WO2019205420A1

WO2019205420A1 - Stability-enhanced seat and means of transport

Info

Publication number: WO2019205420A1
Application number: PCT/CN2018/105064
Authority: WO
Inventors: 吴奕男
Original assignee: 上海飞来信息科技有限公司
Priority date: 2018-04-28
Filing date: 2018-09-11
Publication date: 2019-10-31
Also published as: CN110896657A; CN208469612U

Abstract

A stability-enhanced seat and a means of transport. The stability-enhanced seat comprises a seat body (1), an attitude sensor (2), a controller (3), a motor assembly (4), and a load bearing assembly, wherein the attitude sensor (2) is disposed on the seat body (1) and connected to the controller (3), to sense real-time attitude data of the seat body (1) and transmit the real-time attitude data to the controller (3); the seat body (1) is connected to the motor assembly (4) by means of the load bearing assembly; the controller (3) is connected to the motor assembly (4); the controller (3) controls, according to the real-time attitude data of the seat body (1), the motor assembly (4) to drive the seat body (1) to move, so as to maintain the seat body (1) in a desired attitude, thereby improving the safety and comfort.

Description

Stabilizing seat and transport

Technical field

Embodiments of the present invention relate to the field of seating technology, and in particular, to a stabilization seat and a transportation tool.

Background technique

The seat is used in many occasions. The usual seat is fixed, rotatable or movable, etc., but such a seat will follow the load in a bumpy vehicle. The swaying of the swaying, for example, in the current transportation vehicles such as cars and ships, the roads and the weather often cause the boat to bump, and the seat in the vehicle will sway accordingly. Some special people such as children, the elderly, and the patients It is often impossible to withstand such bumps, and some special transported fragile items are often damaged in bumps.

Summary of the invention

Embodiments of the present invention provide a stabilizing seat and a transport tool that can be held in a target posture against external shaking.

According to a first aspect of the embodiments of the present invention, a stabilizing seat includes a seat body, an attitude sensor, a controller, a motor assembly, and a load bearing assembly, wherein:

The attitude sensor is disposed on the seat body and connected to the controller to sense real-time attitude data of the seat body, and transmit the real-time attitude data to the controller; The body is connected to the motor assembly through the carrying assembly, the controller is connected to the motor assembly, and the controller controls the motor assembly to drive the seat body movement according to the real-time attitude data of the seat body, The seat body is held in a desired posture.

According to a first aspect of the embodiments of the present invention, the controller includes: a deviation detecting unit, a desired value storage unit, and a main control unit; the expected value storage unit is provided with desired posture data; the deviation detecting unit is stored with the expected value a unit connection, configured to receive the real-time attitude data and desired attitude data in the expected value storage unit, and generate a deviation value of the two; the main control unit is connected to the deviation detecting unit, configured to receive and according to the The offset value controls the motion of the motor assembly.

According to a first aspect of the embodiments of the present invention, a joint angle sensor disposed on the motor assembly is configured to measure joint angle data of a motor assembly and transmit the joint angle data to the controller;

The controller includes a motor adjustment unit that receives joint angle data of the joint angle sensor and controls the motor assembly to perform joint angle adjustment based on the joint angle data.

According to a first aspect of an embodiment of the invention, the joint angle sensor comprises a Hall sensor and/or a magnetic encoder.

According to a first aspect of the embodiments of the present invention, the motor assembly includes a first shaft motor that adjusts a translational axis attitude of the seat body, a second shaft motor that adjusts a pitch axis attitude of the seat body, and adjusts the seat body At least one of the third axis motors of the roll axis attitude.

According to a first aspect of the embodiments of the present invention, the motor assembly includes a first shaft motor, a second shaft motor, and a third shaft motor, wherein the first shaft motor, and/or the second shaft motor, and/or Or, the third axis motor can rotate 360 degrees.

According to a first aspect of the embodiments of the present invention, the real-time attitude data includes angle data and/or angular velocity data of the seat body.

According to a first aspect of the embodiments of the present invention, the desired attitude is a horizontal attitude, and the desired angular velocity value is zero.

According to a first aspect of the embodiments of the present invention, the attitude sensor comprises at least one of an accelerometer and a gyroscope.

According to a first aspect of the embodiments of the present invention, a vehicle includes the stabilizing seat of any of the preceding embodiments.

After adopting the above technical solution, the embodiment of the present invention has the following beneficial effects compared with the prior art:

By setting the attitude sensor on the seat body, the posture change of the seat body can be measured in real time. After the attitude sensor transmits the real-time attitude data to the controller, the controller can control the movement of the motor component according to the real-time attitude change condition, and the motor component drives the seat. The movement of the body enables the seat body to be maintained in a desired posture, so that the seat body can overcome external shaking or bumping, and when used on a transportation tool, the driving safety can be improved and the comfort can be improved;

By setting the joint angle sensor on the motor assembly, the joint angle data of the motor assembly is measured, and the output of the motor assembly is adjusted by the motor adjustment unit to further ensure that the seat body can be maintained in the desired posture.

DRAWINGS

1 is a structural block diagram of a stabilizing seat according to an embodiment of the present invention;

2 is a structural block diagram of a stabilizing seat according to another embodiment of the present invention;

FIG. 3 is a schematic structural view of a stabilizing seat according to an embodiment of the present invention.

detailed description

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. The following description refers to the same or similar elements in the different figures unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the invention. Instead, they are merely examples of devices and methods consistent with aspects of the embodiments of the invention as detailed in the appended claims.

The terms used in the embodiments of the present invention are for the purpose of describing the specific embodiments, and are not intended to limit the embodiments of the present invention. The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that the terms "first", "second", and <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; Similarly, the words "a" or "an" and the like do not denote a quantity limitation, but mean that there is at least one. Unless otherwise indicated, the terms "front", "rear", "lower" and/or "upper" are used for convenience of description and are not limited to one location or one spatial orientation. The word "comprising" or "comprises" or "comprises" or "an" or "an" Or an object. The words "connected" or "connected" and the like are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

Referring to Figures 1-3, in one embodiment, a stabilizing seat can include a seat body 1, an attitude sensor 2, a controller 3, a motor assembly 4, and a load bearing assembly (not shown).

The stabilizing seat of the embodiment of the present invention may be of a seat, a stool, or the like, and can be used in various occasions. It can be installed on various manned and loaded vehicles, such as in a car. When the car is bumpy, the stabilizing seat can resist the bumps and vibrations of the car and reduce the shaking and jolting of the seat. Or it can be used as a stand-alone seat to prevent the load from falling over when the force on the seat is unbalanced. Of course, the specific use of the stabilizing seat is not a limitation, and it can also be used in other suitable occasions where a stable seat is required.

In the stabilizing seat, the posture sensor 2 may be disposed on the seat body 1 or on the carrying component, and the specific setting position and setting manner are not limited, as long as the real-time posture of the seat body 1 can be detected. Further, the number of the posture sensors 2 may be one or plural, and the number of the specific settings is not limited. For example, in one embodiment, the attitude sensor 2 can be mounted and secured to the bottom of the seat body 1 to avoid as much as possible the contact surface of the load with the seat body 1. The attitude sensor 2 is connected to the controller 3, and can be connected by wire to realize data communication. Since the posture sensor 2 is disposed on the seat body 1, the posture sensor 2 changes according to the posture change of the seat body 1, and the posture sensor 2 can sense the real-time posture data of the seat body 1 and transmit the real-time posture data to the control. In the device 3, once the posture of the seat body 1 changes, the real-time attitude data sensed by the attitude sensor 2 can reflect such a posture change, and the controller 3 can adjust the posture change according to the real-time posture data.

The seat body 1 is connected to the motor assembly 4 via a carrier assembly. On the one hand, the load bearing assembly is connected to the motor assembly 4, and on the other hand, the seat body 1 is connected, which can play a role of connection and support to a certain extent. The specific structure is not limited, and can be adjusted according to the shape and the connection position of the seat. The motor assembly 4 drives the load bearing assembly to move, that is, the seat body 1 is moved. The driving force of the motor assembly 4 can be determined according to the output capability of the motor assembly 4 and the seat body 1 and the weight of the load. This embodiment is not limited.

The controller 3 is connected to the motor assembly 4, and can be connected in a wired manner to transmit an execution command for controlling the movement of the motor assembly 4. The controller 3 controls the movement of the motor assembly 4 according to the real-time attitude data of the seat body 1, and the motor assembly 4 accordingly drives the seat body 1 to move to maintain the seat body 1 in a desired posture. The controller 3 may be disposed on the seat body 1 or on the outer structure.

The control of the movement of the motor assembly 4 by the controller 3 is made according to the real-time posture of the seat body 1. For example, when the seat body 1 is shaken, the real-time posture of the seat body 1 deviates from the desired posture, and the controller 3 The control motor assembly 4 drives the seat body 1 to move in a direction to overcome the deviation, so that the seat body 1 is reset to a desired posture, thereby overcoming such shaking, so that the seat body 1 remains stable.

When the posture sensor 2 is disposed on the seat body 1, the posture data of the seat body 1 can be measured in real time, and after the posture sensor 2 transmits the real-time attitude data to the controller 3, the controller 3 can control the motor assembly according to the real-time attitude data. 4 to perform corresponding rotation, thereby driving the seat body 1 to move, so that the seat body 1 can be maintained in a desired posture, so that the seat body 1 can overcome external shaking or bumping, and can improve driving safety when used on a transportation tool. At the same time, enhance comfort.

In one embodiment, referring to FIG. 2, the controller 3 includes a deviation detecting unit 32, a desired value storage unit 31, and a main control unit 33. The controller 3 can be constructed by connecting the deviation detecting unit 32, the expected value storage unit 31, and the main control unit 33.

The expected value storage unit 31 is provided with desired posture data, and may be a memory or a register in which desired posture data is stored, and is accessible to the deviation detecting unit 32 for reading and writing data.

The deviation detecting unit 32 is connected to the expected value storage unit 31, and the deviation detecting unit 32 is connected to the posture sensor 2, and can receive the real-time posture data transmitted from the posture sensor 2 and the desired posture data in the expected value storage unit 31, and generate the deviation values of the two. . The deviation detecting unit 32 may be a hardware subtractor, and the real-time attitude data and the desired attitude data are respectively used as input signals, and the deviation data is output after subtracting the two. Of course, according to the number of posture data, a corresponding number of hardware subtractors may be set to respectively Poor.

The main control unit 33 is connected to the deviation detecting unit 32, and the deviation value output from the deviation detecting unit 32 is input to the main control unit 33. The main control unit 33 receives the deviation value, and controls the movement of the motor assembly 4 according to the deviation value. The motor assembly 4 drives the seat body 1 to move, so that the deviation value between the subsequent real-time attitude data and the desired attitude data is reduced. Since the attitude data is received and processed in real time, when the posture of the seat body 1 changes, the motor assembly 4 quickly restores it to the desired posture under the control of the controller 3, so that the seat body 1 remains substantially at the desired posture. The load on the seat body 1 basically does not feel the posture change of the stabilizing seat, thereby achieving the stabilization of the seat.

The deviation value between the real-time attitude data and the desired attitude data is obtained by the deviation detecting unit 32, so that the main control unit 33 can control the motor assembly 4 according to the specific deviation value, and the movement of the motor assembly 4 to the trend of decreasing the deviation value So that the seat body 1 maintains the desired posture. It can be understood that the deviation detecting unit 32 can also implement the calculation of the posture deviation of the seat body 1 by other suitable algorithms, which is not limited in this embodiment.

In one embodiment, the stabilizing seat may further include an articulation angle sensor 5 disposed on the motor assembly 4. The joint angle sensor 5 is used to measure the joint angle data of the motor assembly 4 and transmit the joint angle data to the controller 3. The controller 3 can control the motor assembly 4 to rotate based on the joint angle data.

The joint angle sensor 5 can be disposed on the motor assembly 4, senses the real-time angle of the motor assembly 4, generates corresponding joint angle data, and transmits it to the controller 3.

With continued reference to FIG. 2, in one embodiment, the controller 3 can also include a motor adjustment unit 34. The motor adjustment unit 34 receives the joint angle data of the joint angle sensor 5, and controls the motor assembly 4 to perform joint angle adjustment based on the joint angle data. The motor adjusting unit 34 can determine the angular rotation amount of the motor based on the deviation value between the real-time attitude data and the desired posture data, thereby adjusting the real-time posture of the seat body 1 to the desired posture. Specifically, the motor adjustment unit may perform current closed loop control according to the joint angle data measured in real time and the deviation value between the real-time attitude data and the desired attitude data. Thus, the control of the joint angle of the motor assembly 4 is achieved by controlling the torque variation of the motor, thereby driving the movement of the carrier assembly such that the seat body 1 remains in the preset desired posture.

By setting the joint angle sensor 5 on the motor assembly 4, the real-time joint angle data of the motor assembly 4 is measured, and the output of the motor assembly 4 is adjusted by the motor adjusting unit 34, so that the motion of the motor assembly 4 is more stable and reliable, further ensuring The seat body 1 can be maintained in a desired posture.

The controller 3 can be implemented by a digital signal processing chip, and the controller 3 can communicate with the attitude sensor through the 12C, SPI bus. Can understand. The controller 3 can also communicate with the attitude sensor by other means, and the embodiment is not limited thereto.

In this embodiment, the joint angle sensor 5 may include a Hall sensor and/or a magnetic encoder, both of which can sense changes in the direction of rotation, so that joint angle data can be obtained, of course, not specifically, other joint angle changes can be measured. The measuring device is also suitable.

In one embodiment, the motor assembly 4 may include a first shaft motor 41 that adjusts a translational axis attitude of the seat body 1, a second shaft motor 42 that adjusts a pitch axis attitude of the seat body 1, and an adjustment of the seat body. At least one of the third axis motors 43 of the roll axis attitude of 1. The carrier assembly is used to carry the motor assembly 4 and the seat body 1.

The motor component 4 can be a three-axis motor component, a two-axis motor component or a single-axis component, and can realize three, two or one adjustments of the translational axis attitude, the pitch axis attitude and the roll axis attitude of the seat 1 , specifically Depending on the occasion of the seat application. The division of labor of each motor is different. The installation position and installation order of the motor are not affected by the controller, and can be installed as needed.

In the present embodiment, referring to FIG. 3, the motor assembly 4 includes a first shaft motor 41, a second shaft motor 42, and a third shaft motor 43 connected thereto, wherein the first shaft motor 41, and/or the second shaft The motor 42, and/or the third shaft motor 43 can be rotated 360 degrees.

For example, the rotor of the first shaft motor 41 is coupled to the seat body 1, the stator of the first shaft motor 41 is coupled to the rotor of the second shaft motor 42, and the stator of the second shaft motor 42 is coupled to the rotor of the third shaft motor 43, The stator of the triaxial motor 43 is connected to a load support body (not shown) of the load bearing assembly. Of course, the stator and the rotor are relatively opposite, and the above connection manner is only exemplary, and each shaft motor can pass between Carrier components (such as turning arms, carrier brackets, etc.) are coupled such that each axis motor can be rotated about a corresponding axis. Correspondingly, the load bearing assembly may also be a three-axis load bearing assembly, a two-axis load bearing assembly or a single-axis load bearing assembly for supporting the seat body 1 and the corresponding motor assembly 4 for installation and adjustment, the specific installation position and the installation sequence, which are not used in this embodiment. limited.

Further, when the load bearing assembly is a three-axis load bearing assembly, the load bearing assembly can be set to rotate within a certain range in three axial directions, for example, the three shafts of the load bearing assembly can be set to rotate 360 degrees, so that the stabilizing effect is better. And easy to install. It can be understood that the respective axes of the carrier assembly can also be set to be less than or greater than 360 degrees of rotation, and the rotation ranges of the respective axes may be identical or inconsistent, and the embodiment is not limited thereto.

The real-time attitude data may include angle data and/or angular velocity data of the seat body 1. The controller 3 controls the motor assembly 4 to drive the seat body 1 according to the angular velocity data and/or the angle data so that the seat body 1 is maintained at a preset desired posture.

For example, in one embodiment, the control of controller 3 may include two closed loops. Specifically, the control of the diagonal velocity can be used as the inner loop control loop, and the control of the angle is used as the outer loop control loop, and the real-time attitude angle of the seat body 1 is calculated according to the real-time attitude data of the seat body 1; The output of the motor assembly 4 is sent to the motor assembly 4. The motor assembly 4 executes the corresponding command from the controller 3 to control the torque variation of the motor to adjust the joint angle of the motor assembly 4, thereby causing the seat body 1 to perform corresponding movements, so that the seat body 1 remains at a preset expectation. attitude.

In this embodiment, the desired posture of the seat body 1 may be preset to a horizontal posture, and the desired angular velocity value is zero. Setting the desired angular velocity value to zero can achieve the effect of zero angular velocity. When the angular velocity is constant to zero, the velocity is zero, achieving zero acceleration and zero inertia experience, thereby achieving stability of the seat. It can be understood that the set value of the desired angle value is not limited, and may be a certain range, which is specifically determined according to the seat angle adjustment range requirement.

The attitude sensor 2 can be an inertial measurement sensor. In this embodiment, the attitude sensor 2 includes at least one of an accelerometer and a gyroscope. Of course, accelerometers and/or gyroscopes can also be used in conjunction with magnetometers. The posture sensor 2 may be an individual or a combination of any suitable inertial measurement sensor, which is not limited in this embodiment.

An embodiment of the present invention further provides a transport tool comprising the stabilizing seat of any of the preceding embodiments. The transportation means can be, for example, a car, a ship, an airplane, etc., and the stabilizing seat is installed in the transportation vehicle as a seat therein to stabilize the seat. For example, when the transportation vehicle is a manned transportation vehicle, especially a child, an elderly person or other special people, the user can feel no shaking and bumps on the seat, and can reduce the motion sickness of the motion sickness group and improve the safety. Comfort. When the transportation vehicle is a cargo transportation vehicle, the transportation of loads such as cargo can be ensured. For the specific content of the stabilizing seat of the present embodiment, reference may be made to the description of the stabilizing seat in the foregoing embodiment, and the same portions are not described herein again.

The above is only a preferred embodiment of the present invention, and is not intended to limit the embodiments of the present invention. The embodiments of the present invention have been disclosed in the preferred embodiments, but are not intended to limit the implementation of the present invention. For example, those skilled in the art can make some modifications or modifications to the equivalent embodiments by using the above-disclosed technical contents without departing from the technical scope of the embodiments of the present invention. Any simple modifications, equivalent changes and modifications to the above embodiments in accordance with the technical solutions of the embodiments of the present invention are still within the scope of the technical solutions of the embodiments of the present invention.

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Claims

A stabilizing seat is characterized in that it comprises a seat body, an attitude sensor, a controller, a motor component and a load bearing component, wherein:

The attitude sensor is disposed on the seat body and connected to the controller to sense real-time attitude data of the seat body, and transmit the real-time attitude data to the controller; The body is connected to the motor assembly through the carrying assembly, the controller is connected to the motor assembly, and the controller controls the motor assembly to drive the seat body movement according to the real-time attitude data of the seat body, The seat body is held in a desired posture.
The stabilization seat according to claim 1, wherein the controller comprises: a deviation detecting unit, a desired value storage unit, and a main control unit; wherein the expected value storage unit is provided with desired posture data; and the deviation detecting unit And connecting to the expected value storage unit, configured to receive the real-time attitude data and the expected posture data in the expected value storage unit, and generate a deviation value of the two; the main control unit is connected to the deviation detecting unit, configured to Receiving and controlling the movement of the motor assembly based on the deviation value.
A stabilizing seat according to claim 1 or 2, further comprising an articulation angle sensor disposed on said motor assembly for measuring joint angle data of the motor assembly and transmitting said joint angle data to The controller;

The controller includes a motor adjustment unit that receives joint angle data of the joint angle sensor and controls the motor assembly to perform joint angle adjustment based on the joint angle data.
A stabilizing seat according to claim 3, wherein said articulation sensor comprises a Hall sensor and/or a magnetic encoder.
The stabilizing seat according to claim 1, wherein the motor assembly includes a first shaft motor that adjusts a posture of a translation axis of the seat body, a second shaft motor that adjusts a posture of a pitch axis of the seat body, and At least one of the third axis motors that adjust the roll axis attitude of the seat body.
A stabilizing seat according to claim 5, wherein said motor assembly comprises a first shaft motor, a second shaft motor and a third shaft motor, wherein the first shaft motor, and/or the second The shaft motor, and/or the third axis motor can be rotated 360 degrees.
The stabilizing seat of claim 1 wherein said real-time attitude data comprises angle data and/or angular velocity data of said seat body.
The stabilizing seat according to claim 7, wherein said desired posture is a horizontal posture and said desired angular velocity value is zero.
The stabilizing seat of claim 1 wherein said attitude sensor comprises at least one of an accelerometer and a gyroscope.
A transportation tool, comprising: a stabilizing seat, the stabilizing seat comprising a seat body, an attitude sensor, a controller, a motor assembly and a load bearing assembly, wherein

The attitude sensor is disposed on the seat body and connected to the controller to sense real-time attitude data of the seat body, and transmit the real-time attitude data to the controller; The body is connected to the motor assembly through the carrying assembly, the controller is connected to the motor assembly, and the controller controls the motor assembly to drive the seat body movement according to the real-time attitude data of the seat body, The seat body is held in a desired posture.
The vehicle according to claim 10, wherein the controller comprises: a deviation detecting unit, a desired value storage unit, and a main control unit; wherein the expected value storage unit is provided with desired posture data; the deviation detecting unit and The expected value storage unit is connected to receive the real-time posture data and the desired posture data in the expected value storage unit, and generate a deviation value of the two; the main control unit is connected to the deviation detecting unit for receiving And controlling the movement of the motor assembly according to the deviation value.
A vehicle according to claim 10 or 11, further comprising an articulation angle sensor disposed on said motor assembly for measuring joint angle data of the motor assembly and transmitting said joint angle data to said Controller

The controller includes a motor adjustment unit that receives joint angle data of the joint angle sensor and controls the motor assembly to perform joint angle adjustment based on the joint angle data.
The vehicle of claim 12 wherein said joint angle sensor comprises a Hall sensor and/or a magnetic encoder.
The vehicle according to claim 10, wherein said motor assembly includes a first shaft motor that adjusts a translational axis attitude of said seat body, a second shaft motor that adjusts a pitch axis attitude of said seat body, and an adjustment At least one of the third axis motors of the roll axis posture of the seat body.
The vehicle according to claim 14, wherein said motor assembly includes a first shaft motor, a second shaft motor, and a third shaft motor, wherein the first shaft motor, and/or the second shaft The motor, and/or the third axis motor can be rotated 360 degrees.
The vehicle of claim 10 wherein said real-time attitude data comprises angle data and/or angular velocity data of said seat body.
The vehicle of claim 16 wherein said desired attitude is a horizontal attitude and said desired angular velocity value is zero.
The vehicle of claim 10 wherein said attitude sensor comprises at least one of an accelerometer and a gyroscope.