the

Receiving device 115 may be required because the receiving device 115 is to be kept quiet according to an embodiment in the form of a pendulum when, for example, the occupant, so the of the

Recording device 115 recorded person moves, but no Acceleration in the horizontal direction is present. When occurring

Acceleration in the horizontal direction will initially at least the

Dampening canceled. Optionally, a "push" may be advantageous to the desired behavior, namely a minimization of the noticeable

Horizontal acceleration within the receiving device 115 in the form of an interior of the conveying device 110 of the device 105 to achieve.

There are various ways of implementing the control device 705. The illustrated in Fig. 7 embodiment of an eddy current brake for controlling the desired movement behavior of the receiving device 115 in the form of a capsule as an interior and / or a seat is advantageous in terms of their damping and Aktuierungseigenschaften. In order to ensure additional stability in static nominal states, for example, the entry / exit, or a weight shifts in the receiving device, according to embodiments, for example, a magnetic powder clutch and / or - brake, for example, in a ball joint of the coupling device 120 suitable, optionally also a mechanical locking ( Entry / exit) on a ball and / or universal joint of the coupling device 120 or by pinching the receiving device 115 in the form of an inner capsule.

According to embodiments, the coupling device 120 is formed in the manner of a pendulum, for example by a joint. If the

Coupling device 120 is formed according to embodiments in the manner of a pendulum, the location of the actuation according to embodiments, the suspension in the form of the coupling device 120 (variant 1) or the space between the receiving device 115, for example in the form of a capsule, and the conveyor 110, for example in the form of a body (variant 2). The control device 705 is according to

Embodiments designed as at least one servomotor and / or as eddy current brake and / or as Magnetorheologie and / or as

Magnetic powder clutch and / or magnetic powder brake and / or as a mechanical lock. According to these embodiments, the

Control device 705 used to the pendulum movement of To mute receiving device 115 and to actuate and / or to dampen the pendulum movement of the receiving device 115 and the

To stabilize receiving device 115 in the static nominal state or only to stabilize the receiving device 115 in the static state or to effect all these purposes.

According to one embodiment variant 1 at least one servomotor is used to dampen the pendulum movement of the receiving device 115 and to actuate and to cause a stabilization of the receiving device 115 in the static target state. According to embodiments, an eddy current brake is used in one of the variants 1 to 2 to the

To dampen pendulum movement of the receiving device 115 and to actuate. According to embodiments, as a control device 705 in one of the variants 1 to 2 magnetorheology and / or a magnetic powder clutch and / or a magnetic powder brake is used to dampen the pendulum movement of the receiving device 115 and to stabilize the receiving device 115 in the static desired state. According to embodiments, in one of the variants 1 to 4, a mechanical locking as

Control device 705 used to stabilize the

To cause receiving device 115 in the static nominal state.

Fig. 8 shows a schematic representation of a

Motion compensation system 100 for a device 805 for

Passenger transport with a plurality of receiving devices 815 in the form of seats according to one embodiment. Alternatively, it is also possible to use a receiving device shaped as a capsule, as described with reference to the preceding figures, several seats being arranged in the capsule.

According to this embodiment, the device 805 is for

Passenger transport performed as a vehicle with multiple receiving devices 815 each for receiving a person, by way of example, four

Receiving devices 815 are shown, which are arranged with respect to a longitudinal axis of the device 805 one behind the other. In this case, one or more rows of receiving devices 815 may be provided. According to one embodiment, each capture device 815 includes an image display device 840 in the form of a video goggle, in particular a VR goggle.

As according to this embodiment, none as optically hermetic

Shielded capsule realized receiving device is provided, but only receptacles 815 in the form of designed as aktuierbarees pendulum seats, the recorded in the receptacles 815 people with VR glasses are equipped as image display device 840 so that no optical reference to the environment is present. The horizon remains the same thanks to the VR glasses in relation to the occupant. Vehicles, such as shuttles can be equipped with several suspended seats. The VR glasses may continue to compensate for noticeable acceleration changes. In addition to the already described aspects of the regulation of the pendulum motion by a control device is in this

Embodiment in the form of a plurality of suspended seats 815 in the form of a plurality of suspended seats ensures that the receiving means 815 basically move synchronously to prevent pinching of extremities or loss of comfort by collisions. The distances of the suspensions of the seats are chosen in dependence on the maximum deflection of the relative movements so that the remaining distances are large enough even at maximum deflection of the relative movement. According to one exemplary embodiment, the freedom of movement of the occupants, that is to say the persons respectively picked up by the receiving devices 815, can be achieved

Side walls and a wall in front of the feet and / or legs are restricted.

FIG. 9 shows a characteristic 905 with respect to a movement of the

Receiving device according to a further embodiment. Shown is a graphical representation of a result of a measurement in a circular course with 18km / h (v) at a radius of 8m (r). It results in a

Lateral acceleration (ay) of 3.125m / s ^A 2. ay = v2 / r: formula of lateral acceleration According to the embodiment shown here, the receiving device is designed as a locked seat. Shown is a characteristic curve 905 in a coordinate system, in which the abscissa represents the time in seconds and the ordinate the lateral acceleration. The characteristic 905 represents the lateral acceleration profile of the receiving device according to a

Embodiment with the receiving device as a locked seat.

10 shows a characteristic 1005 with respect to a movement of

Receiving device according to a further embodiment. Shown is a graphical representation of a result of a measurement in a circular course with 18km / h (v) at a radius of 8m (r). By the elastomers used as coupling means for damping the pendulum movement of

Recording device was the maximum deflection of the receiving device according to an embodiment in the form of a pendulum seat limited, it resulted in a residual acceleration of about l, 7m / s ^A 2.

Shown is a characteristic curve 1005 in a coordinate system, in which the abscissa represents the time in seconds and the ordinate the lateral acceleration. The characteristic 1005 represents the lateral acceleration profile of the receiving device according to an embodiment with the

Receiving device as a seat and with elastomers as a coupling device for damping the pendulum movement of the receiving device.

FIG. 11 shows a characteristic 1105 with respect to a movement of the

Receiving device according to a further embodiment. Shown is a graphical representation of a result of a measurement in a circular course with 18km / h (v) at a radius of 8m (r). The receiving device was designed according to an embodiment as a seat in the form of a free pendulum (not locked, no elastomers for damping). In a free-swinging seat as a recording device was a

reached transversal acceleration-free state. Shown is a characteristic curve 1105 in a coordinate system in which the time in seconds is plotted on the abscissa and the lateral acceleration is plotted on the ordinate. The characteristic 1105 represents the lateral acceleration profile of the receiving device as a seat in the form of a free pendulum according to an embodiment. A total of 12 subjects tested this here during the simulation

described approach. A constant round trip with a radius of 8m (Y-central axis seat) with a speed of nearly 20km / h was consistently rated as extremely pleasant and - depending on the subject - as near or completely lateral force-free. Some subjects read texts on their smartphone. The reading on the smartphone was possible for them, without even kinetosis occurred. Constant circular movements, with a constant lateral acceleration, led in the simulation to significantly lower lateral accelerations for the occupants of the suspended seat, ie for the person admitted by the receiving device, and was assessed very positively by the subjects.

If an exemplary embodiment includes a "and / or" link between a first feature and a second feature, this is to be read such that the

Embodiment according to an embodiment, both the first feature and the second feature and according to another embodiment, either only the first feature or only the second feature.

Claims

claims

A motion compensation system (100) for a passenger transport device (105; 805), the device (105; 805) comprising at least one conveyor (110) adapted to cause the device (105; 805) to move; and wherein the motion compensation system (100) comprises at least the following features: a receiving device (115; 815) for receiving a person; and at least one mechanical coupling device (120) for coupling the receiving device (115; 815) to the conveying device (110), wherein the coupling device (120) is designed to prevent relative movement between the receiving device (115; 815) and to prevent kinetosis the transport device (110) along at least one movement path (205, 210) to allow.

A motion compensation system (100) according to claim 1, wherein said receiving means (115; 815) is formed to optically hermetically detect a field of view of a person (130) picked up by said receiving means (115; 815) from an environment of said receiving means (115; 815) shield.

3. motion compensation system (100) according to one of

preceding claims, wherein the coupling means (120) is adapted to induce and / or accelerate, and / or maintain, and / or damp and / or at rest the relative movement of the receptacle (115; 815) to prevent kinetosis hold.

4. motion compensation system (100) according to one of

previous claims, wherein the relative movement a compensating pendulum motion of the receiving device (115; 815) with respect to the conveyor (110).

5. motion compensation system (100) according to one of

previous claims, wherein the coupling means (120) is adapted to the relative movement with respect to the size of a rash of the relative movement along the at least one

Adjust trajectory, and / or wherein the coupling device (120) is formed to lock the receiving device (115; 815).

6. motion compensation system (100) according to one of

previous claims, wherein the coupling means (120) is adapted to prevent rotational movement of the receiving means (115; 815) about the vertical axis of the receiving means (115; 815).

7. motion compensation system (100) according to one of

previous claims, comprising a control device (705) which is designed to bring about the relative movement enabled by the coupling device (120) and / or to accelerate and / or dampen and / or to trigger the relative movement actuated by the coupling device (120).

A motion compensation system (100) according to claim 7, wherein the control means (705) is adapted to receive a control signal for approximating the relative movement to the aperiodic limit case from a setting means (710) for providing the control signal.

9. motion compensation system (100) according to one of

previous claims, wherein the receiving device (115, 815) is formed as a capsule or as a seat or as a capsule with a seat.

10. motion compensation system (100) according to one of

previous claims, wherein the receiving means (115; 815) comprises an image display device (140; 840) mechanically coupled to the recording device (115; 815) for displaying an image for at least one person (130) picked up by the recording device (115; 815).

11. A personal transport device (105; 805), the device comprising at least the following features: transport means (110) adapted to effect movement of the device (105; 805) and a motion compensation system (100) according to one of the preceding claims, wherein the receiving device (115;

815) via the coupling device (120) of the

Motion compensation system (100) with the

Carriage (110) is coupled.

12. Method (1200) for kinetosis prevention in a device (105;

805) according to claim 11, wherein the method comprises at least the following steps:

Actuate (1205) a relative movement to prevent kinetosis, to minimize the horizontal forces within the

Effecting the recording device (115; 815) of the motion compensation system (100) and / or a rest position of the recording device (115; 815) of the motion compensation system (100).

maintain or bring about.

The method (1200) of claim 12, further comprising the step of displaying (1210) an image for a person (130) picked up by the receiving means (115; 815) of the motion compensation system (100) to assist in preventing the kinetosis.