Motion compensation device and seat arrangement to which it is applied

Abstract

The application provides a motion compensation device and a seat device suitable for the motion compensation device, and relates to the technical field of automobile seat control. The motion compensation device comprises a frame module, a vertical module and a horizontal module. The frame module comprises a mounting frame and a base frame. The mounting frame is located above the base frame and is rotationally connected with the base frame. The mounting frame is suitable for being fixedly connected with a seat. The vertical module comprises a vertical driving unit and a variable damping unit. The vertical driving unit is rotationally connected with the mounting frame and the base frame respectively. The variable damping unit is rotationally connected with the mounting frame and the base frame respectively. In a motion mode, the vertical module is configured to drive the mounting frame to move along a vertical direction according to a motion control instruction, and to make the variable damping unit not generate damping force during the movement of the mounting frame. In a compensation mode, the vertical module is configured to make the variable damping unit generate damping force for inhibiting the mounting frame from vibrating in the vertical direction according to a compensation control instruction, and to reduce the mechanical impedance of the vertical driving unit to the mounting frame.

Description

Technical Field

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

[0002] In mobile vehicles, such as cars, some technologies incorporate compensation devices in vehicle seats to reduce passenger discomfort caused by turning, braking, and acceleration. These devices mitigate the effects of centrifugal force during turning, forward momentum during braking, and backward leaning during acceleration, thus improving passenger comfort. However, with the increasing availability of in-vehicle multimedia equipment, passengers are demanding higher levels of enjoyment from their rides, such as interactive in-vehicle games.

[0003] Therefore, there is an urgent need for a motion compensation device that can balance riding comfort and riding experience. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a motion compensation device and a suitable seating device that can balance riding comfort and riding experience.

[0005] To address the aforementioned technical problems, this application provides a motion compensation device suitable for installation under the seat of a mobile carrier. The motion compensation device includes: a frame module comprising a mounting frame and a base frame, the mounting frame being located above the base frame and rotatably connected to it, and the mounting frame being adapted for fixed connection to the seat; a vertical module comprising a vertical drive unit and a variable damping unit, the vertical drive unit being rotatably connected to both the mounting frame and the base frame, and the variable damping unit being rotatably connected to both the mounting frame and the base frame; wherein the motion compensation device is adapted to operate in multiple modes, including: an action mode, in which the vertical module is configured to drive the mounting frame to move vertically according to motion control commands, and the variable damping unit does not generate damping force during the movement of the mounting frame; and / or a compensation mode, in which the vertical module is configured to generate damping force to suppress the vertical vibration of the mounting frame and reduce the mechanical resistance of the vertical drive unit to the mounting frame according to compensation control commands.

[0006] Optionally, the motion compensation device further includes: a data acquisition module configured to acquire motion state data of the vertical drive unit, the motion state data including acceleration data, velocity data, and position data; and a main control module configured to determine the drive current of the vertical drive unit based on the motion state data transmitted by the data acquisition module in the compensation mode, wherein the drive current is used to adjust the mechanical impedance of the vertical drive unit to the mounting frame, and the compensation control commands include commands corresponding to the drive current.

[0007] Optionally, the main control module is further configured to: acquire the additional reaction force parameters of the vertical drive unit and the output conversion coefficient of the vertical drive unit; determine the reverse compensation output of the vertical drive unit based on the additional reaction force parameters and motion state data; and determine the drive current based on the reverse compensation output and the output conversion coefficient.

[0008] Optionally, the additional reaction force parameters include the bearing inertia parameter, viscous damping parameter, equivalent stiffness parameter, Coulomb friction parameter, Stribek friction parameter, and deviatoric force and periodic disturbance parameter of the vertical drive unit. The calculation expression for the reverse compensation output force is as follows: ,in, , In the formula To compensate for the output force in the reverse direction, To add reaction force, For the preset small inertia parameters, For acceleration data, For the preset small damping parameters, For speed data, For the preset small stiffness parameters, For location data, The initial position, To bear the inertia parameter, For viscous damping parameters, For equivalent stiffness parameters, Here are the Coulomb friction parameters. Here are the Stribeck friction parameters. This represents the maximum speed of the vertical drive unit. For paranoia force and periodic perturbation parameters, The formula for calculating the drive current to prevent dead zone speed is: In the formula For driving current, This is the output conversion coefficient.

[0009] Optionally, the main control module is further configured to: acquire motion state data over a period of time as reference data; iteratively update the original additional reaction force parameters and the corresponding error coefficients based on the reference data; if the error coefficient is less than a preset error threshold, then use the original additional reaction force parameters corresponding to the error coefficients as additional reaction force parameters.

[0010] Optionally, the iterative expressions for the original additional reaction force parameters and error coefficients are: , , , , ,in, In the formula for The observation of the moment adds a reaction force. For reference data A matrix composed of motion state data at each moment. For transpose, for The original additional reaction force parameters at time t. for Error coefficient at time, for The real additional reaction force at every moment, for Gain parameters at time 10:00 for The covariance matrix at time t, Forgetting factor, for The original additional reaction force parameters at time t. for The covariance matrix at time t, It is the identity matrix. This is the output conversion coefficient of the vertical drive unit. for The driving current at any given moment.

[0011] Optionally, the main control module is also configured to determine the predicted output at each moment within the preset switching time based on the preset switching time, the active output in the action mode, and the reverse compensation output in the compensation mode during the process of switching from the action mode to the compensation mode, wherein the predicted output is converted into drive current through the output conversion coefficient of the vertical drive unit.

[0012] Optionally, the calculation expression for the predicted output force is: during the process of switching from the action mode to the compensation mode. During the transition from compensation mode to action mode: ,in, , In the formula for The predicted output at each moment To take the initiative to contribute, To compensate for the output force in the reverse direction, This is the initial moment of the switching process. This represents the total duration of the switching process.

[0013] Optionally, the main control module is also configured to determine the motion state data corresponding to each moment from the current moment to the target moment based on the motion state data at the current moment in the compensation mode and the motion state data at the target moment in the action mode during the process of switching from the compensation mode to the action mode.

[0014] Optionally, The expression for calculating the position data in the motion state data corresponding to the given time is: ,in, , , , , , In the formula for Location data corresponding to the given time. , , , , and These are the coefficients of the corresponding terms. , and These are the position data, velocity data, and acceleration data from the current motion state data. , and These are the position data, velocity data, and acceleration data from the motion state data at the target time. This represents the total duration from the current time to the target time.

[0015] Optionally, the variable damping unit includes a magnetorheological damper, wherein the vertical module is further configured to: not input current to the magnetorheological damper according to the action control command so that the variable damping unit does not generate damping force; and input a corresponding current to the magnetorheological damper according to the compensation control command so that the variable damping unit generates a corresponding damping force.

[0016] Optionally, the vertical drive unit includes a vertical drive end and a vertical rotation end opposite to each other. The vertical rotation end is rotatably connected to the base frame. The frame module also includes a connecting rod frame, which is rotatably connected to the mounting frame and the base frame respectively. The vertical drive end is connected to the connecting rod frame. The vertical drive unit is adapted to apply a linear push-pull force to the connecting rod frame through the vertical drive end, so that the connecting rod frame drives the mounting frame to move in the vertical direction.

[0017] Optionally, the vertical module further includes a position adjustment unit, comprising a first adjustment end and a second adjustment end, the first adjustment end being fixedly connected to the base frame, and the second adjustment end being rotatably connected to the connecting rod frame. The position adjustment unit is adapted to adjust the distance between the first adjustment end and the second adjustment end in the vertical direction, thereby making the distance between the mounting frame and the base frame in the vertical direction a preset distance.

[0018] Optionally, the motion compensation device further includes: a roll module, movably connected to the base frame, the roll module being adapted to drive the base frame to swing around a first axis according to motion control commands or compensation control commands, so as to adjust the roll angle of the base frame; and a pitch module, movably connected to the roll module, the pitch module being adapted to drive the roll module to swing around a second axis according to motion control commands or compensation control commands, so as to adjust the pitch angle of the base frame, wherein the extension direction of the first axis is perpendicular to the extension direction of the second axis.

[0019] Optionally, the pitch module includes: a pitch support assembly rotatably connected to the roll module, wherein the rotation axis of the pitch support assembly and the roll module is a second axis; a pitch drive extending along the extension direction of the second axis, the pitch drive being adapted to output torque; and a drive conversion assembly connected to the pitch drive and the roll module respectively, the drive conversion assembly being adapted to convert the torque into a linear push-pull force on the roll module along the extension direction of the first axis, so that the roll module swings around the second axis.

[0020] Optionally, the pitch drive includes a pitch drive end adapted to output torque, and the drive conversion assembly includes: a pitch rotating member, including a first rotating end and a second rotating end, the first rotating end being rotatably connected to the roll module; and a pitch transmission member extending along the extension direction of the first axis, the pitch transmission member being connected to the pitch drive end and the second rotating end respectively, the pitch transmission member being adapted to drive the second rotating end to move along the extension direction of the first axis according to the torque.

[0021] Optionally, the pitch drive end includes a first bevel gear portion, the pitch transmission component includes a second bevel gear portion, and the first bevel gear portion and the second bevel gear portion are meshed; and / or the pitch transmission component includes a lead screw portion, the second rotating end includes a nut portion, and the nut portion is sleeved on the lead screw portion.

[0022] To address the aforementioned technical problems, this application also provides a seating device, comprising: a seat; and the aforementioned motion compensation device, wherein the seat is fixedly connected to the motion compensation device and is located above the motion compensation device.

[0023] Compared with existing technologies, this application has the following advantages: By setting a vertical drive unit, it satisfies the tactile feedback of the passenger in the seat in the vertical direction during the motion mode, thereby improving the riding experience; and by setting a variable damping unit, it satisfies the posture compensation of the passenger in the seat in the vertical direction during the compensation mode, thereby improving riding comfort. Furthermore, in the motion mode, the variable damping unit is further designed to not generate damping force, thus avoiding the negative impact of the variable damping unit on tactile feedback; and in the compensation mode, the mechanical resistance of the vertical drive unit to the mounting frame is further reduced, thereby reducing the interference of the vertical drive unit on posture compensation. Therefore, the motion compensation device can achieve a balance between riding comfort and riding experience. Attached Figure Description

[0024] 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: Figure 1 This is a schematic diagram of the structure of a seating device according to an embodiment of this application; Figure 2 yes Figure 1 A partial structural diagram of the motion compensation device; Figure 3 yes Figure 2 Exploded view; Figure 4 yes Figure 2 A side view showing the mounting frame and the base frame at their minimum vertical distance. Figure 5 yes Figure 2 A side view showing the mounting frame and the base frame at a preset distance in the vertical direction; Figure 6 yes Figure 2 A side view showing the mounting frame and the base frame at their maximum vertical distance. Figure 7 This is a flowchart illustrating a method for generating drive current in a compensation mode according to an embodiment of this application. Figure 8 yes Figure 7 A flowchart illustrating the sub-steps of step S11. Figure 9 This is a flowchart illustrating a method for smoothly switching between an action mode and a compensation mode according to an embodiment of this application. Figure 10 yes Figure 1 A side view of a partial structure containing the roll and pitch modules; Figure 11 This is a side view of a motion compensation device and a seat according to another embodiment of this application; and Figure 12 yes Figure 11 A schematic diagram of the pitch module. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Reference Figure 1 One embodiment of this application provides a motion compensation device 100, which is adapted to be installed under the seat 200 of a mobile carrier. In this embodiment, the mobile carrier is a car, but this application does not limit the type of mobile carrier; in some embodiments, the mobile carrier is a ship. Figure 1As shown, the motion compensation device 100 includes a frame module 10, a vertical module 20, a data acquisition module (not shown), a main control module (not shown), a roll module 30, and a pitch module 40. The seat 200 is fixedly connected to the frame module 10, and the vertical module 20 is also connected to the frame module 10, thereby allowing the seat 200 to move vertically according to instructions from the main control module. The roll module 30 is connected to the base frame 13, and the pitch module 40 is connected to the roll module 30. The roll module 30 and the pitch module 40 further adjust the roll and pitch angles of the seat 200 according to instructions from the main control module. Furthermore, the main control module is adapted to generate corresponding instructions based on the data acquired by the data acquisition module.

[0033] In this embodiment, the motion compensation device 100 is suitable for operating in multiple modes, including a motion mode and a compensation mode. Specifically, in the motion mode, the motion compensation device 100 provides tactile feedback to the passenger. For example, when a passenger is playing a virtual reality game in a car, the vertical module 20 adjusts the seat height to provide vertical (up-down) tactile feedback, the roll module 30 adjusts the seat roll angle to provide lateral (left-right) tactile feedback, and the pitch module 40 adjusts the seat pitch angle to provide forward-backward (front-back) tactile feedback. Thus, the virtual reality game can be transformed from a visual 3D game into a 4D game with tactile feedback by combining the motion compensation device, thereby enhancing the passenger's riding experience in the game scene. Correspondingly, in the compensation mode, the motion compensation device 100 provides posture compensation to the passenger, thereby improving riding comfort. For example, when the car travels over bumpy roads, the vertical module 20 reduces the vibration of the seat in the vertical direction; when the car is cornering at high speed, causing the passenger's body to tilt to the left or right, the roll module 30 adjusts the roll angle of the seat to reduce the passenger's physical discomfort; when the car suddenly accelerates or brakes suddenly, the pitch module 40 adjusts the pitch angle of the seat to reduce the impact force on the passenger due to inertia.

[0034] The above has provided a brief description of the various modules and their operating methods of the motion compensation device 100. Next, the specific structure and corresponding functions of each module will be explained in detail. (Continue referring to...) Figure 2 and Figure 3In this embodiment, the frame module 10 includes a mounting frame 11, a connecting rod frame 12, a base frame 13, and a swing arm assembly 14, with the mounting frame 11 located above the base frame 13. The swing arm assembly 14 includes two first swing arm members 141 and two second swing arm members 142. Specifically, in this embodiment, the two first swing arm members 141 are arranged opposite to each other, and each first swing arm member 141 is connected to the mounting frame 11, the connecting rod frame 12, and the base frame 13, respectively. Correspondingly, the two second swing arm members 142 are also arranged opposite to each other, and each second swing arm member 142 is also connected to the mounting frame 11, the connecting rod frame 12, and the base frame 13, respectively. It should be noted that the specific connection method between the swing arm assembly 14 and the mounting frame 11, the connecting rod frame 12, and the base frame 13 can be referred to the relevant description of the swing arm assembly with the upper mounting frame, the secondary connecting rod frame, and the lower base frame in the patent document with publication number CN119659436A. This content is not the focus of this application and will not be described further here. Understandably, in this embodiment, the mounting frame 11, the connecting rod frame 12, and the base frame 13 are rotatably connected to each other via the swing arm assembly 14, allowing the mounting frame 11 to move relative to the base frame 13 in the vertical direction z. That is, in this embodiment, the connecting rod frame 12 is rotatably connected to both the mounting frame 11 and the base frame 13, and the mounting frame 11 is rotatably connected to the base frame 13. Furthermore, in this embodiment, the mounting frame 11 is adapted to be fixedly connected to the seat 200; therefore, the seat 200 can move relative to the base frame 13 in the vertical direction z.

[0035] Continue to refer to Figure 2 and Figure 3 In this embodiment, the vertical module 20 includes a vertical drive unit 21, a variable damping unit 22, and a position adjustment unit 23. Specifically, in this embodiment, the vertical drive unit 21 includes a vertical drive screw motor 211, a vertical drive motor bearing 212, a vertical ball nut 213, and a vertical ball nut shaft 214. The vertical drive screw motor 211 includes a vertical drive end 2111 (screw end) and a vertical rotation end 2112, and the vertical drive screw motor 211 is adapted to cause the vertical drive end 2111 to rotate. In this embodiment, the vertical drive motor bearing 212 is sleeved on the vertical drive end 2111 and fixedly connected to the connecting rod frame 12, thereby connecting the vertical drive end 2111 to the connecting rod frame 12 and ensuring stable rotation of the vertical drive end 2111 during operation of the vertical drive screw motor 211. It should be noted that... Figure 3This diagram only illustrates the vertical drive motor bearing 212. The relative positions of the vertical drive motor bearing 212 and the vertical drive lead screw motor 211 when connected can be adjusted according to the specific structures of the connecting rod frame 12, the vertical drive lead screw motor 211, and the vertical drive motor bearing 212. Furthermore, this application does not limit the number of vertical drive motor bearings 212. In some embodiments, there is one vertical drive motor bearing 212, and in some embodiments, there are multiple vertical drive motor bearings 212. (Continue referring to...) Figure 3 In this embodiment, the vertical ball nut 213 is sleeved on the vertical drive end 2111 and threadedly connected to the vertical drive end 2111, and the vertical ball nut shaft 214 is sleeved on the vertical ball nut 213 and fixedly connected to the connecting rod frame 12. In this embodiment, the rotational motion of the vertical drive end 2111 is converted into a linear push-pull force acting on the connecting rod frame 12 through the vertical ball nut 213 and the vertical ball nut shaft 214. In addition, in this embodiment, the vertical rotating end 2112 is rotatably connected to the base frame 13. It can be understood that in this embodiment, the vertical drive screw motor 211 is rotatably connected to the mounting frame 11 through the connecting rod frame 12 and the swing arm assembly 14, that is, in this embodiment, the vertical drive unit 21 is rotatably connected to both the mounting frame and the base frame.

[0036] Understandably, the rotational motion of the vertical drive screw motor 211 driving the vertical drive end 2111 is converted into a linear push-pull force on the connecting rod frame 12 by the vertical ball nut 213 and the vertical ball nut shaft 214, thereby causing the connecting rod frame 12 to drive the mounting frame 11 to move in the vertical direction z through the swing arm assembly 14. During this process, since the vertical rotating end 2112 is rotatably connected to the base frame 13, it is ensured that the vertical drive screw motor 211 can follow and continuously output a linear push-pull force as the connecting rod frame 12 moves in the vertical direction z. Therefore, in this embodiment, the vertical drive unit 21 is adapted to apply a linear push-pull force to the connecting rod frame 12 through the vertical drive end 2111, so that the connecting rod frame 12 drives the mounting frame 11 to move in the vertical direction z. Furthermore, in this embodiment, when the mounting frame 11 and the base frame 13 have a minimum distance in the vertical direction z, the extension shaft of the vertical drive screw motor 211 is parallel to the horizontal plane, and the angle between the extension shaft of the vertical drive screw motor 211 and the horizontal plane increases as the distance between the mounting frame 11 and the base frame 13 in the vertical direction z increases. Through the above settings, when the motion compensation device 100 is not running, the mounting frame 11 and the base frame 13 can be kept at a minimum distance in the vertical direction z. This avoids the seat 200 being raised, making it difficult for subsequent passengers to sit, while also reducing the continuous gravitational force exerted on the vertical drive unit 21 by the seat 200 and the mounting frame 11, thereby reducing the mechanical fatigue of the vertical drive unit 21 and improving its service life and safety. For example, Figure 4This is a side view showing the mounting frame 11 and the base frame 13 with the minimum distance in the vertical z-direction. Figure 5 This is a side view of the mounting frame 11 and the base frame 13 at a preset distance in the vertical z-direction. Figure 6 This is a side view of the mounting frame 11 and the base frame 13 with the maximum distance in the vertical direction z.

[0037] Continue to refer to Figure 2 and Figure 3 In this embodiment, the two opposite ends of the variable damping unit 22 are rotatably connected to the connecting rod frame 12 and the base frame 13, respectively. It is understood that since the connecting rod frame 12 is rotatably connected to the mounting frame 11 via the swing arm assembly 14, the variable damping unit 22 in this embodiment is rotatably connected to both the mounting frame 11 and the base frame 13. In this embodiment, the variable damping unit 22 includes a magnetorheological damper 221. The magnetorheological damper 221 is adapted to generate a corresponding damping force according to the input current. It should be noted that even when there is no input current, the magnetorheological damper 221 still exhibits minimum damping (off-state damping), but this minimum damping has a very small impact on the action compensation device 100. Therefore, in this embodiment, when there is no input current, the magnetorheological damper 221 is considered to not generate damping force.

[0038] Continue to refer to Figure 2 and Figure 3The position adjustment unit 23 includes an air spring 231, an air spring top plate 232, a spring sensor 233, and a connecting plate 234. The bottom end of the air spring 231, i.e., the first adjustment end 2301, is fixedly connected to the base frame 13. The top end of the air spring 231 is adapted to abut against the air spring top plate 232. One end of the air spring top plate 232 is rotatably connected to the base frame connecting part 131 of the base frame 13. The other end of the air spring top plate 232 is rotatably connected to one end of the connecting plate 234. The other end of the connecting plate 234, i.e., the second adjustment end 2302, is rotatably connected to the connecting rod frame 12. In this embodiment, the air spring 231 is adapted to expand after being filled with gas, thereby causing the air spring 231 to abut against the air spring top plate 232. Based on this, further inflation of the air spring 231 can cause the air spring top plate 232 to exert an upward force on the connecting rod frame 12, thereby increasing the distance between the connecting rod frame 12 and the base frame 13. Conversely, when the air spring 231 is depressurized, the upward force exerted by the air spring top plate 232 on the connecting rod frame 12 decreases, thereby decreasing the distance between the connecting rod frame 12 and the base frame 13. Therefore, in this embodiment, the distance between the mounting frame 11 and the base frame 13 in the vertical direction z can be changed by adjusting the degree of expansion of the air spring 231. Furthermore, in order to enable the seat 200 to achieve tactile feedback and posture compensation by raising and lowering its height in the vertical direction z, in this embodiment, after the passenger sits on the seat 200, the air spring 231 is inflated so that the distance between the mounting frame 11 and the base frame 13 in the vertical direction z is a preset distance. That is, in this embodiment, the position adjustment unit 23 is adapted to adjust the distance between the first adjustment end 2301 and the second adjustment end 2302 along the vertical direction z, so that the distance between the mounting frame 11 and the base frame 13 along the vertical direction z is a preset distance. The preset distance is the average of the maximum and minimum distances between the mounting frame 11 and the base frame 13 along the vertical direction z.

[0039] Understandably, by positioning the seat 200 at a height corresponding to a preset distance, the maximum subsequent rise and fall heights can be made the same, thus balancing the needs for various motion feedbacks and posture compensations. This reduces the amount of force required to adjust the height of the seat 200 using the vertical drive unit 21, thereby reducing energy consumption, or reduces the amount of force required to compensate the posture of the seat 200 in the vertical z direction using the variable damping unit 22, thereby reducing energy consumption. Furthermore, in this embodiment, the air spring top plate 232 includes a distance measuring plate 2321, and the distance measuring plate 2321 and the spring sensor 233 are arranged opposite each other along the first direction x. Specifically, during the process of the air spring 231 causing the mounting frame 11 and the base frame 13 to move relative to each other in the vertical z direction, the distance measuring plate 2321 is adapted to move accordingly along the first direction x. Correspondingly, the spring sensor 233 is fixedly connected to the connecting rod frame 12 and is used to obtain the distance between the measuring plate 2321 and the air spring 231 in the first direction x, so that the vertical module 20 can adjust the total amount of gas input to the air spring 231 according to the distance, so that the mounting frame 11 and the base frame 13 have a preset distance in the vertical direction z.

[0040] The structure and working principle of each unit in the vertical module 20 have been explained above. Further, in the operation mode, the vertical module 20 is configured to drive the mounting frame 11 to move vertically in the z-direction according to the action control command, and the variable damping unit 22 does not generate damping force during the movement of the mounting frame 11. In the compensation mode, the vertical module 20 is configured to generate a damping force in the variable damping unit 22 to suppress the vibration of the mounting frame 11 in the vertical z-direction according to the compensation control command, and reduce the mechanical resistance of the vertical drive unit 21 to the mounting frame 11. It can be understood that by simultaneously setting the vertical drive unit 21 and the variable damping unit 22, the vertical module 20 can operate in both the operation mode and the compensation mode, thereby simultaneously meeting the different needs of passengers in multiple scenarios, and thus balancing passenger comfort and experience. Furthermore, the vertical module 20 ensures that the vertical drive unit 21 can accurately displace the seat 200 in the vertical z-direction after executing the corresponding motion control command by preventing the variable damping unit 22 from generating damping force in the operating mode, thereby improving the passenger experience in the operating mode. Correspondingly, the vertical module 20 reduces the mechanical resistance of the vertical drive unit 21 to the mounting frame 11 in the compensation mode, preventing the force exerted by the vertical drive unit 21 on the mounting frame 11 from interfering with the variable damping unit 22's misjudgment of the damping force required for vibration reduction. This allows the variable damping unit 22 to more accurately reduce vibrations in the vertical z-direction by changing the magnitude of the damping force, thereby improving passenger comfort.

[0041] Based on the different functional requirements of the variable damping unit 22 in the above-mentioned action mode and compensation mode, the vertical module 20 in this embodiment is further configured as follows: no current is input to the magnetorheological damper 221 according to the action control command, so that the variable damping unit 22 does not generate damping force; and a corresponding current is input to the magnetorheological damper 221 according to the compensation control command, so that the variable damping unit 22 generates the corresponding damping force. Through the above settings, the variable damping unit 22 operates normally in the compensation mode and avoids negative interference to the vertical drive unit 21 in the action mode, further improving the applicability of the vertical module 20 in different modes. It should be noted that in this embodiment, the variable damping unit 22 and the position adjustment unit 23 work together in the compensation mode to perform vibration reduction, i.e., attitude compensation. For details, please refer to the patent document with publication number CN120396794A, which will not be elaborated here.

[0042] To address the need to reduce the mechanical impedance of the vertical drive unit 21 in the aforementioned compensation mode, in this embodiment, the vertical module 20 can adjust the drive current input to the vertical drive unit 21 to reduce the mechanical impedance of the vertical drive unit 21 to the mounting frame 11 in the compensation mode. This achieves an effect where the vertical drive unit 21 is approximately non-existent or generates approximately no force during the vertical z-direction movement of the mounting frame 11 in the compensation mode. It is understood that in this embodiment, the drive current is used to drive the vertical drive screw motor 211. Further reference... Figure 7 In this embodiment, the method for generating the driving current in the compensation mode includes the following steps. Step S11 is to acquire the additional reaction force parameters of the vertical drive unit 21, the output conversion coefficient of the vertical drive unit 21, and the motion state data of the vertical drive unit 21. The motion state data includes acceleration data, velocity data, and position data. The additional reaction force parameters include the load inertia parameters, viscous damping parameters, equivalent stiffness parameters, Coulomb friction parameters, Stribek friction parameters, and bias force and periodic disturbance parameters of the vertical drive unit. In this embodiment, the dynamic attitude data is real-time data.

[0043] Further reference Figure 8 Step S11 includes the following sub-steps. Step S111 involves acquiring motion state data over a period of time as reference data. For example, before the motion compensation device 100 initially activates the compensation mode, motion state data over a period of time is collected as reference data. Step S112 involves iteratively updating the original additional reaction force parameters and the corresponding error coefficients based on the reference data. Specifically, the iterative expressions for the original additional reaction force parameters and error coefficients are: , , , , ,in, , In the formula for The observation of the moment adds a reaction force. For reference data A matrix composed of motion state data at each moment. For transpose, for The original additional reaction force parameters at time t. for Error coefficient at time, for The real additional reaction force at every moment, for Gain parameters at time 10:00 for The covariance matrix at time t, Forgetting factor, for The original additional reaction force parameters at time t. for The covariance matrix at time t, It is the identity matrix. The output conversion coefficient of the vertical drive unit 21 is... for The driving current at any given moment. It should be noted that the original additional reaction force parameters... The parameters of the vertical drive unit, including its inertia, viscous damping, equivalent stiffness, Coulomb friction, Stribek friction, and deviant force and periodic perturbation, are contained in matrix form. The forgetting factor in this embodiment... The value is set to 0.99~0.999, thus obtaining the additional reaction force parameters more quickly and accurately.

[0044] Continue to refer to Figure 8 Step S113 involves using the original additional reaction force parameter corresponding to the error coefficient as the additional reaction force parameter if the error coefficient is less than a preset error threshold. For example, when... Error coefficient at time If the error is less than the preset error threshold, then... Original additional reaction force parameters at time 1 As an additional reaction force parameter. It is understood that through the above steps S111 to S113, accurate additional reaction force parameters can be obtained before starting the compensation mode, and used in the calculation of the drive current in the subsequent compensation mode.

[0045] Continue to refer to Figure 7 Step S12 involves determining the reverse compensation output force of the vertical drive unit 21 based on the additional reaction force parameters and motion state data. Specifically, the calculation expression for the reverse compensation output force is as follows: ,in, , , In the formula To compensate for the output force in the reverse direction, To add reaction force, For the preset small inertia parameters, For acceleration data, For the preset small damping parameters, For speed data, For the preset small stiffness parameters, For location data, The initial position, To bear the inertia parameter, For viscous damping parameters, For equivalent stiffness parameters, Here are the Coulomb friction parameters. Here are the Stribeck friction parameters. This represents the maximum speed of the vertical drive unit. For paranoia force and periodic perturbation parameters, This refers to the anti-shake dead zone speed. In this embodiment, the anti-shake dead zone speed... It is 1% of the peak speed corresponding to the vertical drive unit 21.

[0046] Continue to refer to Figure 7 Step S13 involves determining the drive current based on the reverse compensation output and the output conversion coefficient. Specifically, the expression for calculating the drive current is: , In the formula For driving current, This is the output conversion coefficient. In this embodiment, the output conversion coefficient is... The output conversion coefficient can be obtained by calibrating parameters such as motor torque constant, reduction ratio, lead screw, and transmission efficiency, but this application does not limit the output conversion coefficient. The method of obtaining the data is, in some embodiments, through identification of experimental data related to the vertical drive unit 21. It should be noted that, in this embodiment, if the drive current is less than the minimum current threshold, the drive current is adjusted to the minimum current threshold; if the drive current is greater than the maximum current threshold, the drive current is adjusted to the maximum current threshold, thereby avoiding damage to the vertical drive unit 21 after the drive current exceeds the threshold.

[0047] Understandably, in steps S11 to S13 of this embodiment, the additional reaction force of the vertical drive unit 21 on the mounting frame 11 is determined by the additional reaction force parameters and motion state data. Then, the value of the small force (which has almost no effect on the mounting frame 11) of the vertical drive unit 21 in the current state is determined using preset small inertia parameters, small damping parameters, and small stiffness parameters. Finally, the reverse compensation output force is determined based on the small force value and the additional reaction force. Finally, the reverse compensation output force is converted into a driving current value that can drive the vertical drive unit 21 through an output conversion coefficient. This allows the vertical drive unit 21 to generate a corresponding reverse compensation output force after the corresponding driving current is input, thus offsetting most of the additional reaction force. This significantly reduces the mechanical resistance of the vertical drive unit 21 to the mounting frame 11 in the compensation mode, making the vertical drive unit 21 approximately non-existent or generating approximately no force during the vertical z-direction movement of the mounting frame 11 in the compensation mode.

[0048] Based on the above, in this embodiment, during the switching from the action mode to the compensation mode, or from the compensation mode to the action mode, the predicted output at each moment within the preset switching time is determined according to the preset switching time, the active output in the action mode, and the reverse compensation output in the compensation mode. The predicted output is converted into drive current using the output conversion coefficient of the vertical drive unit 21. Specifically, the calculation expression for the predicted output is: During the process of switching from action mode to compensation mode: , During the switch from compensation mode to action mode: , in, , , In the formula for The predicted output at each moment To take the initiative to contribute, To compensate for the output force in the reverse direction, This is the initial moment of the switching process. This represents the total duration of the switching process. Furthermore, it involves active power output. The calculation expression is: In the formula and These are the active control gains for the corresponding terms. The target speed for the action mode. For speed data, The target location for the action pattern. For location data, For feedforward term, This is for the integral correction term. Furthermore, the total duration in this embodiment... This can be obtained using adaptive calculation. For example, In the formula This represents the allowable rate of change in output power for the vertical drive unit 21. Furthermore, in this embodiment, if the total duration... If the total time is less than the minimum handover time threshold, then the total time will be... Adjust to the shortest handover duration threshold, if the total duration If the total duration exceeds the longest handover time threshold, the total duration will be... Adjust to the longest handover duration threshold to avoid excessively long total handover time. The problem of the vertical drive unit 21 failing to complete the reservation action in time after exceeding the threshold, resulting in a decline in customer experience.

[0049] Understandably, in this embodiment, the calculation expression for the predicted output force ensures that the control law of the vertical drive unit 21 does not undergo abrupt changes during the switching from the action mode to the compensation mode, or vice versa. This allows the vertical drive unit 21 to achieve a smooth transition between the action mode and the compensation mode, thus balancing passenger comfort and riding experience. For example, when the action compensation device 100 is in the action mode, if the car suddenly brakes, the action compensation device 100 can respond promptly and switch to the compensation mode, thereby avoiding the exacerbation of the negative impact of sudden braking on passengers due to the action mode, and thus improving passenger safety and riding comfort.

[0050] Accordingly, this embodiment further considers the problem that when switching from the action mode to the compensation mode, the position and velocity changes of the vertical drive unit 21 are prone to instantaneous jumps, making it impossible to match the target of the action mode. Therefore, the calculation expressions for the target position data and target velocity data during the switching process from the action mode to the compensation mode are as follows: , ,in, , In the formula, For target location data during the handover process, For target speed data, The fusion coefficient is... Position data for switching the initial action mode. Speed ​​data for switching the initial motion mode. The position data and speed data of the compensation mode at the end of the switch are provided. It can be understood that the above calculation expressions can further ensure the gradual adjustment and change of passenger sensation during the transition from the motion mode to the compensation mode, avoiding sudden changes that could negatively impact passengers.

[0051] Furthermore, in this embodiment, during the switch from compensation mode to action mode, the motion state data corresponding to each moment from the current moment to the target moment is determined based on the current motion state data in compensation mode and the target motion state data in action mode. Specifically, The expression for calculating the position data in the motion state data corresponding to the given time is: ,in, , , , , , , In the formula for Location data corresponding to the given time. , , , , and These are the coefficients of the corresponding terms. , and These are the position data, velocity data, and acceleration data from the current motion state data. , and These are the position data, velocity data, and acceleration data from the motion state data at the target time. This represents the total duration from the current time to the target time. It is understood that in this embodiment, this duration can be... By performing first and second derivatives, we can obtain the following results. The velocity and acceleration data are included in the motion state data corresponding to each moment. In this embodiment, the above calculation expression can address the issue of inconsistency between the target seat state required for the motion mode and the current seat state at the end of the compensation mode during the transition from the compensation mode to the motion mode. The vertical drive unit 21 is controlled by the motion state data corresponding to the moment to smoothly switch from the motion trajectory of the compensation mode to the motion trajectory required by the action mode, thereby improving the passenger's comfort and experience.

[0052] Based on the above further references Figure 9 The smooth switching method between the action mode and the compensation mode in this embodiment includes the following steps. Step S21 is to obtain the output of the vertical drive unit 21 in the current mode and the output of the target mode. Here, one of the current mode and the target mode is the action mode, and the other is the compensation mode, and the output corresponding to the action mode is the active output. The output corresponding to the compensation mode is the reverse compensation output. Step S22 involves generating predicted output at each moment during the switching process, based on the output of the current mode and the output of the target mode, if the switching conditions are met. Step S23 involves maintaining the current mode if the switching conditions are not met. The switching conditions include anti-shake conditions, hysteresis conditions, and minimum dwell time conditions. Step S24 involves determining the drive current at each moment based on the output conversion coefficient and the predicted output at each moment. Step S25 involves adjusting the drive current if it does not meet the current threshold conditions. The current threshold conditions include the drive current not being less than the minimum current threshold and the drive current not being greater than the maximum current threshold. It should be noted that during the transition from the motion mode to the compensation mode, target position data and target velocity data can be further calculated. Similarly, during the transition from the compensation mode to the motion mode, position data, velocity data, and acceleration data in the motion state data at each moment can be further calculated.

[0053] The above has explained the details of the vertical module 20's implementation of the action mode, compensation mode, and mode switching. Next, refer to... Figure 1 and Figure 10 In this embodiment, the roll module 30 is movably connected to the base frame 13, and the roll module 30 is adapted to drive the base frame 13 to swing around the first axis according to motion control commands or compensation control commands, so as to adjust the roll angle of the base frame 13, thereby making the seat 200 at the corresponding roll angle. The pitch module 40 is movably connected to the roll module 30, and the pitch module 40 is adapted to drive the roll module 30 to swing around the second axis according to motion control commands or compensation control commands, so as to adjust the pitch angle of the base frame 13, thereby making the seat at the corresponding pitch angle. The extension direction of the first axis is perpendicular to the extension direction of the second axis. In this embodiment, the extension direction of the first axis is the first direction x, and the extension direction of the second axis is the second direction y. In this embodiment, the roll module 30 includes a path along the second direction y... Figure 10A roll drive motor 301 extending perpendicular to the plane of the paper drives the base frame 13 to swing around a first axis. A pitch module 40 includes a pitch drive motor 401 extending in the vertical direction z, which drives the roll module 30 to swing around a second axis. The corresponding structures of the roll module 30 and pitch module 40 can be found in patent document CN119058501A, and their swing frames correspond to the base frame 13 in this embodiment.

[0054] Reference Figure 11 and Figure 12 Another embodiment of this application proposes a pitch module 40'. For example... Figure 11 and Figure 12 As shown, the pitch module 40' includes a pitch support assembly 41, a pitch drive component 42, and a drive conversion assembly 43. In this embodiment, the pitch support assembly 41 includes a pitch shaft 411 and two pitch bearing seats 412. The axis of the pitch shaft 411 is a second axis, and the two opposite ends of the pitch shaft 411 are rotatably connected to the two pitch bearing seats 412, respectively. The pitch shaft 411 is fixedly connected to the roll module 30. Therefore, the pitch support assembly 41 is rotatably connected to the roll module 30, and the rotation axes of the pitch support assembly 41 and the roll module 30 are the second axis. (Continuing to refer to...) Figure 11 and Figure 12 In this embodiment, the pitch drive 42 includes a pitch motor 421, which extends along the extension direction of the second axis, i.e., the second direction y, and includes a pitch drive end adapted to output torque. That is, in this embodiment, the pitch drive 42 is adapted to output torque. Furthermore, in this embodiment, the pitch drive end includes a first bevel gear portion 4211. It should be noted that this application does not limit the type of drive element included in the pitch drive 42; in some embodiments, the pitch drive 42 includes a pneumatic motor.

[0055] Continue to refer to Figure 11 and Figure 12In this embodiment, the drive conversion component 43 includes a pitch rotating component 431 and a pitch transmission component 432. The pitch rotating component 431 includes a pitch connecting rod shaft 4311, two pitch connecting rods 4312, a lead screw nut 4313, and a lead screw nut shaft bracket 4314. The pitch connecting rod shaft 4311 is fixedly connected to the roll module 30. Each pitch connecting rod 4312 has two opposite ends rotatably connected to one end of the pitch connecting rod shaft 4311 and one end of the lead screw nut shaft bracket 4314, respectively. The lead screw nut 4313 is connected to the lead screw nut shaft bracket 4314. It can be understood that the ends of the pitch connecting rod shaft 4311 and the pitch connecting rods 4312 connected to the pitch connecting rod shaft 4311 together form a first rotating end, thereby rotatably connecting to the roll module 30. In addition, the lead screw nut 4313 (the nut part), the lead screw nut shaft bracket 4314, and the pitch connecting rod 4312 connected to the lead screw nut shaft bracket 4314 together form the second rotating end.

[0056] Continue to refer to Figure 11 and Figure 12 In this embodiment, the pitch transmission component 432 includes a pitch lead screw 4321 and two lead screw bearing seats 4322. In this embodiment, the pitch lead screw 4321 extends along the first axis, i.e., the first direction x. The pitch lead screw 4321 includes a second bevel gear portion 43211 and a lead screw portion 43212, with the second bevel gear portion 43211 meshing with the first bevel gear portion 4211, thereby converting the output torque of the pitch motor 421 into the rotation of the pitch lead screw 4321. In this embodiment, the two lead screw bearing seats are sleeved at both ends of the pitch lead screw 4321 along the first direction x, thereby supporting and fixing the pitch lead screw 4321. In this embodiment, the lead screw nut 4313 is sleeved on the lead screw portion 43212 and moves along the first direction x with the rotation of the pitch lead screw 4321, thereby generating a linear push-pull force on the roll module 30 through the pitch connecting rod 4312 and the pitch connecting rod shaft 4311. With the above configuration, the pitch transmission component 432 extends along the extension direction of the first axis, and is connected to the pitch drive end and the second rotating end respectively. The pitch transmission component 432 is adapted to drive the second rotating end to move along the extension direction of the first axis, i.e., the first direction x, according to the torque. Correspondingly, the drive conversion component 43 is connected to the pitch drive component 42 and the roll module 30 respectively, and the drive conversion component 43 is adapted to convert the torque into a linear push-pull force on the roll module 30 along the extension direction of the first axis, so that the roll module 30 swings around the second axis.

[0057] Understandably, in this embodiment, the pitch rotating member 431 is arranged along the second direction y, and the torque output by the pitch rotating member 431 is converted into a pushing and pulling force on the roll module 30 through the pitch transmission member 432, thereby driving the roll module 30 to swing along the second axis, so that the seat above the roll module 30 swings to form a corresponding pitch angle. Compared with the pitch drive motor 401 arranged in the vertical direction in the previous embodiment, this embodiment can further reduce the space requirement in the vertical direction, thereby avoiding the motion compensation device 100 under the seat 200 having a high height, which would cause passengers to feel uncomfortable when sitting on the seat 200 due to the limited interior height of the vehicle, thus improving the riding comfort. In addition, since the pitch rotating member 431 and the pitch transmission member 432 are connected by bevel gears, and the pitch transmission member 432 is driven by a screw nut, the pitch rotating member 431 can also achieve mechanical self-locking through the physical characteristics of the thread after it stops outputting torque, without the need for an additional locking structure, further simplifying the structure of the motion compensation device 100 and improving space utilization. It should be noted that since less space is occupied in the vertical direction, the pitch angle can be further expanded in this embodiment. For example, the pitch angle in this embodiment is ±20°, that is, a total adjustable range of 40°, which can fully meet the needs of tactile feedback or motion compensation.

[0058] Continue to refer to Figure 1In this embodiment, the data acquisition module is configured to acquire motion state data of the vertical drive unit. Correspondingly, the main control module is configured to determine the drive current of the vertical drive unit 21 based on the motion state data transmitted by the data acquisition module in compensation mode. The drive current is used to adjust the mechanical impedance of the vertical drive unit to the mounting frame, and the compensation control command includes a command corresponding to the drive current. Regarding the acquisition method of the drive current, the main control module is further configured to: acquire the additional reaction force parameters of the vertical drive unit 21 and the output conversion coefficient of the vertical drive unit; determine the reverse compensation output of the vertical drive unit 21 based on the additional reaction force parameters and motion state data; and determine the drive current based on the reverse compensation output and the output conversion coefficient. Furthermore, the main control module is further configured to: take motion state data for a period of time as reference data; iteratively update the original additional reaction force parameters and the corresponding error coefficient based on the reference data; if the error coefficient is less than a preset error threshold, then use the original additional reaction force parameters corresponding to the error coefficient as the additional reaction force parameters. The main control module is also configured to determine the predicted output at each moment within the preset switching time, based on the preset switching time, the active output in the action mode, and the reverse compensation output in the compensation mode, during the switching process from the action mode to the compensation mode. The predicted output is converted into drive current using the output conversion coefficient of the vertical drive unit. The main control module is also configured to determine the motion state data at each moment from the current moment to the target moment, based on the motion state data at the current moment in the compensation mode and the motion state data at the target moment in the action mode, during the switching process from the compensation mode to the action mode. It should be noted that the calculation methods for the parameters in the above processes have been mentioned above and will not be repeated here. Furthermore, any related calculation or judgment processing steps not mentioned in the main control module configuration can also be used as a configuration for the main control module, thereby enabling the main control module to act as the control center of the action compensation device 100 and coordinate the operation of the other modules.

[0059] Reference Figure 1 Another aspect of this application proposes a seating device 300, which is suitable for mobile vehicles. For example... Figure 1 As shown, the seating device 300 includes a motion compensation device 100 and a seat 200. The seat 200 is fixedly connected to the motion compensation device 100 and is located above the motion compensation device 100.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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. A motion compensation device, characterized in that, Suitable for installation under the seat of a mobile carrier, the motion compensation device includes: The frame module includes a mounting frame and a base frame, the mounting frame being located above the base frame and rotatably connected to the base frame, and the mounting frame being adapted to be fixedly connected to the seat. The vertical module includes a vertical drive unit and a variable damping unit. The vertical drive unit is rotatably connected to the mounting frame and the base frame, respectively, and the variable damping unit is rotatably connected to the mounting frame and the base frame, respectively. The motion compensation device is suitable for operating in multiple modes, including: In the operation mode, the vertical module is configured to drive the mounting frame to move vertically according to the motion control command, and to prevent the variable damping unit from generating damping force during the movement of the mounting frame; and / or In the compensation mode, the vertical module is configured to cause the variable damping unit to generate a damping force that suppresses the vibration of the mounting frame in the vertical direction according to the compensation control command, and to reduce the mechanical resistance of the vertical drive unit to the mounting frame.

2. The motion compensation device as described in claim 1, characterized in that, The motion compensation device further includes: The data acquisition module is configured to acquire motion state data of the vertical drive unit, the motion state data including acceleration data, velocity data and position data; The main control module is configured to determine the drive current of the vertical drive unit based on the motion state data transmitted by the data acquisition module in the compensation mode. The drive current is used to adjust the mechanical impedance of the vertical drive unit to the mounting frame. The compensation control command includes a command corresponding to the drive current.

3. The motion compensation device as described in claim 2, characterized in that, The main control module is further configured as follows: Obtain the additional reaction force parameters of the vertical drive unit and the output force conversion coefficient of the vertical drive unit; The reverse compensation output of the vertical drive unit is determined based on the additional reaction force parameters and the motion state data. The driving current is determined based on the reverse compensation output and the output conversion coefficient.

4. The motion compensation device as described in claim 3, characterized in that, The additional reaction force parameters include the bearing inertia parameter, viscous damping parameter, equivalent stiffness parameter, Coulomb friction parameter, Stribek friction parameter, and bias force and periodic disturbance parameter of the vertical drive unit. The calculation expression for the reverse compensation output force is as follows: ,in, ， ， In the formula For the reverse compensation output, To add reaction force, For the preset small inertia parameters, For the acceleration data, For the preset small damping parameters, For the speed data, For the preset small stiffness parameters, For the location data, The initial position, The bearing inertia parameter, The viscous damping parameter is... The equivalent stiffness parameter is... Let be the Coulomb friction parameter. The Stribeck friction parameters are given. The maximum speed of the vertical drive unit. The paranoia force and periodic perturbation parameters are given. To prevent dead zone speed, The expression for calculating the drive current is: ， In the formula The driving current, The output conversion coefficient is denoted as .

5. The motion compensation device as described in claim 2, characterized in that, The main control module is further configured as follows: Acquire the motion state data over a period of time as reference data; The original additional reaction force parameters and corresponding error coefficients are iteratively updated based on the reference data. If the error coefficient is less than the preset error threshold, then the original additional reaction force parameter corresponding to the error coefficient is used as the additional reaction force parameter.

6. The motion compensation device as described in claim 5, characterized in that, The iterative expressions for the original additional reaction force parameters and the error coefficients are as follows: ， ， ， ， ,in, ， In the formula for The observation of the moment adds a reaction force. In the reference data The matrix formed by the motion state data at each moment, For transpose, for The original additional reaction force parameters at time , for The error coefficient at time , for The real additional reaction force at every moment, for Gain parameters at time 10:00 for The covariance matrix at time t, Forgetting factor, for The original additional reaction force parameters at time , for The covariance matrix at time t, It is the identity matrix. The output conversion coefficient of the vertical drive unit is [value]. for The driving current at time t.

7. The motion compensation device as described in claim 2, characterized in that, The main control module is further configured to determine the predicted output at each moment within the preset switching time based on the preset switching time, the active output in the action mode, and the reverse compensation output in the compensation mode during the process of switching from the action mode to the compensation mode, wherein the predicted output is converted into the drive current through the output conversion coefficient of the vertical drive unit.

8. The motion compensation device as described in claim 7, characterized in that, The calculation expression for the predicted output force is: During the process of switching from the action mode to the compensation mode: ， During the process of switching from the compensation mode to the action mode: ， in, ， ， In the formula for The predicted output corresponding to the time point, For the aforementioned active power output, For the reverse compensation output, This is the initial moment of the switching process. This represents the total duration of the switching process.

9. The motion compensation device as described in claim 2, characterized in that, The main control module is further configured to, during the process of switching from the compensation mode to the action mode, determine the motion state data corresponding to each moment from the current moment to the target moment based on the motion state data at the current moment of the compensation mode and the motion state data at the target moment of the action mode.

10. The motion compensation device as described in claim 9, characterized in that, The calculation expression for the position data in the motion state data corresponding to the given time is: ,in, ， ， ， ， ， ， In the formula for The location data corresponding to the given time. , , , , and These are the coefficients of the corresponding terms. , and These are the position data, velocity data, and acceleration data from the motion state data at the current moment. , and These are the position data, velocity data, and acceleration data from the motion state data at the target time. The total duration from the current time to the target time.

11. The motion compensation device as described in claim 1, characterized in that, The variable damping unit includes a magnetorheological damper, wherein the vertical module is further configured as follows: According to the action control command, no current is input to the magnetorheological damper so that the variable damping unit does not generate the damping force. According to the compensation control command, the corresponding current is input to the magnetorheological damper so that the variable damping unit generates the corresponding damping force.

12. The motion compensation device as described in claim 1, characterized in that, The vertical drive unit includes opposing vertical drive ends and vertical rotation ends, the vertical rotation ends being rotatably connected to the base frame, and the frame module further includes: A connecting frame is rotatably connected to both the mounting frame and the base frame. The vertical drive end is connected to the connecting frame, and the vertical drive unit is adapted to apply a linear push-pull force to the connecting frame through the vertical drive end, so that the connecting frame drives the mounting frame to move along the vertical direction.

13. The motion compensation device as described in claim 12, characterized in that, The vertical module also includes: The position adjustment unit includes a first adjustment end and a second adjustment end. The first adjustment end is fixedly connected to the base frame, and the second adjustment end is rotatably connected to the connecting rod frame. The position adjustment unit is adapted to adjust the distance between the first adjustment end and the second adjustment end along the vertical direction, so that the distance between the mounting frame and the base frame along the vertical direction is a preset distance.

14. The motion compensation device as described in claim 1, characterized in that, The motion compensation device further includes: A roll module is movably connected to the base frame. The roll module is adapted to drive the base frame to swing around a first axis according to the motion control command or the compensation control command, so as to adjust the roll angle of the base frame. A pitch module is movably connected to the roll module. The pitch module is adapted to drive the roll module to swing around a second axis according to the motion control command or the compensation control command, so as to adjust the pitch angle of the base frame, wherein the extension direction of the first axis is perpendicular to the extension direction of the second axis.

15. The motion compensation device as described in claim 14, characterized in that, The pitch module includes: A pitch support assembly is rotatably connected to the roll module, wherein the rotation axis of the pitch support assembly and the roll module is the second axis; A pitch drive extends along the extension direction of the second axis, the pitch drive being adapted to output torque; A drive conversion assembly is connected to the pitch drive and the roll module respectively. The drive conversion assembly is adapted to convert the torque into a linear push-pull force on the roll module along the extension direction of the first axis, so that the roll module oscillates around the second axis.

16. The motion compensation device as described in claim 15, characterized in that, The pitch drive includes a pitch drive end adapted to output the torque, and the drive conversion assembly includes: The pitch rotating component includes a first rotating end and a second rotating end, wherein the first rotating end is rotatably connected to the roll module. A pitch transmission component extends along the extension direction of the first axis. The pitch transmission component is connected to the pitch drive end and the second rotating end respectively. The pitch transmission component is adapted to drive the second rotating end to move along the extension direction of the first axis according to the torque.

17. The motion compensation device as described in claim 16, characterized in that, The pitch drive end includes a first bevel gear portion, and the pitch transmission component includes a second bevel gear portion, wherein the first bevel gear portion and the second bevel gear portion are toothed together; and / or The pitch transmission component includes a lead screw portion, and the second rotating end includes a nut portion, which is sleeved on the lead screw portion.

18. A seating device, characterized in that, include: Seats; The motion compensation device according to any one of claims 1 to 17, wherein the seat is fixedly connected to the motion compensation device and is located above the motion compensation device.

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