DE102018204540A1 - A motion compensation system for a passenger transport device, a passenger transport device with a motion compensation system and a method for preventing kinetosis - Google Patents

Abstract

The invention relates to a motion compensation system (100) for a passenger transport device (105), the device (105) comprising at least one transport device (110) adapted to effect movement of the device (105). The motion compensation system (100) has at least one receiving device (115) for receiving a person and at least one mechanical coupling device (120). The at least one mechanical coupling device (120) for coupling the receiving device (115) to the conveying device (110) is designed to allow a relative movement between the receiving device (115) and the conveying device (110) along at least one movement path to avoid kinetosis ,

Description

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 major limiting factor of future mobility in general and of automated driving in particular. Kinetosis arises from contradictory information of the sensory organs to the movement of the body and the spatial location.

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.

The 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, a motion compensation system, a device for transporting people with such a motion compensation system and a method for preventing kinetosis according to the main claims are presented with the approach presented here. The measures listed in the dependent claims advantageous refinements and improvements of the independent claim device are possible.

The passenger transport device can be a mobile transport, for example a car, a vehicle with automated driving, 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. The transport device may be, for example, a body together with the drive train of a vehicle.

The motion compensation system has at least one receiving device for receiving a person and a mechanical coupling device for coupling the receiving device with the conveying device. 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 facilitation of the relative movement can advantageously bring about the creation of a virtually proprietary inertial system of the person picked up by the receiving device, for example a vehicle occupant. 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 may be attached to an element of the transport device, for example a body of a vehicle, can be coupled. For this purpose, the receiving device may have an opaque wall or shell. The receiving device may be visually shielded so that an occupant can not recognize the exterior of the receiving device. Alternatively, the receiving device may be formed as a seat, for example, a driver's cab, wherein the optically hermetic shielding can be achieved by a correspondingly shaped glasses, 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, the motion compensation system allows unwanted movements of the device to be compensated so that the unwanted movements are not perceived by a person 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 to travel, and effective kinetosis prevention.

According to one embodiment, the occupant of the device is in his own inertial system and can, for example, operate media consumption, read, write or paint virtually free of transverse and longitudinal accelerations. This is in current cars with the current driving dynamics of traffic - especially on rural roads and urban areas - for a large part of people not possible to suffer without 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 Directive 2057 ) be considered.

The coupling device of the motion compensation system is formed according to an embodiment to bring about the relative movement of the receiving device to avoid kinetosis, and / or accelerate, and / or maintain, and / or to dampen and / or to keep in rest position. This can advantageously enable active and thus particularly effective kinetosis prevention.

The relative movement may, according to one embodiment, comprise a compensating pendulum movement of the receiving device with respect to the conveying device. The pendulum motion can cause a leveling of the pendulum equalizing the horizontal forces to avoid kinetosis. The compensatory pendulum movement offers the advantage that travel movements can be compensated particularly gently and thus effectively.

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 entering or exiting 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 lock the receiving 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 adaptation 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 presented motion system in combination with a conveying device in which the relative movement of the recording direction can be made possible. The possibility of adjusting the size of the deflection of the relative movement and the possibility of 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.

According to one embodiment, the motion compensation system comprises a control device that is designed to bring about, accelerate or damp the relative movement for kinetic prevention enabled by the coupling device

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 the 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 limit 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 a coupling device may be advantageous because the coupling device can then be constructed particularly well in the form of a pendulum. An elastomer connecting element for coupling the receiving device to 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 avoiding 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 person being picked up, which advantageously allows a special adaptation of the kinetosis prevention, for example as a function of the sensitivity to kinetosis.

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. In this case, the image display device according to one embodiment is 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 an image signal projected onto the recording device or a screen coupled to a seat or a screen coupled to a multimedia system of a vehicle. 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 transporting people. The device comprises at least one transport device, which is designed to effect a movement of the device, and a said motion compensation system, wherein the receiving device of the motion compensation system via the coupling device 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.

A method of kinetosis prevention in a corresponding passenger transport device according to embodiments is presented. The method includes a step of actuating a relative movement to prevent kinetosis to cause a minimization of the horizontal forces within the receiving means of the motion compensation system and / or to maintain or induce a rest position of the receiving means of the 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 can take place, for example, in approximation to the aperiodic limit 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 enables 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.

• 1 eine schematische Darstellung eines Bewegungskompensationssystems für eine Vorrichtung zum Personentransport gemäß einem Ausführungsbeispiel;
• 2 eine schematische Darstellung bezüglich einer Relativbewegung einer Aufnahmeeinrichtung gemäß einem Ausführungsbeispiel;
• 3 ein Ablaufdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel;
• 4 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem Ausführungsbeispiel;
• 5 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem weiteren Ausführungsbeispiel;
• 6 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem weiterem Ausführungsbeispiel;
• 7 eine schematische Darstellung einer Regelungseinrichtung gemäß einem Ausführungsbeispiel;
• 8 eine schematische Darstellung eines Bewegungskompensationssystems für eine Vorrichtung zum Personentransport mit mehreren Aufnahmevorrichtungen als Sitze gemäß einem Ausführungsbeispiel;
• 9 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem weiteren Ausführungsbeispiel;
• 10 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem Ausführungsbeispiel; und
• 11 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem weiteren Ausführungsbeispiel.

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

• 1 a schematic representation of a motion compensation system for a device for passenger transport according to an embodiment;
• 2 a schematic representation with respect to a relative movement of a receiving device according to an embodiment;
• 3 a flowchart of a method according to an embodiment;
• 4 Characteristics with respect to a movement of the receiving device according to an embodiment;
• 5 Characteristics with respect to a movement of the receiving device according to a further embodiment;
• 6 Characteristics with respect to a movement of the receiving device according to a further embodiment;
• 7 a schematic representation of a control device according to an embodiment;
• 8th a schematic representation of a movement compensation system for a device for transporting people with a plurality of receiving devices as seats according to an embodiment;
• 9 Characteristics with respect to a movement of the receiving device according to a further embodiment;
• 10 Characteristics with respect to a movement of the receiving device according to an embodiment; and
• 11 Characteristics with respect to a movement of the receiving device according to a further embodiment.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of a motion compensation system 100 for a device 105 for passenger transport according to an embodiment. The device 105 for passenger transport includes a transport facility 110 for passenger transport and the motion compensation system 100 , The transport facility 110 is designed to move the device 105 to effect passenger transport.

According to the embodiment shown, the device 105 executed as a vehicle. The transport facility 110 includes a body with an outer capsule and wheels that roll the device 105 for example, along a road. The transport facility 110 includes 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. Shown are also deformation areas of the conveyor 110 ,

The motion compensation system 100 includes a receiving device 115 for picking up people and a mechanical coupling device 120 , By way of example, the receiving device 115 as an inner capsule formed inside the outer capsule of the conveyor 110 is arranged. The coupling device 120 couples the recording device 115 movable with the transport device 110 , The coupling device 120 is designed to prevent relative kinetic movement relative movement between the receiving device 115 and the transport facility 110 along at least one trajectory.

Exemplary are in 1 also a seat 125 and a recorded person 130 in the receiving device 115 shown. In addition, the direction of travel 135 the device 105 shown for passenger transport.

The recording device 115 According to one embodiment, it is optionally configured to form a field of view of at least one of the receiving device 115 recorded person 130 towards an environment of the receiving device 115 optically hermetically shield. According to the embodiment shown here, the receiving device 115 capsule-shaped. For optical shielding is the wall of the receiving device 115 For example, formed from an opaque, opaque material.

Both the recording device 115 as well as the outer capsule of the conveyor 110 may also be shaped differently, for example, comprise only a support frame.

Both the inner capsule, so the receiving device 115 , as well as the outer capsule of the conveyor 110 are designed stable according to an embodiment as a safety cage, comparable to today's passenger compartments. The shape of the receiving device 115 and the outer capsule of the conveyor 110 can 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 receiving device 115 can the recorded person 130 So the passenger, in terms of the direction of travel 135 be positioned backwards.

In the optically hermetically sealed capsule of the receiving device 115 For example, image signals to the occupant by means of an optional image display device to the inner wall of the receiving device 115 be projected. 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 embodiment, the display on a mechanically to the receiving device 115 coupled image display device 140 respectively.

Both rigid and moving images can be projected, as well as, if appropriate, particularly favorable surroundings and / or motifs which correspond to those for the occupant (s) of the receiving device 115 possibly due to the driving movements still perceptible vibrations appear appropriate and thus can further improve the kinetosis prevention. 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 linked to the same inertial system as the recorded person 130 coupled.

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.

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

According to one embodiment, the coupling device comprises 120 a joint, a damping element and at least one spring, so a spring-damper system, for example made of steel and / or by hydraulic or pneumatic, analogous to a known shock absorber in a commercial suspension. The joint is on the one hand with the outer capsule of the conveyor 110 and on the other hand connected to the composite of damping element and spring. The composite of damping element and spring is at an end facing away from the joint with the receiving device 115 connected. About the joint is the receiving device 115 movable at the conveyor 110 suspended. Thus, the receiving device 115 the relative movement with respect to the conveyor 110 To run. 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. Thus, increased comfort can be achieved both with respect to road bumps and in the reversal points of the oscillations.

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.

2 shows a schematic representation with respect to a relative movement of a receiving device 115 according to an embodiment. Shown is a device 105 in the form of a vehicle, as already stated by 1 is described. The device 105 includes the receiving device 115 using the coupling device 120 movable with the transport device 110 is coupled.

Exemplary are end positions for two trajectories 205 . 210 a relative movement of the receiving device 115 of the motion compensation system 100 shown.

According to one embodiment, the coupling device 120 designed to actuate the relative movement to a rest position of the receiving device 115 maintain or bring about.

The relative movement according to one embodiment comprises a compensating pendulum movement of the receiving device 115 in relation to the transport facility 110 , In the 2 shown end positions for two trajectories 205 . 210 exemplify such a relative movement in the form of a pendulum motion, wherein the end positions of the trajectory 205 exemplified a pendulum motion for the comfort of a receiving device 115 show the recorded person, and the end positions of the trajectory 210 exemplified a pendulum movement for the passive safety of a receiving device 115 show the recorded person. Accordingly, the trajectory goes 210 over the trajectory 205 out.

When the relative movement according to this embodiment takes place as a compensating pendulum movement, the center of gravity of the pendulum may be in the form of the receiving device 115 For example, in the position of the 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, the receiving device 115 in the form of a seat or a complete capsule, as the interior of a transport device 110 For example, the body of a car to perform as a pendulum. The inner and outer shell, so the receiving device 115 and the transportation facility 110 , According to this embodiment are to imagine like nutshells, of which the inner capsule on the roof of the outer capsule (spring-loaded) 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, there may also be freedom of movement in the z-direction.

According to one embodiment, the relative movement of the receiving device takes place 115 along a plane transverse to the transverse axis of the conveyor 110 runs. In this case, the relative movement comprises a portion of a pendulum motion about the hinge of the coupling device 120 and optionally a proportion corresponding to a pendulum movement along the connecting rod of the coupling device 120 , ie longitudinal to the longitudinal axis of the conveyor 110 , corresponds.

The coupling device 120 is formed according to an embodiment, the relative movement with respect to the size of the excursion of the relative movement along the at least one movement path 205 . 210 adjust. Additionally or alternatively, the coupling device 120 shaped to the receiving device 115 opposite the transport facility 110 to lock.

In addition, the coupling device 120 formed in accordance with one embodiment, a rotational movement of the receiving device 115 around the vertical axis of the receiving device 115 to prevent.

The coupling device 120 comprises according to an embodiment for enabling the relative movement at least one joint and / or an elastomeric connecting element. Exemplary here is the coupling of the receiving device 115 to the transport facility 110 shown using a joint.

In the 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 transport facility 110 , Suitable as a suspension, for example, a universal joint and / or a ball joint. Here are additional measures to prevent rotation of the receiving device 115 around the z-axis of the receiving device 115 intended. 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 to prevent rotation of the receiving device 115 around the z-axis of the receiving device 115 intended.

According to one embodiment, the relative movement comprises a compensating pendulum movement of the receiving device 115 in relation to the transport facility 110 , The coupling of the receiving device 115 with the transport device 110 then takes place via a coupling device 120 in the form of a pendulum. In a pendulum is the length of the stability in weight transfer within the receiving device 115 , for example in the form of a capsule, crucial. Some measures for active damping of the relative movement according to embodiments and for active actuation of the relative movement according to embodiments are also for stabilizing the interior - for example, in weight shifts 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.

3 shows a flowchart of a method for kinetosis prevention 1200 according to an embodiment. Here is the procedure 1200 in connection with a device for transporting people, such as in 1 shown is executable. The procedure 1200 includes at least one actuation step 1205

In one step 1205 of the actuation is in the process 1200 a relative movement to prevent kinetosis actuated to effect a minimization of the horizontal forces within the receiving device of the motion 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 a setting device, as described with reference to FIG 7 is shown.

The procedure 1200 may be in addition to the step of actuation 1205 a step of displaying 1210 include. In one step 1210 of displaying, an image is displayed for a person picked up by the recording device of the motion compensation system to assist with the kinetosis prevention.

4 shows characteristics 405 . 410 with respect to a movement of a receiving device, as described with reference to the preceding figures, according to an embodiment. Shown is a graphical representation of a result of a simulation for approximating the relative movement of the receiving device to the aperiodic limit case. Shown is a characteristic 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 405 1 illustrates the acceleration profile of the pick-up device in a simulation according to an embodiment. In this simulation, a panel van was used as a device for passenger transport. The loading space of the van is considered part of the transport device described with reference to the preceding figures. As a receiving device a seat in the cargo space in the x and y direction is suspended freely swinging. A damping of unwanted vibrations was realized by means of a coupling device comprising elastomeric tension 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 receiving device took place to a small extent by means of elastomer bands as elastomeric connector. 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.

m :

Masse im Schwerpunkt des Pendels

I :

Länge des Pendels

g:

Erdbeschleunigung (9.81 m/(s^2))

a_y:

Beschleunigung durch Bremsung oder Fliehkräfte

d = 2*sqrt(l*g)*m:

aperiodischer Grenzfall

F_tangential_ext = m* cos(phi)* a_y:

Kraft tangential zur Bahnkurve des Pendels

Phi:

Auslenkwinkel des Pendels (rad)

phi_dot:

Winkelgeschwindigkeit (rad/s)

phi_dotdot:

Winkelbeschleunigung (rad/(s^2))

The movement of the recording device can be represented by the following differential equation: $$\text{phi\_dotdot}=\text{F\_tangential\_ext / m / ld /}\left(\text{m}*\text{l}\right)*\text{phi\_dot-g / l * sin}\left(\text{phi}\right);$$

m:

Mass in the center of gravity of the pendulum

I:

Length of the pendulum

G:

Gravitational acceleration (9.81 m / (s ^ 2))

a_y:

Acceleration due to braking or centrifugal forces

d = 2 * sqrt (l * g) * m:

aperiodic limit 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 ^ 2))

In addition, a family of characteristics 410 shown in another coordinate system. In the case of the further coordinate system, the abscissa represents the time in seconds and the ordinate the deflection angle φ Plotted in degrees. The family of characteristics 410 shows the angle, as it sets itself in passive mode by itself, with three different attenuations. In 4 is the result of the simulation described with a 1g Jump as well as 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 using P-controller are in the following 5 shown.

5 shows characteristics 505 . 510 . 515 . 520 . 525 with respect to a movement of the receiving device according to a further 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, in 5 the result of the simulation with a 1g jump and an aperiodic limit case with P controller.

Shown is a characteristic 505 in a coordinate system, where the abscissa is the time in seconds and the ordinate is the acceleration a_y is applied in g. In another coordinate system are a family of characteristics 510 as well as two characteristic curves 515 . 520 shown. In the further coordinate system, the time in seconds is also plotted on the abscissa, and the deflection angle on the ordinate φ in degrees. The family of characteristics 510 shows the angle, how it adjusts itself in passive mode, with three different attenuations. The characteristic 515 shows the nominal curve of the angle and the characteristic curve 520 shows an actuated pendulum. In addition, there is a characteristic 525 shown.

The characteristic 525 shows the torque curve in another coordinate system, in which the abscissa time in seconds and on the ordinate the torque are plotted.

6 shows characteristics 605 . 610 . 615 . 620 . 625 with respect to a movement of the receiving device according to a further 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 6 is a 0.2 / -0.2g change jump and an aperiodic limit case with P-controller shown.

Shown is a characteristic 605 in a coordinate system, where the abscissa is the time in seconds and the ordinate is the acceleration a_y is applied in g. In another coordinate system are a family of characteristics 610 as well as characteristics 615 . 620 shown. In this coordinate system also the time in seconds is plotted on the abscissa and the deflection angle on the ordinate φ in degrees. The family of characteristics 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 curve 620 shows an actuated pendulum. In addition, there is a characteristic 625 shown. The 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. For example, some people may prefer overshoots, but more sensitive individuals may not.

Embodiments for a control of the damping and actuation of the relative movement are in the following 7 shown.

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 formed to that of the coupling device 120 allowed to damp relative motion. Additionally or alternatively, the control device 705 adapted to that of the coupling device 120 trigger actuated relative movement.

According to one embodiment, the control device 705 designed to provide a control signal for approximating the relative movement to the aperiodic limit case via an interface to an adjusting device 710 to recieve. Exemplary is the adjustment 710 designed to provide the control signal using sensor signals, for example, the relative movement and / or movement of the conveyor 110 sensing.

The control device 705 can be realized according to an embodiment by means of an eddy current brake, as exemplified in 7 is shown. Additionally or alternatively, the control device 705 a magnetic particle 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, discs -or-, rim brake and / or a spring-damper system, eg steel / hydraulic similar to a shock absorber in a chassis include.

An actuator of the control device 705 can for faster adaptation to an acceleration of the conveyor 110 be designed as a motor, a hydraulic system or a device for generating one or more magnetic fields. An actuation in the form of pushing the receiving device 115 may be required as the receiving device 115 is to be kept quiet according to an embodiment in the form of a pendulum, if, for example, the occupant, that of the receiving device 115 recorded person moves, but no acceleration in the horizontal direction is present. When occurring acceleration in the horizontal direction, at least the damping is initially 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 conveyor 110 the device 105 to reach.

There are various ways of implementing the control device 705 , This in 7 illustrated 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 shift 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 (getting in / out) 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 formed in the manner of a pendulum, for example by a joint. If the coupling device 120 According to embodiments is formed 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 executed according to embodiments as at least one servomotor and / or as an eddy current brake and / or as Magnetorheologie and / or as a magnetic powder clutch and / or magnetic powder brake and / or as a mechanical locking. According to these embodiments, the control device 705 used to the pendulum movement of the receiving device 115 to attenuate and actuate and / or the pendulum movement of the receiving device 115 to dampen and the receiving device 115 to stabilize 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 is in the variant 1 at least one servo motor used to the pendulum movement of the receiving device 115 to dampen and actuate and stabilize the receiving device 115 to effect in the static nominal state. According to embodiments is in one of the variants 1 to 2 an eddy current brake is used to the pendulum movement of the receiving device 115 to dampen and actuate. According to embodiments is 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 used to the pendulum movement of the receiving device 115 to dampen and the receiving device 115 to stabilize in the static nominal state. According to embodiments is in one of the variants 1 to 4 a mechanical lock as a control device 705 used to stabilize the receiving device 115 to effect in the static nominal state.

8th shows a schematic representation of a motion compensation system 100 for a device 805 for passenger transport with several recording devices 815 in the form of seats according to an 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 is 805 for passenger transport as a vehicle with multiple pickup devices 815 each carried out to accommodate a person, by way of example, four recording devices 815 shown in relation to a longitudinal axis of the device 805 arranged one behind the other. In this case, one or more rows of receiving devices can 815 be provided.

According to one embodiment, each receiving device comprises 815 an image display device 840 in the form of video glasses, in particular VR glasses.

Since, according to this embodiment, no recording device realized as an optically hermetically sealed capsule is provided, but only recording devices 815 in the form of actuatable pendulum designed seats, in the receiving devices 815 recorded persons with VR glasses as image display device 840 equipped so that there is no visual reference to the environment. 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 movement by a control device is in this embodiment in the form of recording devices 815 in the form of several suspended seats ensures that the reception facilities 815 basically move synchronously to pinching To prevent extremities or loss of comfort due to collision. 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 embodiment, the freedom of movement of the occupants, that of the receiving devices 815 each recorded persons, be restricted by side walls and a wall in front of the feet and / or legs.

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). This results in a lateral acceleration (ay) of 3.125 m / s ^ 2. $$\text{ay}=\text{v}2/\text{r:}$$

According to the embodiment shown here, the receiving device is designed as a locked seat. Shown is a characteristic 905 in a coordinate system in which on the abscissa the time in seconds and on the ordinate the lateral acceleration is plotted. The characteristic 905 represents the lateral acceleration profile of the receiving device according to an embodiment with the receiving device as a locked seat.

10 shows a characteristic 1005 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). By the elastomers used as coupling means for damping the pendulum movement of the receiving device, the maximum deflection of the receiving device according to an embodiment in the form of a pendulum seat was limited, it resulted in a residual acceleration of about 1.7m / s ^.

Shown is a characteristic 1005 in a coordinate system in which on the abscissa the time in seconds and on the ordinate the lateral acceleration is plotted. 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.

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 receiving device, a lateral acceleration-free state was achieved. Shown is a characteristic 1105 in a coordinate system in which on the abscissa the time in seconds and on the ordinate the lateral acceleration is plotted. 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.

All in all 12 Subjects tested the approach described here during the simulation. A constant round trip with a radius of 8m (Y-center 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 comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102014210170 A1 [0004]

Claims (13)

A motion compensation system (100) for a passenger transport device (105; 805), the device (105; 805) comprising at least one conveyor (110) adapted to effect movement of the device (105; 805), and wherein the motion compensation system (100) has 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 Transport device (110) along at least one movement path (205, 210) to allow. Motion compensation system (100) according to Claim 1 wherein the receptacle (115; 815) is shaped to optically hermetically shield a field of view of a person (130) picked up by the receptacle (115; 815) from an environment of the receptacle (115; 815). A motion compensation system (100) as claimed in any one of the preceding claims, wherein the coupling means (120) is adapted to cause and / or accelerate, and / or maintain the relative movement of the kinetosis avoidance device (115; 815) and / or dampen and / or keep at rest. A motion compensation system (100) according to any one of the preceding claims, wherein the relative movement comprises a compensatory pendulum motion of the receiver (115; 815) relative to the conveyor (110). A motion compensation system (100) according to any one of the preceding claims, wherein the coupling means (120) is adapted to adjust the relative movement in magnitude of a displacement of the relative movement along the at least one trajectory, and / or wherein the coupling means (120) is formed to engage the Locking device (115; 815) to lock. A motion compensation system (100) according to any one of the preceding 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). A motion compensation system (100) as claimed in any one of the preceding claims including control means (705) adapted to induce and / or accelerate and / or attenuate the relative movement permitted by the docking means (120) and / or by the docking means (70). 120) actuated relative movement trigger. 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 of an adjusting means (710) for providing the control signal. A motion compensation system (100) according to any one of the preceding claims, wherein the receiving means (115; 815) is formed as a capsule or a seat or a capsule with a seat. A motion compensation system (100) according to any one of the preceding claims, wherein said pickup means (115; 815) comprises an image display means (140; 840) mechanically coupled to said pickup means (115; 815) for displaying an image for at least one of said pickup means (115,815). recorded person (130). Passenger transport device (105; 805), the device having at least the following features: a conveyor (110) adapted to effect movement of the device (105; 805), and A motion compensation system (100) according to any one of the preceding claims, wherein the receiving means (115; 815) is coupled to the conveyor (110) via the coupling means (120) of the motion compensation system (100). A method (1200) of kinetosis prevention in a device (105; 805) according to Claim 11 wherein the method comprises at least the steps of: actuating (1205) a relative movement to prevent kinetosis to cause a minimization of the horizontal forces within the receiver (115; 815) of the motion compensation system (100) and / or a rest position of the receiver (115; 815) of the motion compensation system (100). Method (1200) according to Claim 12 comprising a 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.

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