Attitude compensation device, system and control method

Abstract

The application belongs to the technical field of automobile seat control, and provides a posture compensation device, system and control method. The posture compensation device comprises a base, a seat bearing platform and a posture compensation mechanism. The posture compensation mechanism comprises at least one posture compensation unit. Each posture compensation unit comprises at least two mounting supports, each comprising a rotating shaft corresponding to form a posture compensation rotating shaft extending along a first reference direction; at least two compensation execution structures, each mounted on one mounting support and adapted to swing around the posture compensation rotating shaft; and a driving assembly configured to output a linear push-pull force along a second reference direction perpendicular to the first reference direction and convert the linear push-pull force into an angular displacement of the compensation execution structure around the posture compensation rotating shaft. The posture compensation device of the application has compact structure and high output efficiency, and can improve the posture compensation effect of the seat in the mobile carrier.

Description

Attitude compensation device, system and control method Technical Field

[0001] This application relates primarily to the field of automotive seat control technology, and more particularly to a posture compensation device, system, and control method. Background Technology

[0002] When a vehicle turns, lateral acceleration occurs, which can easily cause passengers to experience tilting, swaying, and motion sickness. When the vehicle brakes or accelerates, longitudinal acceleration occurs, which can easily cause passengers to experience forward / backward jolting, affecting comfort and safety. Existing seats mostly use passive support or complex transmission structures, resulting in low stability and slow response. Furthermore, most seat sway compensation mechanisms use single-degree-of-freedom adjustment, making it difficult to achieve combined roll and pitch compensation within limited installation space, while also meeting automotive-grade safety, reliability, noise and vibration, and fault degradation requirements. Therefore, there is an urgent need for a compact, efficient, and easily controllable attitude compensation mechanism. Summary of the Invention

[0003] The technical problem to be solved by this application is to provide an attitude compensation device, system and control method, which has a compact structure and high output efficiency, and can improve the attitude compensation effect of seats in mobile carriers.

[0004] To address the aforementioned technical problems, this application provides a posture compensation device suitable for installation under a seat on a mobile carrier. The posture compensation device includes: a base adapted for fixed connection to the mobile carrier; a seat support platform adapted for fixed connection to the seat; and a posture compensation mechanism located between the base and the seat support platform and fixedly connected to both. The posture compensation mechanism includes at least one posture compensation unit, and each posture compensation unit includes at least two mounting supports disposed opposite each other along a first reference direction. Each of the at least two mounting supports includes a rotation axis, and the at least two rotation axes are arranged in a shape corresponding to each other along the first reference direction. An attitude compensation rotation axis extending along the first reference direction is provided, wherein if there are multiple attitude compensation units, the first reference direction of each attitude compensation unit is different; at least two compensation execution structures are provided, each of which is mounted on a mounting bracket and is adapted to oscillate about the attitude compensation rotation axis; and a drive assembly is connected to the compensation execution structures, the drive assembly being configured to output a linear push-pull force along a second reference direction, the second reference direction being perpendicular to the first reference direction, wherein the drive assembly is configured to convert the linear push-pull force into an angular displacement of the compensation execution structure about the attitude compensation rotation axis.

[0005] Optionally, the compensation actuator includes at least two drive arms, each mounted on the mounting bracket. Each drive arm includes a rotating portion and two extension portions. Each extension portion includes two opposing fixed extension ends and a movable extension end. The two fixed extension ends are respectively connected to the rotating portion. The two extension portions form a preset angle towards the base or the seat support platform. The rotating portion is rotatably connected to the mounting bracket, and the rotating portion of each drive arm is adapted to rotate around the rotation axis to simultaneously drive at least two drive arms to swing around the attitude compensation rotation axis.

[0006] Optionally, the compensation actuator further includes a compensation frame, which includes two connecting portions disposed opposite each other along the second reference direction, wherein the two connecting portions are rotatably connected to the two extended movable ends respectively.

[0007] Optionally, the attitude compensation device further includes: a limiting member or a software limiting module, wherein the limiting member is fixedly connected to the mounting support, and the limiting member is adapted to abut against the compensation actuator when the compensation actuator swings around the attitude compensation rotation axis simultaneously, so that the angular displacement is within a preset angular displacement range; the software limiting module is configured to provide a limiting command to the drive component so that the angular displacement is within the preset angular displacement range.

[0008] Optionally, the compensation actuator includes a transmission bracket, the transmission bracket including a transmission panel extending along the plane containing the first reference direction and the second reference direction, and a transmission side plate extending from the outer edge of the transmission panel along a third direction perpendicular to the plane, wherein the transmission side plate includes a first edge and a second edge located on both sides of the rotation axis, and the vertical distance between any point of the first edge and any point of the second edge and the outer edge decreases in the second reference direction in a direction away from the rotation axis.

[0009] Optionally, the attitude compensation device further includes: a mounting bracket, comprising a mounting panel extending along the plane containing the first reference direction and the second reference direction, and a mounting side plate extending from the edge of the mounting panel along a third direction perpendicular to the plane, wherein the mounting side plate is fixedly connected to the base, and the two mounting supports are respectively fixedly connected to the upper surface of the mounting panel, wherein the mounting bracket has a mounting groove adapted to accommodate the drive assembly.

[0010] Optionally, the drive assembly includes: a drive member, including a drive motor and a drive end connected to the drive motor, the drive motor being adapted to drive the drive end to perform linear motion along the second reference direction; and a connector, connecting the drive end and the compensation actuator.

[0011] Optionally, the connecting member includes: a mounting member fixedly connected to the compensation actuator; and a transmission plate, the two opposite ends of which are respectively connected to the mounting member and the drive end, the transmission plate being configured to convert the linear displacement of the drive end into a torque output of the compensation actuator about the rotation axis.

[0012] Optionally, the transmission plate includes a pin hole and a second pin hole arranged sequentially along the extension direction of the transmission plate. The pin hole is adapted to insert a pin to fix the transmission plate to the mounting member, and the second pin hole is adapted to insert a second pin to rotatably connect the transmission plate to the drive end.

[0013] Optionally, the attitude compensation device further includes a braking element configured to place the attitude compensation mechanism in a preset pose when the drive component fails, the preset pose including the current attitude compensation pose or a safe pose.

[0014] Optionally, the attitude compensation device further includes: a data acquisition subunit configured to acquire the attitude and motion data of the compensation actuator, wherein the attitude and motion data includes the angular displacement.

[0015] Another aspect of this application proposes an attitude compensation system, comprising: an attitude compensation device according to any embodiment of this application; a state signal source located in the mobile carrier; and a controller configured to acquire a state signal emitted by the state signal source through a communication interface and output control commands to the driving components in the attitude compensation device.

[0016] Another aspect of this application proposes an attitude compensation control method applicable to the attitude compensation device of any embodiment of this application. The attitude compensation control method includes the following steps: acquiring a state signal of a mobile carrier, the state signal including movement acceleration, oscillation angular velocity, vehicle speed and / or braking signal; generating a compensation target angle based on the state signal; generating a compensation control quantity based on the compensation target angle; and generating a control command for controlling the drive component based on the compensation control quantity.

[0017] Optionally, the step of generating the compensation target angle based on the state signal further includes: acquiring motion posture change data of the seat, and generating the compensation target angle based on the motion posture change data.

[0018] Optionally, the control method further includes: acquiring posture feedback data of the seat and correcting the compensation control amount based on the posture feedback data, wherein if the posture feedback data includes abnormal operating condition data, the method further includes limiting, locking and / or centering control of the compensation actuator.

[0019] Compared with the prior art, this application has the following advantages: The attitude compensation device of this application, by setting a coaxially rotating compensation actuator, makes the attitude compensation mechanism under the seat compact; and, by converting linear push-pull force into angular displacement, the expected deflection angle can be achieved without a long stroke, resulting in high output efficiency, thereby improving the attitude compensation effect of the seat in the mobile carrier. Furthermore, because the attitude compensation mechanism in this application has a simple and compact structure, it can achieve the combined expansion of multiple motion directions in space. Therefore, in some preferred embodiments, pitch and roll attitude compensation can be simultaneously achieved through the same integrated attitude compensation mechanism, further optimizing the attitude compensation effect of the seat in the mobile carrier. Attached Figure Description

[0020] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings:

[0021] Figure 1 is a three-dimensional perspective view of an attitude compensation device according to an embodiment of this application;

[0022] Figure 2 is a cross-sectional schematic diagram of the attitude compensation device in the embodiment shown in Figure 1;

[0023] Figure 3 is a three-dimensional perspective view of an attitude compensation device according to another embodiment of this application;

[0024] Figure 4 is a cross-sectional schematic diagram of the attitude compensation device in the embodiment shown in Figure 3;

[0025] Figure 5 is a schematic diagram of the structure of the first driving component in the attitude compensation device in the embodiment shown in Figure 1;

[0026] Figure 6 is a three-dimensional perspective view of an attitude compensation device according to another embodiment of this application;

[0027] Figure 7 is a side view of the attitude compensation device in the embodiment shown in Figure 6.

[0028] Figure 8 is a partially enlarged structural diagram of the first limiting member in the attitude compensation device in the embodiment shown in Figure 6;

[0029] Figure 9 is a three-dimensional perspective view of an attitude compensation device according to another embodiment of this application;

[0030] Figure 10 is a cross-sectional schematic diagram of the attitude compensation device in the embodiment shown in Figure 9;

[0031] Figure 11 is a schematic diagram of the posture compensation device of the embodiment shown in Figure 6 after it is installed under the seat;

[0032] Figure 12 is a schematic diagram of the framework of an attitude compensation system according to an embodiment of this application; and

[0033] Figure 13 is a flowchart illustrating an attitude compensation control method according to an embodiment of this application.

[0034] List of reference numerals in the attached diagram:

[0035] First posture compensation device 101; seat 20; base 201; first seat support platform 202; first posture compensation rotating shaft 11; first posture compensation unit 301; first mounting support 31; first rotating shaft 310; first compensation actuator 32; first rotating part 331; first extension part 332; extension fixed end 341; extension movable end 342; compensation frame 35; first connecting part 351; limiting member 36; first drive assembly 33; first drive member 371; first drive motor 381; first drive end 382; first connecting member 372; first mounting member 391; first transmission plate 392; first pin hole 3921; second pin hole 3922; first pin 3923; second pin 3924; mounting bracket 50;

[0036] Second attitude compensation device 102; second attitude compensation unit 302; second attitude compensation rotating shaft 12; second mounting support 41; second rotating shaft 410; second compensation actuator 42; second drive assembly 43; second seat support platform 401; transmission side plate 402; hollow part 403; first edge 404; second edge 405; outer edge 406; third attitude compensation device 103; third attitude compensation unit 303; third seat support platform 203; fourth attitude compensation device 104; attitude compensation system 60; attitude compensation device 61; status signal source 62; controller 63. Detailed Implementation

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0038] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0039] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0040] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0041] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0042] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0043] It should be understood that when a component is referred to as "on another component," "connected to another component," "coupled to another component," or "in contact with another component," it can be directly on, connected to, coupled to, or in contact with that other component, or there may be an intervening component. In contrast, when a component is referred to as "directly on another component," "directly connected to," "directly coupled to," or "directly in contact with" another component, there is no intervening component. Similarly, when a first component is referred to as "electrically contacting" or "electrically coupled to" a second component, there is an electrical path between the first and second components that allows current to flow. This electrical path may include capacitors, coupled inductors, and / or other components that allow current to flow, even if there is no direct contact between the conductive components.

[0044] One embodiment of this application provides a first posture compensation device 101 with reference to Figures 1 and 2, suitable for installation under the seat of a mobile carrier. Exemplarily, the mobile carrier can be a vehicle or ship, or other movable carrier. Specifically referring to Figures 1 and 2, the first posture compensation device 101 includes: a base 201, a first seat support platform 202, and a posture compensation mechanism. The base 201 is adapted to be fixedly connected to the mobile carrier, and the first seat support platform 202 is adapted to be fixedly connected to the seat. It is understood that the first seat support platform 202 can be a partial plate-like structure as shown in Figure 1, but it can also be implemented as a connection structure of other shapes. This application does not limit the implementation of the first seat support platform 202. In this embodiment, the posture compensation mechanism includes a first posture compensation unit 301, which includes a first mounting support 31, a first compensation execution mechanism 32, and a first drive assembly 33. The details of the first posture compensation unit 301 are further described below.

[0045] First, referring to Figure 1, the first attitude compensation unit 301 is located between the base 201 and the first seat support platform 202 and is fixedly connected to both the base 201 and the first seat support platform 202. Further, the first attitude compensation unit 301 includes two first mounting supports 31 (the number is not limited in this application; more may be used in other embodiments) arranged opposite each other along the first direction x. Each of the two first mounting supports 31 includes a first rotation axis 310. It should be noted that the first direction x is also the first reference direction of the first attitude compensation unit 301. In this embodiment, since there are two first mounting supports 31, there are also two first rotation axes 310. The two first rotation axes 310 correspond (are collinear) in the first direction x to form a first attitude compensation rotation axis 11 extending along the first direction x.

[0046] Furthermore, the first attitude compensation unit 301 also includes two first compensation execution structures 32 (the number is not limited in this application, and there may be more in other embodiments). Each first compensation execution structure 32 is mounted on a first mounting support 31, and the first compensation execution structure 32 is adapted to swing around the first attitude compensation rotation axis 11. Specifically, in this embodiment, the first compensation execution mechanism 32 is implemented as two drive arms, which are respectively mounted on the first mounting support 31. Each drive arm includes a first rotating part 331 and two first extension parts 332. Each first extension part 332 includes two opposing fixed extension ends 341 and a movable extension end 342. The two fixed extension ends 341 are respectively connected to the first rotating part 331, and the two first extension parts 332 form a preset included angle (obtuse angle) towards the base 201. Based on this, the first rotating part 331 is rotatably connected to the first mounting support 31 through a first rotation axis 310, and the first rotating part 331 of each drive arm is adapted to rotate around the first rotation axis 310. Furthermore, the first compensation actuator 32 in this embodiment also includes a compensation frame 35, which includes two first connecting portions 351 arranged opposite each other along the second direction y (perpendicular to the first direction x). The two first connecting portions 351 are rotatably connected to two extended movable ends 342, respectively. Constrained by the skeleton structure of the compensation frame 35, the two drive arms are adapted to swing simultaneously around the first attitude compensation rotation axis 11. Although the first compensation actuator 32 is described using an exploded structure approach, in practical applications, the first rotating portion 331 and the two first extension portions 332 can be integrally formed, thus creating a first compensation actuator 32 that can swing as a whole around the first attitude compensation rotation axis 11. For example, if the first direction x is considered the forward direction of the moving vehicle, the first compensation actuator 32 can be understood as a roll compensation actuator. Of course, if the second direction y is considered the forward direction of the moving vehicle, the first compensation actuator 32 can be understood as a pitch compensation actuator.

[0047] Referring further to Figure 1, in this preferred embodiment, the first compensation actuator 32 further includes a limiting member 36, which is fixedly connected to the first mounting support 31. The limiting member 36 is adapted to abut against the first compensation actuator 32 when both first compensation actuators 32 swing around the first attitude compensation rotation axis 11 simultaneously, so that the angular displacement of the first compensation actuator 32 is within a preset angular displacement range. Although Figure 1 shows the limiting member 36, this application is not limited thereto. In other embodiments of this application, the limiting member 36 can be replaced by a software limiting module. The software limiting module is configured to provide a limiting command to the first drive component 33 so that the angular displacement of the first compensation actuator 32 when swinging around the first attitude compensation rotation axis 11 is within a preset angular displacement range, thereby ensuring the reliability of the first attitude compensation unit 301.

[0048] Based on this, the first attitude compensation unit 301 in the embodiments shown in Figures 1 and 2 further includes a first drive component 33 (the same structure is also used in the embodiments shown in Figures 3 and 4). According to Figure 1, the first drive component 33 is connected to the first compensation execution structure 32, and the first drive component 33 is configured to output a first linear push-pull force F1 along the second direction y. In this embodiment, the first drive component 33 is configured to convert the first linear push-pull force F1 into an angular displacement of the first compensation execution structure 32 about the first attitude compensation rotation axis 11. Referring specifically to Figure 5, the first drive component 33 includes a first drive member 371, which includes a first drive motor 381 and a first drive end 382 connected to the first drive motor 381. The first drive motor 381 is adapted to drive the first drive end 382 to move linearly along the second direction y. Based on this, a first connector 372 connects the first drive end 382 and the first compensation execution mechanism 32. The first connecting member 372 includes a first mounting member 391 and a first transmission plate 392. The first mounting member 391 is fixedly connected to the first compensation actuator 32. The two opposite ends of the first transmission plate 392 are respectively connected to the first mounting member 391 and the first drive end 382. The first transmission plate 392 is configured to convert the linear displacement of the first drive end 382 into the torque output of the first compensation actuator 32 around the first rotation axis 310.

[0049] More specifically, as shown in Figure 5, the first transmission plate 392 is implemented as a linkage mechanism. Specifically, the first transmission plate 392 includes a first pin hole 3921 and a second pin hole 3922 arranged sequentially along the extending direction of the first transmission plate 392. The first pin hole 3921 is adapted to insert a first pin 3923 to fix the first transmission plate 392 to the first mounting member 391. The second pin hole 3922 is adapted to insert a second pin 3924 to rotatably connect the first transmission plate 392 to the first drive end 382. As a linkage mechanism, when converting the linear displacement of the first drive end 382 into the angular displacement of the drive arm, the first transmission plate 392 is used to convert the linear push-pull displacement into a torque output about the first rotation axis 310, and to compensate for angular deviations and reduce lateral loads. At the same time, it forms a stable triangular force structure to improve the rigidity and transmission smoothness of the mechanism.

[0050] Referring again to Figure 1, in this embodiment, two first rotation axes 310 are collinear in the first direction x to form a first attitude compensation rotation axis 11 extending along the first direction x. The first drive assembly 33 causes the first compensation execution mechanism 32 to oscillate around the first attitude compensation rotation axis 11, causing the first seat support platform 202, connected to the first attitude compensation unit 301, to oscillate around the axis in the second direction y, thereby compensating for the motion of the seat 20 fixedly connected to the first seat support platform 202 in the second direction y. In this embodiment, by converting linear displacement into angular displacement through the first drive assembly 33, the structure of the first attitude compensation unit 301 is simplified, resulting in a smaller size and saving space under the seat. Furthermore, because the first compensation execution mechanism 32 oscillates around a single axis (the first attitude compensation rotation axis 11), compared to some existing more complex attitude compensation structures, the overall center of gravity of the first compensation execution mechanism 32 is located below the seat, resulting in a faster response speed for motion compensation.

[0051] In addition to implementing basic attitude compensation functions, in this embodiment, the first attitude compensation device 101 may further include a braking component. The braking component is configured to keep the compensation frame 35 in a preset position when the drive component fails. The preset position includes the current attitude compensation position or a safe position. For example, the braking component can maintain the seat posture (roll angle / pitch angle) in its current position or a safe position even in the event of power failure, malfunction, or control failure, preventing the platform from "collapsed / swaying" due to gravity, inertia, or occupant disturbance. It also prevents the motor from being reverse-driven, leading to loss of control or damage. For example, the braking component can be implemented as an electromagnetic brake / holding brake, with a normally closed electromagnetic brake added to the motor shaft end or reducer end: released when energized, and locked when de-energized. By setting the braking component, the attitude compensation device 101 can possess limit, self-locking / power-off holding, and abnormal degradation capabilities. More preferably, the first attitude compensation device 101 may further include a data acquisition subunit, which is configured to acquire the attitude and motion data of the first compensation actuator. The attitude and motion data include angular displacement. Through feedback control, the control of the drive component can be corrected and adjusted in real time, thereby realizing closed-loop control, limit protection and fault diagnosis. For example, the data acquisition unit may be implemented as an angle sensor or an inertial measurement unit (IMU).

[0052] In this embodiment, referring to FIG1, the first attitude compensation device 101 further includes a mounting bracket 50, comprising a mounting panel 501 extending along the plane containing the first direction x and the second direction y, and a mounting side plate 502 extending from the edge of the mounting panel 501 along a third direction z perpendicular to the aforementioned plane. The mounting side plate 502 is fixedly connected to the base 201, and two first mounting supports 31 are respectively fixedly connected to the upper surface of the mounting panel 501. The mounting bracket 50 has a mounting groove adapted to accommodate the first drive assembly 33, specifically, the mounting groove is used to accommodate the first drive motor 381 in the first drive assembly 33. Referring more clearly to FIG2, by providing the mounting bracket 50, the two first extensions 332 having a preset included angle toward the base 201 can have sufficient space to swing around the first attitude compensation rotation axis 11. It is understood that the structure of the mounting bracket 50 is not necessary for the posture compensation unit in the different embodiments of this application. For example, in some other embodiments, if the two first extensions 332 form a preset angle toward the first seat support platform 202, or if the transmission bracket is as shown in Figures 3 and 4, the mounting bracket 50 can be removed.

[0053] It should be noted that although this embodiment presents a specific implementation of the first compensation actuator 32 via a drive arm, this application is not limited thereto. Exemplarily, Figures 3 and 4 present an alternative implementation of the first compensation actuator, with the same reference numerals used for the same parts as in the embodiments of Figures 1 and 2. Figures 3 and 4 show a second posture compensation device 102, in which the second compensation actuator 42 adopts a transmission bracket style. Specifically, the second posture compensation device 102 includes a base 201, a second seat support platform 401, and a second posture compensation unit 302 located between the two. Further, the second posture compensation unit 302 includes a second mounting support 41, a second compensation actuator 42, and a second drive assembly 43, wherein the second mounting support 41 and the second drive assembly 43 can adopt the same structure as the first mounting support 31 and the first drive assembly 33 in the embodiment of Figure 1, as detailed above, and will not be repeated here. Unlike the previous embodiments, the second compensation actuator 42 in this embodiment uses a transmission bracket instead of a drive arm. Specifically, the transmission bracket includes a transmission panel (i.e., the second seat support platform 401, which shares a platform) extending along the plane containing the first direction x and the second direction y, and a transmission side plate 402 extending from the outer edge 406 of the transmission panel along a third direction z perpendicular to the plane. The transmission side plate 402 generally presents an inverted triangle with the axis of the second rotation axis 410 as its vertex. Specifically, the transmission side plate 402 includes a first edge 404 and a second edge 405 located on both sides of the second rotation axis 410. The vertical distance between any point of the first edge 404 and any point of the second edge 405 and the outer edge 406 decreases in the second direction y in a direction away from the second rotation axis 410. It should be noted that in the embodiments shown in Figures 3 and 4, the second seat support platform 401 adopts a different implementation of a whole panel structure than that shown in Figure 1. Furthermore, in this embodiment, to further optimize the properties of the second attitude compensation device 102, a first hollow portion 403 is provided on the transmission panel, thereby reducing the weight of the second attitude compensation device 102 and making its response to attitude compensation faster. In this embodiment, similar to the embodiment in FIG1, two second rotating shafts 410 are collinearly arranged in the second direction y to form a second attitude compensation rotating shaft 12. The second compensation actuator 42 can oscillate around the second attitude compensation rotating shaft 12, thereby providing attitude compensation in the second direction y. Further, the second drive assembly 43 can provide a linear push-pull force F2 along the first direction x, which is then converted into an angular displacement of the second compensation actuator 42.In this embodiment, the first reference direction of the second attitude compensation unit 302 can be considered as the second direction y; similarly, in this embodiment, depending on whether the motion direction of the moving carrier is the first direction x or the second direction y, the second attitude compensation device 102 can also perform roll or pitch motion attitude compensation.

[0054] The above embodiments describe the situation where the attitude compensation mechanism includes one attitude compensation unit. However, this application is not limited to this. In different embodiments of this application, since the connection structure of the attitude compensation unit in the attitude compensation device proposed in this application is simple and compact, and has strong superposition and expandability, two or more attitude compensation units as proposed in any of the above embodiments can be arranged in the attitude compensation device at the same time, and the first reference direction of different attitude compensation units can be set to be different. Thus, a composite compensation mechanism in which multiple attitude compensation units jointly perform attitude compensation adjustment of the seat can be realized.

[0055] The first type of composite compensation mechanism will be described below with reference to Figures 6 and 7, where the same components as in the previous embodiments are referred to by the same reference numerals. As shown in Figure 6, the third attitude compensation device 103 includes a combination of the first attitude compensation unit 301 in the embodiment of Figure 1 and the second attitude compensation unit 302 in the embodiment of Figure 3. In this embodiment, the directions x, y, and z are still determined as shown in Figures 1 and 3. The first reference direction of the first attitude compensation unit 301 is direction x, and the first reference direction of the second attitude compensation unit 302 is direction y. Thus, bidirectional attitude compensation, which involves swinging around the first attitude compensation rotation axis 11 and around the second attitude compensation rotation axis 12, can be achieved through a compact attitude compensation device 103. Based on this, Figure 8 also shows a partially enlarged schematic diagram of the first attitude compensation unit 301 in the embodiment of Figure 6. According to Figure 8, it can be clearly seen that the limiting member 36 is located above and below the rotating part 331. As a preferred embodiment, in this embodiment, the limiting member 36 can limit the swing of the first extension part 332 from above and below, respectively. Similar to the previous description, in this embodiment, the limiting member 36 can also be replaced by a software limiting module, and this application does not impose any restrictions on this. The illustration of the third posture compensation device 103 installed under the seat 20 in the embodiment of Figure 6 is shown in Figure 11.

[0056] It should be noted that, as mentioned in the preceding description, the structure of the compensation actuator in the attitude compensation unit proposed in this application can be modified and adjusted. Some major modifications are: 1) the drive arm can be replaced with a transmission bracket, or other rocker arm, crank, or eccentric wheel structure; 2) the opening between the two drive arms can face the base or seat support platform; 3) the drive component can be implemented as any one of a screw-nut assembly, ball screw, planetary roller screw, gear rack, synchronous belt slide, electric push rod, or linear motor. Based on these possible modifications, when the attitude compensation mechanism in the same attitude compensation device needs to integrate and superimpose at least two attitude compensation units, the above-mentioned different modifications can be freely combined. Specifically, taking the first direction x as the roll compensation direction and the second direction y as the pitch compensation direction as an example, in the embodiment of Figure 6, the first attitude compensation unit 301 responsible for roll compensation is on top, and the second attitude compensation unit 302 responsible for pitch compensation is on the bottom. Therefore, other structural embodiments based on the embodiment in Figure 6 can mainly include the following variations: (1) the first attitude compensation unit 301 responsible for roll compensation is below and the second attitude compensation unit 302 responsible for pitch compensation is above; (2) the first compensation actuator 32 in the first attitude compensation unit 301 is changed to a transmission bracket or other alternative form; (3) the second compensation actuator 42 in the second attitude compensation unit 302 is changed to a drive arm or other alternative form; (4) the opening orientation of the drive arm of the first compensation actuator 32 in the first attitude compensation unit 301 is changed to face the seat support platform; (5) the first attitude compensation unit 301 and the second attitude compensation unit are arbitrarily combined after adopting the above other variations.

[0057] For example, Figures 9 and 10 illustrate another variant implementation based on Figure 6. According to Figure 9, the composite attitude compensation mechanism in this embodiment employs a fourth attitude compensation device 104. In this embodiment, the first direction x is the forward direction of the moving vehicle. The third attitude compensation unit 303, responsible for pitch compensation, is placed below, and the second attitude compensation unit 302, responsible for roll compensation, is placed above. Furthermore, compared to the first attitude compensation unit 301 in Figure 1, although the third attitude compensation unit 303 in this embodiment also employs a drive arm structure, the preset included angle formed by the two extensions of the drive arm faces the third seat support platform 203 instead of the base 201. In the above-mentioned combination embodiments of multiple attitude compensation units, the composite compensation mechanism employs a composite attitude compensation mechanism driven by dual motors, respectively responsible for lateral (roll) and longitudinal (pitch) linear push-pull outputs. Roll and pitch compensation of the seat support platform is achieved through displacement-angular displacement conversion to counteract the centrifugal lateral body sensation and braking impact sensation during vehicle turning.

[0058] Another aspect of this application proposes an attitude compensation system 60 with reference to FIG12, which includes an attitude compensation device 61 according to any embodiment of this application, a status signal source 62 located in a mobile carrier, and a controller 63. The controller 63 is configured to acquire the status signal emitted by the status signal source 62 through a communication interface and output control commands to the drive components in the attitude compensation device 61.

[0059] Another aspect of this application, referring to FIG13, proposes an attitude compensation control method 70 for use in an attitude compensation device according to any embodiment of this application. FIG13 uses a flowchart to illustrate the operations performed by the system according to an embodiment of this application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, various steps can be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more steps may be removed from these processes. According to FIG13, the attitude compensation control method 70 includes the following steps: step 71 is to acquire a state signal of the moving vehicle, the state signal including movement acceleration, oscillation angular velocity, vehicle speed and / or braking signal; step 72 is to generate a compensation target angle based on the state signal; step 73 is to generate a compensation control quantity based on the compensation target angle; step 74 is to generate a control command for controlling the drive component based on the compensation control quantity. More preferably, the step of generating a compensation target angle based on the state signal further includes: acquiring motion posture change data of the seat, and generating a compensation target angle based on the motion posture change data. More preferably, the method can also acquire the posture feedback data of the seat and correct the compensation control amount based on the posture feedback data. If the posture feedback data includes abnormal working condition data, the method further includes limiting, locking and / or centering control of the compensation actuator.

[0060] In the different embodiments described above in this application, seat motion posture compensation of one or more degrees of freedom can be performed. In some composite compensation mechanisms, roll and pitch can be coordinated to improve seat comfort during cornering and braking. In the different embodiments of this application, a torque arm is formed by linear push-pull output in conjunction with a rocker arm / eccentric wheel, resulting in a compact structure and high control efficiency. In some preferred embodiments, the posture compensation unit improves automotive-grade compatibility and safety through soft and hard limits, power-off retention, abnormal degradation, and interlocking.

[0061] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0062] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0063] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." The processor may be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. Furthermore, aspects of this application may manifest as computer products residing in one or more computer-readable media, including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical discs (e.g., compressed CDs, digital multifunction DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0064] A computer-readable medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. A computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0065] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0066] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0067] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the essential spirit of this application will fall within the scope of the claims of this application.

Claims

1. An attitude compensation device, characterized in that, Suitable for installation under a seat on a mobile carrier, the posture compensation device includes: a base adapted for fixed connection to the mobile carrier; a seat support platform adapted for fixed connection to the seat; and a posture compensation mechanism located between the base and the seat support platform and fixedly connected to the base and the seat support platform. The posture compensation mechanism includes at least one posture compensation unit, each of which includes: at least two mounting supports disposed opposite each other along a first reference direction. Each of the at least two mounting supports includes a rotation axis, and the at least two rotation axes correspond in the first reference direction to form a rotation axis along the first reference direction. An extended attitude compensation rotation axis, wherein if the number of attitude compensation units is multiple, the first reference direction of each attitude compensation unit is different; at least two compensation actuators, each of which is mounted on a mounting bracket, the compensation actuators being adapted to oscillate about the attitude compensation rotation axis; and a drive assembly connected to the compensation actuators, the drive assembly being configured to output a linear push-pull force along a second reference direction perpendicular to the first reference direction, wherein the drive assembly is configured to convert the linear push-pull force into a force that causes the compensation actuators to oscillate about the attitude compensation rotation axis. Angular displacement, wherein the compensation actuator of each attitude compensation unit adopts at least one of the following structures: First structure: The compensation actuator includes at least two drive arms, respectively mounted on the mounting bracket, wherein each drive arm includes a rotating portion and two extension portions, each extension portion including two opposing fixed extension ends and a movable extension end, the two fixed extension ends being respectively connected to the rotating portion, and the two extension portions forming a preset included angle toward the base or the seat support platform; the rotating portion is rotatably connected to the mounting bracket, and the rotating portion of each drive arm is adapted to rotate about the rotation axis. The first structure involves a drive arm that simultaneously drives at least two of the drive arms to swing around the attitude compensation rotation axis. The second structure includes a transmission support, which comprises a transmission panel extending along the plane containing the first and second reference directions, and a transmission side plate extending from the outer edge of the transmission panel along a third direction perpendicular to the plane. The transmission side plate includes a first edge and a second edge located on both sides of the rotation axis. The vertical distance between any point on the first edge and any point on the second edge and the outer edge decreases in the second reference direction in a direction away from the rotation axis.

2. The attitude compensation device as described in claim 1, characterized in that, The compensation actuator further includes a compensation frame, which includes two connecting parts arranged opposite each other along the second reference direction, wherein the two connecting parts are rotatably connected to the two extended movable ends respectively.

3. The attitude compensation device as described in claim 1, characterized in that, Also includes: A limiting component or software limiting module, wherein the limiting component is fixedly connected to the mounting support, and the limiting component is adapted to abut against the compensation actuator when the compensation actuator swings around the attitude compensation rotation axis at the same time, so that the angular displacement is within a preset angular displacement range; The software limit module is configured to provide limit commands to the drive component so that the angular displacement is within the preset angular displacement range.

4. The attitude compensation device as described in claim 1, characterized in that, Also includes: The mounting bracket includes a mounting panel extending along the plane containing the first reference direction and the second reference direction, and a mounting side plate extending from the edge of the mounting panel along a third direction perpendicular to the plane. The mounting side plate is fixedly connected to the base, and the two mounting supports are respectively fixedly connected to the upper surface of the mounting panel. The mounting bracket has a mounting groove adapted to accommodate the drive assembly.

5. The attitude compensation device as described in claim 1, characterized in that, The drive assembly includes: a drive member, comprising a drive motor and a drive end connected to the drive motor, the drive motor being adapted to drive the drive end to perform linear motion along the second reference direction; and a connector, connecting the drive end and the compensation actuator.

6. The attitude compensation device as described in claim 5, characterized in that, The connecting component includes: a mounting component, which is fixedly connected to the compensation actuator; and a transmission plate, the two opposite ends of which are respectively connected to the mounting component and the drive end, the transmission plate being configured to convert the linear displacement of the drive end into a torque output of the compensation actuator about the rotation axis.

7. The attitude compensation device as described in claim 6, characterized in that, The transmission plate includes a pin hole and a second pin hole arranged sequentially along the extension direction of the transmission plate. The pin hole is adapted to insert a pin to fix the transmission plate to the mounting component, and the second pin hole is adapted to insert a second pin to rotatably connect the transmission plate to the drive end.

8. The attitude compensation device as described in claim 1, characterized in that, Also includes: A braking element is configured to place the attitude compensation mechanism in a preset pose when the drive component fails, the preset pose including the current attitude compensation pose or the safe pose.

9. The attitude compensation device as described in claim 1, characterized in that, Also includes: The data acquisition subunit is configured to acquire the attitude and motion data of the compensation actuator, wherein the attitude and motion data includes the angular displacement.

10. An attitude compensation system, characterized in that, include: The attitude compensation device as described in any one of claims 1 to 9; a status signal source, located in the mobile carrier; The controller is configured to acquire the status signal emitted by the status signal source through a communication interface and output control commands to the drive components in the attitude compensation device.

11. An attitude compensation control method, characterized in that, The attitude compensation device as described in any one of claims 1 to 9, wherein the attitude compensation control method comprises the following steps: acquiring a state signal of a moving vehicle, the state signal including moving acceleration, oscillation angular velocity, vehicle speed and / or braking signal; generating a compensation target angle based on the state signal; generating a compensation control quantity based on the compensation target angle; and generating a control command for controlling the drive component based on the compensation control quantity.

12. The attitude compensation control method as described in claim 11, characterized in that, The step of generating the compensation target angle based on the state signal further includes: acquiring motion posture change data of the seat, and generating the compensation target angle based on the motion posture change data.

13. The attitude compensation control method as described in claim 11, characterized in that, Also includes: The method acquires the posture feedback data of the seat and corrects the compensation control amount based on the posture feedback data. If the posture feedback data includes abnormal operating condition data, the method further includes limiting, locking, and / or centering control of the compensation actuator.

Images