DE102018204543A1 - Coupling device for a device for passenger transport, device for transporting persons with such a coupling device and method for kinetosis prevention - Google Patents

Abstract

The invention relates to a coupling device (100) for a device (103) for passenger transport, the device (103) having at least one transport device (105) for transporting persons, which is designed to effect a movement of the device (103), and further a receiving device (110) for receiving persons. The coupling device (100) has at least one articulation device (115) and at least one actuator device (120). The hinge device (115) is configured to allow a relative movement between the receiving device (110) and the conveying device (105) along at least one movement path (305, 310). The actuator device (120) is designed to influence the relative movement between the receiving device (110) and the conveying device (105).

Description

State of the art

The invention is based on a device or a method according to the preamble of the independent claims. The subject of the present invention is also a computer program.

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, with the approach presented here, a coupling device, a device for transporting persons with such a coupling device, a method for kinetic prevention, and an actuation device that uses this method, and finally a corresponding computer program according to the main claims are presented. The measures listed in the dependent claims advantageous refinements and improvements of the independent claim device are possible.

A coupling device for a device for passenger transport is presented. The passenger transport device may be a mobile means of transport, such as a standard passenger car or a vehicle with automated driving, or a train or a bus or an aircraft. The passenger transport device, for example a car, has at least one transport device for transporting persons, which is designed to effect a movement of the device. This transport device may be, for example, the body of a car. In addition, the device for passenger transport at least one receiving device for receiving persons. The receiving device may be, for example, capsule-shaped and oval, and serve as the interior of a device for passenger transport. For example, the receiving device may be movably arranged in the interior of a body and comprise at least one seat. The receiving device can also be designed as an outwardly open seat. Thus, the receptacle may comprise one or more seats which may be sheathed or uncoated. 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 coupling device couples the receiving device to the transport device in the passenger transport device. The coupling device is designed to allow a relative movement between the receiving device and the conveying device and to influence the relative movement. The coupling device for such a device for passenger transport has at least one articulation device and at least one actuator device.

The joint device is, for example, a cardan joint. The hinge device is designed to allow a relative movement between the receiving device and the conveying device along at least one movement path. The relative movement may, for example, be a compensating pendulum movement of the receiving device with respect to the transport device. The pendulum movement can cause a leveling of the horizontal forces during travel of the device by a deflection of the pendulum and thus contribute to the prevention of kinetosis. The compensatory pendulum movement offers the advantage that travel movements can be compensated particularly gently and thus effectively. According to one embodiment, the relative movement can take place, for example, along a path of movement running transversely to the transverse axis of the conveying device. Additionally or alternatively, the relative movement can take place in a movement path extending along the longitudinal axis of the conveying device, and / or in one along the Vertical axis of the conveyor running trajectory. The receiving device can accordingly be moved in different directions, for example along or against the direction of travel. The relative movement can thus advantageously take place in different directions, which allows a particularly comfortable compensation of the driving movement. In addition, a further movement compensation can be made possible, for example, when picking up the person in the receiving device, so for example when entering or exiting an occupant. The hinge device is designed to permit a relative movement between the receiving device and the conveying device along at least one movement path. A further relative movement between the receiving device and the transport device can be blocked. The actuator device is designed to influence the relative movement between the receiving device and the conveying device. The actuator device, for example, actuate a relative movement of the receiving device, it can, for example, attenuate and / or push a relative movement. The actuator device can therefore be designed as Zugaktoreinrichtung or as tension and / or Druckaktoreinrichtung, for example as a pneumatic or hydraulic cylinder. The actuator device can be, for example, a membrane contraction system, for example a device comprising pneumatic muscles.

Such a coupling of the receiving device with the transport device creates almost a separate inertial system for the person picked up by the receiving device. Advantageously, the recorded person can thus operate, for example, media consumption, reading, writing or painting 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). Thus, a system can be realized which allows prevention of kinetosis by longitudinal and / or lateral acceleration.

According to one embodiment, the receiving device for receiving a person may be formed to optically hermetically shield a field of view of a person received by the receiving device from an environment of the receiving device. For example, the receiving device can be formed as an optically shieldable or optically shielded capsule, which can be coupled to a transport device, for example a body of a vehicle. For optical shielding, the wall of the receiving device is formed, for example, from an opaque material. Thus, a wall of the receiving device may be opaque. 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.

According to one embodiment, the joint device is designed to adjust the relative movement with respect to the size of the deflection of the relative movement along the at least one movement path. Additionally or alternatively, the hinge means is configured to lock the receiver using a lock signal.

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 possibility of adjusting the magnitude of the deflection of the movement path of the relative movement also offers the possibility of a particularly compact design of the presented movement system in combination with a conveying device in which the relative movement of the receiving 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. The locking signal may be, for example, a signal provided by the actuation device. The locking signal can be designed, for example, to activate a locking device of the joint device. A locking of the receiving device may be advantageous, for example, to additionally stabilize the receiving device, in particular when the receiving device is to be in a rest position, for example during the entry or exit of a person in or out of the receiving device. The locking signal may, for example, also be a signal for locking the actuator device.

According to one embodiment, the joint device can also be designed to prevent a rotational movement of the receiving device about the vertical axis of the receiving device. For this purpose, the joint device can for example comprise a specific connection, for example formed as a square be or have another suitable profile. In this application, it is a connection which further allows a relative movement, for example, in the direction of travel in a movement path extending along the longitudinal axis of the conveyor and / or a trajectory extending transversely to the transverse axis of the conveyor, but prevents rotational movement of the receiver about the vertical axis of the receiver , For example, by a mechanical clamping element.

The coupling device may according to one embodiment also comprise a spring device which is designed to couple the receiving device resiliently to the conveying device. The resilient coupling is achieved for example by an elastic connecting element. For example, an elastic coil spring may be used, or an elastomeric connector. According to one embodiment, the joint device may, for example, additionally comprise a spring device, or the actuator device may be designed to behave like a spring, for example if the actuator device according to an embodiment comprises at least one pneumatic muscle. According to one embodiment, the spring device may also be a hydraulic spring-damping system. The resilient coupling advantageously enables a damping of the relative movement, which improves the travel comfort of the person received by the receiving device and can contribute to kinetosis prevention. According to one embodiment, the spring device is designed to permanently store part of the crash energy in the event of an accident of the vehicle.

According to one embodiment, the spring device comprises at least one elastic spring, and / or at least two impact elements and / or a mechanical locking device. The elastic spring may be, for example, an elastic coil spring or an elastic coil spring. According to one embodiment, the spring device may additionally or alternatively also comprise at least two impact elements, which are designed to limit the expansion of the spring device by a meeting. The baffles may be, for example, baffles. Additionally or alternatively, the spring device may also comprise a locking element. The locking element may be, for example, a locking pin or a ratchet. The embodiments of the spring device described here advantageously allow a particularly simple and, according to embodiments, compact additional integration of damping properties of the coupling device.

The coupling device may comprise an actuation device according to one embodiment. The actuation device is designed to provide an actuation signal for actuating the actuator device to an interface of the actuator device in order to bring about the relative movement for avoiding kinetosis. The actuation signal may, for example, be a signal for accelerating or damping the relative movement. According to embodiments, the actuation signal may, for example, comprise a value with respect to the direction of the actuation and / or a value with respect to the extent of at least one element of the actuator device. The actuation device advantageously makes it possible to purposefully control and / or regulate the actuator device, which is helpful with regard to kinetosis prevention by the possibility of actuating the relative movement particularly precisely.

According to one embodiment, the actuator device is designed to effect an attenuation of the relative movement using an actuation signal, in particular to effect a damping of the relative movement corresponding to the aperiodic limit case. The damping of the relative movement can be used for example in the context of kinetosis prevention, or to provide additional stability, for example when entering or exiting, or a weight transfer in the receiving device. According to one embodiment, the actuator device can be designed to bring about the relative movement of the receiving device in a specific direction in order to achieve a specific target position. In particular, attenuation of the relative movement can take place here in order to approach the aperiodic limit case.

The actuator device may comprise at least three Zugaktoren according to one embodiment. The at least three Zugaktoren can also be designed as tension and / or pressure actuators, for example as a pneumatic cylinder or as a hydraulic cylinder. The at least three pull actuators may also be, for example, three pneumatic muscles. For example, the pneumatic muscles may contribute to reducing inertia, for example, in desired dynamics such as in a turn, and / or braking, and / or during acceleration. In addition, they can help stabilize the desired static behavior to stabilize.

According to one embodiment, the points of engagement of the Zugaktoren in the mounted state of the Zugaktoren are arranged annularly around a point of the hinge device on a ceiling portion of the receiving device. This arrangement advantageously allows a compact design of the actuator device.

According to one embodiment, the longitudinal axes of the at least three Zugaktoren in the assembled state of the Zugaktoren on a common intersection with the longitudinal axis of the hinge device in the assembled state of the hinge device. The Zugaktoren can be arranged equidistantly according to this embodiment. For example, the angles between the longitudinal axes of the joint device and the longitudinal axes of the Zugaktoren may have approximately the same value, for example an angle in the range between 50-70 °, for example 60 °. Advantageously, a particularly elegant and exact actuation of the relative movement in all desired directions is possible in order to influence the relative movement in all directions of the horizontal plane of the conveyor.

In addition, a method for preventing kinetosis in a device for transporting persons with a corresponding coupling device is presented. The method comprises at least one step of providing an actuation signal for actuating the actuator device of the coupling device to an interface of the actuator device in order to effect the relative movement for preventing kinetosis.

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.

The approach presented here also provides an actuation device which is designed to perform, to control or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of an actuator, the object underlying the invention can be solved quickly and efficiently.

For this purpose, the actuation device can have at least one arithmetic unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting control signals to the actuator and / or or at least a communication interface for reading or outputting data embedded in a communication protocol. The arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit may be a flash memory, an EEPROM or a magnetic memory unit. The communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface that can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output in a corresponding data transmission line.

In the present case, an actuation device can be understood to mean an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The control unit may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based design, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

• 1 eine schematische Darstellung einer Kopplungsvorrichtung in einer Vorrichtung zum Personentransport gemäß einem Ausführungsbeispiel;
• 2 eine schematische Darstellung einer Aktuierungseinrichtung gemäß einem Ausführungsbeispiel;
• 3 eine schematische Darstellung bezüglich einer Relativbewegung einer Aufnahmeeinrichtung gemäß einem Ausführungsbeispiel;
• 4 eine Darstellung einer Kopplungseinrichtung gemäß einem Ausführungsbeispiel;
• 5 eine Darstellung einer Kräfteverteilung mit drei Kraftvektoren an der Kopplungseinrichtung gemäß einem Ausführungsbeispiel;
• 6 eine Darstellung einer Kopplungsvorrichtung gemäß einem weiteren Ausführungsbeispiel;
• 7 eine Darstellung einer Kopplungsvorrichtung gemäß einem weiteren Ausführungsbeispiel;
• 8 eine schematische Darstellung einer aktuierten Kopplungsvorrichtung gemäß einem Ausführungsbeispiel;
• 9 eine schematische Darstellung einer aktuierten Kopplungsvorrichtung bei einem Beschleunigungsvorgang gemäß einem Ausführungsbeispiel;
• 10 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem Ausführungsbeispiel;
• 11 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem weiteren Ausführungsbeispiel;
• 12 Kennlinien bezüglich einer Bewegung der Aufnahmeeinrichtung gemäß einem weiteren Ausführungsbeispiel;
• 13 Kennlinien bezüglich einer Aktuierung der Aktoreinrichtung gemäß einem Ausführungsbeispiel; und
• 14 ein Ablaufdiagramm eines Verfahrens gemäß einem 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 coupling device in a device for passenger transport according to an embodiment;
• 2 a schematic representation of an actuator according to an embodiment;
• 3 a schematic representation with respect to a relative movement of a receiving device according to an embodiment;
• 4 an illustration of a coupling device according to an embodiment;
• 5 a representation of a distribution of forces with three force vectors on the coupling device according to an embodiment;
• 6 an illustration of a coupling device according to another embodiment;
• 7 an illustration of a coupling device according to another embodiment;
• 8th a schematic representation of an actuated coupling device according to an embodiment;
• 9 a schematic representation of an actuated coupling device in an acceleration process according to an embodiment;
• 10 Characteristics with respect to a movement of the receiving device according to an embodiment;
• 11 Characteristics with respect to a movement of the receiving device according to a further embodiment;
• 12 Characteristics with respect to a movement of the receiving device according to a further embodiment;
• 13 Characteristics with respect to an actuation of the actuator device according to an embodiment; and
• 14 a flowchart of a method according to an 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 coupling device 100 in a device 103 for passenger transport according to an embodiment. According to the embodiment shown, the device 103 executed as a vehicle. The device 103 has a conveyor 105 for passenger transport. The transport facility 105 includes a body with an outer capsule and wheels that roll the device 103 for example, along a road. The transport facility 105 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. Also shown are optional deformation areas on a front and a rear of the conveyor 105 , The transport facility 105 is adapted to a movement of the device 103 to effect. In addition, the device 103 a capsule-shaped receiving device 110 for taking up people. The coupling device 100 has a hinge device 115 and an actuator device 120 on, the example of two Zugaktoren 122 includes. The joint device 115 is adapted to a relative movement between the receiving device 110 and the transport facility 105 along at least one trajectory and allow a further relative movement between the receiving device 110 and the transport facility 105 to block along at least one further trajectory. The actuator device 120 is adapted to the relative movement between the receiving device 110 and the transport facility 105 to influence.

Exemplary in this figure in the receiving device 110 a seat 125 and a recorded person 130 shown. In addition, a current direction of travel 135 the device 103 shown for passenger transport.

Both the inner capsule, so the receiving device 110 , as well as the outer capsule of the conveyor 105 are designed stable according to an embodiment as a safety cage, comparable to today's passenger compartments. The shape of the receiving device 110 and the outer capsule of the conveyor 105 can be oval. In an optimization in terms of space requirements, however, that is Allowing 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 110 can the recorded person 130 So the passenger, in terms of the direction of travel 135 be positioned backwards.

In the optionally optically hermetically sealed capsule of the receiving device 110 For example, image signals to the occupant by means of an optional image display device to the inner wall of the receiving device 110 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. Both rigid and moving images can be projected, as well as, if appropriate, particularly favorable environments and / or motifs which are in the seat of the receiving device 110 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, the projected image is mechanically coupled to the same inertial system as the occupant. 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. Optionally, an artificial horizon can be faded into the image for the technology-conscious occupant.

2 shows a schematic representation of an actuation device 200 according to an embodiment. The actuation device 200 For example, to actuate based on 1 described coupling device 100 be used. The actuation device 200 is designed to be an actuation signal 205 for actuating the actuator device 120 to an interface of the actuator device 120 to provide for the relative movement of the receiving device to prevent kinetosis. According to one embodiment, the actuation device 200 also designed to be a locking signal 210 to an interface of the hinge device 115 provide to lock the receiving device. According to one embodiment, the actuation device 200 also designed to the Aktuierungssignal 205 as a signal for locking the receiving device to an interface of the actuator device 120 provide. The actuation device 200 according to one embodiment also comprises a position sensor device 215 for detecting a current position of the receiving device relative to the conveying device. The position sensor device 215 is designed according to this embodiment, a position signal 220 to the actuation device 200 provide. According to this embodiment, the actuation device 200 designed to be the actuation signal 205 and the locking signal 210 using the position signal 220 provide. According to one embodiment, the actuation device 200 adapted to be using the position signal 220 to determine a current position and / or speed and / or acceleration of the pick-up device relative to the conveyor and to provide the actuation signal 205 and optionally the Arretierungssignals 210 to use.

3 shows a schematic representation with respect to a relative movement of the receiving device 110 in relation to the transport facility 105 in the device 103 according to an embodiment. Exemplary are end positions for two trajectories 305 . 310 a relative movement of the receiving device 110 shown. The end positions exemplified in this figure for two trajectories 305 . 310 exemplify such a relative movement in the form of a pendulum motion, wherein the end positions of the trajectory 305 exemplified a pendulum motion for the comfort of a receiving device 110 show the recorded person, and the end positions of the trajectory 310 exemplified a pendulum motion for the passive safety of the receiving device 110 show the recorded person. Accordingly, the trajectory goes 310 over the trajectory 305 out.

In principle, between the swinging range for the comfort mode for kinetosis prevention, by the movement path 305 is shown, and the extended range of vibration for passive safety, by the trajectory 310 is shown to be distinguished.

According to one embodiment, the coupling of the receiving device takes place 110 to the transport facility 105 , So the suspension of the inner capsule by means of the coupling device 100 , so that the recording device 110 can not rotate about its own vertical axis, but in the x and y direction, as in the longitudinal and transverse axis of the receiving device 110 in relation to the transport direction 105 within certain limits. According to embodiments can also in the direction of the vertical axis of the receiving device 110 , in z-direction, be given freedom of movement.

The coupling device 100 includes a hinge device 115 and an actuator device. According to embodiments, the coupling device 100 be designed as an integrated device in which, for example, the hinge device 115 the actuator device comprises.

The joint device 115 According to one embodiment, it is designed to set the relative movement with respect to the size of a rash of the relative movement in at least one movement path. Additionally or alternatively, the hinge device 115 shaped to the receiving device 110 lock using a lock signal.

4 shows the coupling device 100 according to an embodiment. According to this embodiment, the coupling device 100 a spring device 400 on. The spring device 400 is designed to couple the receiving device resiliently to the transport device. The spring device 400 comprises according to one embodiment, at least one elastic spring. Additionally or alternatively, the spring device comprises 400 at least two baffles 415 and / or a mechanical locking device. 4 shows the spring device 400 with an elastic comfort spring 405 and an elastic locking spring 410 , also called passive-safety spring. The comfort spring 405 is according to this embodiment in its maximum deflection by the meeting of two baffles 415 limited in the form of baffles, the baffles 415 are formed by meeting the extension length of the spring device 400 to limit.

In order to avoid return vibrations, a rigid coupling of the receiving device to the also formable as a passive safety spring safety spring 410 to be required. In that case, a mechanical lock is required. This can be done by Aktuierung example, a locking pin or mechanical self-locking when exceeding a certain deflection length of the relative movement of the receiving device in the z-direction of the pendulum, ie in the direction of the vertical axis of the receiving device.

The maximum travel of the spring device 400 is limited according to an embodiment at an end position, so that the receiving device can still oscillate in the event of a collision of the device for passenger transport. Optional is the spring device 400 so formed that in a collision, a portion of the crash energy in the spring device 400 remains stored. In addition to the convenience spring device 400 can be installed according to one embodiment, a design that is optimized for a crash and it holds out of the comfort range an additional way. For example, in the event of a crash, a stronger spring can be used and / or switched on, which performs a defined force-displacement limit in the z-direction of the coordinate system, ie in the direction of the vertical axis of the receiving device to the final position and thereby additional way for the delay Recording device provides and thus serves to relieve the occupant of the receiving device. Additionally or alternatively, according to one embodiment, to avoid relative movements in the form of unfavorable return vibrations of the comfort spring 405 and the locking spring 410 a ratchet be activated, eg similar to a toothed belt ratchet. With these locking devices, such as a ratchet or a locking pin, a portion of the crash energy advantageously remains in the spring device in the event of a collision 400 saved.

5 shows a schematic representation of a distribution of forces 500 at the coupling device according to an embodiment. There are three force vectors 505 . 510 . 515 shown. The force vector 505 (F _spring ) represents the force acting on a spring of the spring device. The force vector 510 (F _deflection ) represents the force of the deflection of the relative movement in the receiving device in the form of a pendulum motion. The force vector 515 (F _Horizontal ) represents the force produced by a frontal collision.

α :

Auslenkung des Pendels

F_horizontal:

Kraft durch Frontcrash

From the force which acts in the horizontal direction on the device for passenger transport, for example in a frontal collision in the x-direction, the proportion acting on the spring can be calculated as a function of the deflection angle as follows: $${\text{F}}_{\text{feather}}={\text{F}}_{\text{horizontal}}*\text{sin}\left(\mathrm{\alpha }\right)/\left(\text{sin}\left(\mathrm{\alpha }\right)+\text{cos}\left(\mathrm{\alpha }\right)\right)$$

α:

Deflection of the pendulum

F _horizontal :

Power through frontal crash

The formula shows the proportionate force at the coupling device of the receiving device. Accordingly, even at a moderate deflection angle of the coupling device in the form of a pendulum of 15 ° about 21% of the delay, which acts in the X direction due to a crash, defined by the suspension, ie by the coupling device degraded. The operating principle is that the horizontal force, represented by the force vector 515 , for deflection of the pendulum motion leads and then in the two by the force vectors 505 and 510 divided forces, ie into the forces vector 505 represented force acting on the spring and that through the force vector 510 represented force of deflection. With increasing deflection, the proportion of the force acting on the spring increases.

6 shows a schematic representation of the coupling device 100 as a connection between a receiving device 110 and a conveyor 110 according to a further embodiment. According to the embodiment shown here is the hinge device 115 designed as a universal joint. The actuator device according to one embodiment comprises pull actuators in the form of pneumatic muscles.

In the in 6 shown embodiment, the actuator device comprises at least two Zugaktoren example 122 , which are designed here according to an embodiment as pneumatic muscles. Shown is a 2D representation of an actuation with pneumatic muscles in the x-direction, with the universal joint optionally being optional.

Shown is the coupling of a ceiling portion of the receiving device 110 to the ceiling of the transport facility 105 , The interior depends in the form of the receiving device 110 like a free-swinging pendulum on the outer shell, so the transport device 105 ,

The pneumatic muscles in the form of the pull actuators 122 reduce the inertia at a desired dynamics, for example in a curve, and / or braking, and / or during acceleration according to one embodiment. In addition, the Zugaktoren stabilize 122 the receiving device 110 opposite the transport facility 105 at a desired static behavior of the receiving device 110 so that, for example, in a constant straight ahead driving the device for passenger transport no excitation of a relative movement of the receiving device 110 in relation to the transport facility 105 by a proper movement of the occupants in the capsule of the receiving device 110 he follows. According to one exemplary embodiment, the actuator device is designed to effect a damping of the relative movement using an actuation signal, in particular a damping of the relative movement corresponding to the aperiodic limit case.

7 shows a schematic representation of the coupling device 100 according to a further embodiment. The joint device 115 is designed as a universal joint. The actuator device 120 comprises at least three Zugaktoren according to one embodiment 122 , Here are shown by way of example eight Zugaktoren, of which a Zugaktor 122 has been provided with a reference numeral for all others. According to the embodiment shown in this figure, the actuator device comprises 120 eight Zugaktoren 122 which annularly around the hinge device at a ceiling portion of the receiving device 110 are arranged. The arrangement of the Zugaktoren 122 can be equidistant, for example, the angle between the longitudinal axes of the hinge device 115 and the longitudinal axes of the Zugaktoren 122 have approximately the same value, whereby an actuation of the relative movement in all directions of the horizontal plane of the conveyor is possible. In 7 is shown a 3D representation of a possible Aktuierung with two pneumatic muscles per x and y direction, with a pneumatic muscle is drawn only hinted. The universal joint may be optional.

8th shows a coupling device 100 in a device 103 in the form of a vehicle according to an embodiment. Shown is the hinge device 115 with spring device and an actuator device of the coupling device 100 , Exemplary are two Zugaktoren 122 the actuator device shown. According to one embodiment, the longitudinal axes of the at least three Zugaktoren 122 a common point of intersection with the longitudinal axis of the hinge device 115 on, causing an actuation of the receiving device 110 in all directions with respect to the horizontal plane of the conveyor 105 is possible.

9 shows a schematic representation of an actuated coupling device 100 in a device 103 during an acceleration process of the device 103 according to an embodiment. Shown is an exemplary deflection of the coupling device 100 in such an acceleration process. The actuation of the coupling device 100 is particularly clear by the two Zugaktoren example 122 one of which is clearly contracted and the other stretched. The recording device 110 is resilient to the conveyor according to this embodiment 105 coupled. The recording device 110 is exemplary in a position in a movement path along the longitudinal axis of the receiving device 110 deflected. Thus, the center of the receiver is relative to the center of the conveyor 105 continue in the direction opposite to the direction of travel 135 as the center of the conveyor 105 , The joint device 115 and the two pull actuators shown by way of example 122 in the form of pneumatic muscles are corresponding to the deflection of the receiving device 110 deflected. It is particularly shown that the actuation of the receiving device 110 through the two Zugaktoren 122 , of which the rear of the two Zugaktoren 122 is strongly contracted with respect to the direction of travel, while the front of the two pull actuators 122 is stretched. According to one embodiment are for the operation of Zugaktoren 122 in the form of pneumatic muscles compressed air reservoir, air ducts and an electronic control unit (ECU), for example in the form of based on 2 described Aktuierungseinrichtung required.

10 shows characteristics 1005 . 1010 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 1005 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 1005 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. 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 elastomeric bands. In the goal, the oscillations of the pendulum in the form of the coupling device by a spring-damper system, for example in the form of said spring means and / or a suitable actuator to be adjusted so that a settling takes place in the form of aperiodic limit case, in the current application : eg 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: $$\text{phi\_dotdot}=\text{F\_tangential\_ext / m / l}-\text{d /}\left(\text{m * l}\right)*\text{phi\_dot}-\text{g / l * sin}\left(\text{phi}\right)$$

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 1010 shown in another coordinate system. In the case of the further coordinate system, the time in seconds is plotted on the abscissa and the degree of deflection φ of the receiving device with respect to the conveying device is plotted in degrees on the ordinate. The family of characteristics 1010 shows the angle, as it sets itself in passive mode by itself, with three different attenuations. In 10 Here, the result of the described simulation is represented by a 1g jump and the aperiodic limit case.

By means of a controlled regulation of the Zugaktoren, according to an embodiment in the form of pneumatic muscles, the achievement of the target position can be accelerated without having to give up the advantages of aperiodic limit case. Two exemplary simulations using P-controller are in the following 11 shown.

11 shows characteristics 1105 . 1110 . 1115 . 1120 . 1125 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 11 the result of the simulation with a 1g jump and an aperiodic limit case with P controller. A corresponding controller can be used in the 2 be described actuation device realized.

Shown is a characteristic 1105 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 are a family of characteristics 1110 as well as two characteristic curves 1115 . 1120 shown. In the further coordinate system, the time in seconds is also plotted on the abscissa and the deflection angle φ in degrees on the ordinate. The family of characteristics 1110 shows the angle, as it sets itself in passive mode by itself, with three different attenuations. The characteristic 1115 shows the nominal curve of the angle and the characteristic curve 1120 shows an actuated pendulum. In addition, there is a characteristic 1125 shown. The characteristic 1125 shows the torque curve in another coordinate system, in which the abscissa time in seconds and on the ordinate the torque are plotted.

12 shows characteristics 1205 . 1210 . 1215 . 1220 . 1225 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 12 is a 0.2 / -0.2g change jump and an aperiodic limit case with P-controller shown.

Shown is a characteristic 1205 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 are a family of characteristics 1210 as well as characteristics 1215 . 1220 shown. In this coordinate system also the time in seconds is plotted on the abscissa, and on the ordinate the deflection angle φ in degrees. The family of characteristics 1210 shows the angle, as it sets itself in passive mode by itself, with three attenuations. The characteristic 1215 shows the nominal curve of the angle and the characteristic curve 1220 shows an actuated pendulum. In addition, there is a characteristic 1225 shown. The characteristic 1225 shows the torque curve in a coordinate system in which the time in seconds and the ordinate the torque are plotted on the abscissa.

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.

The Zugaktoren according to an embodiment in the form of pneumatic muscles serve as actuators for faster adjustment of the pendulum movement and / or the pendulum deflection of the accelerations of the device for passenger transport. An actuation of the Zugaktoren is required according to an embodiment, for example, when the receiving device is kept quiet when, for example, the occupant moves, but there is no acceleration in the horizontal direction. When occurring acceleration in the horizontal direction, at least the damping is initially canceled, possibly also takes place an actuation in the form of a "pushing" of the receiving device to achieve the desired behavior, for example, a minimization of noticeable acceleration within the interior of the receiving device.

13 shows characteristics 1305 with respect to an actuation of the actuator device according to an embodiment. As pulling actuators of the actuator device, according to one embodiment, pneumatic muscles are used for said desired actuation of the receiving device. Pneumatic muscles can act as a spring as well as a damper and move smoothly. The desired rapid actuation (for example, up to 150 Hz) is thus possible, as well as a high acceleration of a mass. Calculations have shown that the torques which can be set by means of this exemplary embodiment move in the dimensions required for the actuation of the receiving device described. This is in 13 shown in the form of a force-displacement diagram. By way of example, a force-displacement diagram (with isobars) of a pneumatic muscle is shown. The family of characteristics 1305 is shown in a coordinate system in which the abscissa dimension h [%] of the pneumatic muscle and on the ordinate the force F [N] is plotted. The family of characteristics 1305 shows the force F [N] as a function of the path (expansion) in isobars, the lowest characteristic being this ratio at 0 bar, the following line at 1 bar, the third line from below at 2 bar, the fourth line at 3 bar, the fifth line at 4 bar, the sixth line at 5 bar and the top line at 6 bar.

14 shows a flowchart of a method 1400 for preventing kinetosis in a device for passenger transport according to an embodiment. The procedure 1400 has at least one step of providing 1405 on. In the step of providing 1405 An actuation signal is provided for actuating the actuator device of the coupling device to an interface of the actuator device in order to bring about the relative movement for preventing kinetosis.

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 (14)

Coupling device (100) for a device (103) for passenger transport, the device (103) having at least one transport device (105) for transporting persons, which is designed to effect a movement of the device (103), and a receiving device (110). for receiving persons, and wherein the coupling device (100) has at least the following features: a hinge means (115) adapted to allow relative movement between the receiving means (110) and the conveyor (105) along at least one path of travel (305, 310); and at least one actuator device (120) which is designed to influence the relative movement between the receiving device (110) and the conveying device (105). Coupling device (100) according to Claim 1 wherein the hinge means (115) is adapted to adjust the relative movement with respect to the magnitude of the relative movement stroke along the at least one trajectory (305, 310), and / or wherein the hinge means (115) is formed to engage the receiver (110). lock using a lock signal (210). Coupling device (100) according to one of the preceding claims, wherein the hinge device (115) is designed to prevent a rotational movement of the receiving device (110) about the vertical axis of the receiving device (110). A coupling device (100) according to any one of the preceding claims, wherein the coupling device (100) comprises spring means (400), wherein the spring means (400) is adapted to resiliently couple the receiving means (110) to the conveying means (105). Coupling device (100) according to Claim 4 wherein the spring device (400) comprises at least one elastic spring (405, 410), and / or at least two baffle elements (415) and / or a mechanical locking device. Coupling device (100) according to one of the preceding claims with an actuation device (200), which is designed to provide an actuation signal (205) for actuation of the actuator device (120) to an interface of the actuator device (120), the relative movement to prevent kinetosis to effect. Coupling device (100) according to one of the preceding claims, wherein the actuator device (120) is designed to effect an attenuation of the relative movement using an actuation signal (205), in particular to effect a damping of the relative movement corresponding to the aperiodic limit case. Coupling device (100) according to one of the preceding claims, wherein the actuator device (120) comprises at least three pull actuators (122). Coupling device (100) according to Claim 8 , In which attack points of Zugaktoren (122) in the mounted state of the Zugaktoren (122) are arranged annularly around a point of application of the hinge device (115) on a ceiling portion of the receiving device (110). Coupling device (100) according to Claim 8 or 9 , wherein the longitudinal axes of the at least three Zugaktoren (122) in the mounted state of the Zugaktoren (122) have a common intersection with the longitudinal axis of the hinge means (115) in the assembled state of the hinge means (115). A passenger transport device (103), the device (103) having at least the following features: a passenger conveyor (105) adapted to cause the device (103) to move, a receiving device (110) for receiving persons, and a coupling device (100) according to one of the preceding claims, wherein the coupling device (100) couples the receiving device (110) to the conveying device (105). A method (1400) for kinetosis prevention in a device (103) according to Claim 11 wherein the method (1400) comprises at least the following steps: Providing (1405) an actuation signal (205) for actuating the actuator means (120) of the coupling device (100) to an interface of the actuator means (120) to effect the relative motion to prevent kinetosis. Actuation means (200) arranged to execute and / or drive the steps of the method (1400) according to any one of the preceding claims in respective units. A computer program adapted to perform the method (1400) according to Claim 12 execute and / or control.

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