DEVICE FOR SPATIAL MOVEMENT OF AT LEAST ONE PERSON

Abstract

A flight simulator, motion simulator or orientation simulator for the spatial movement of at least one person, and in particular for the simulation of acceleration sequences, has a holding device for holding a person in a region of the center. The holding device is mounted on a carriage via a movement device. The carriage can be displaced, in particular linearly, along a horizontally oriented main carrier. The main carrier is rotationally driven about a vertically oriented major axis of rotation and the center is displaceable between a first outer maximum position and a second outer maximum position by moving the carriage along a trajectory on the main carrier. A normal distance between the first outer maximum position of the center and the major axis of rotation is greater than the normal distance between the second outer maximum position of the center and the major axis of rotation.

Claims

1-37. (canceled)

38. A device for a spatial movement of at least one person, the device comprising: a carrier; a movement device disposed on said carrier; a horizontally oriented main carrier, said carriage is displaceable along said main carrier; a holding device for holding the person in a region of a center, said holding device being mounted by means of said movement device on said carriage; a main drive, said main carrier is rotatably mounted about a vertically oriented major axis of rotation and being driven by said main drive; and said main carrier having a first main arm and a second main arm, wherein said first and second main arms extend radially outwards in opposite directions from the vertically oriented major axis of rotation, wherein the center can be displaced between a first outer maximum position and a second outer maximum position by moving said carriage along a trajectory on said main carrier, wherein in the first outer maximum position of the center said carriage is disposed on said first main arm, wherein in the second outer maximum position of the center said carriage is disposed on said second main arm, wherein a normal distance between the first outer maximum position of the center and the vertically oriented major axis of rotation is greater than a normal distance between the second outer maximum position of the center and the vertically oriented major axis of rotation.

39. The device according to claim 38, wherein the trajectory of the center along said main carrier is limited by the first outer maximum position and the second outer maximum position.

40. The device according to claim 38, wherein said first main arm, measured normally with respect to the vertically oriented major axis of rotation, is longer than said second main arm or that the vertically oriented major axis of rotation is disposed asymmetrically with respect to said main carrier along a longitudinal extension of said main carrier.

41. The device according to claim 38, wherein said main carrier has a trough-shaped or U-shaped profile along the trajectory, and said carriage is guided on or in said main carrier and at least partially encompassed by said main carrier.

42. The device according to claim 38, wherein said movement device has a first carrier element, which is disposed rigidly connected to said holding device, said first carrier element is rotatably driven with respect to said carriage about a first secondary axis, and the first secondary axis passes through the center.

43. The device according to claim 38, wherein: said movement device has a first carrier element, which is disposed rigidly connected to said holding device, said first carrier element is rotationally driven with respect to said carriage about a first secondary axis, the first secondary axis passes through the center; and said movement device has a second carrier element, said first carrier element is rotationally driven with respect to said second carrier element about the first secondary axis, and said second carrier element is rotationally driven with respect to said carriage about a second secondary axis, the first secondary axis and the second secondary axis are substantially orthogonal to each other and that the first secondary axis and the second secondary axis have a smallest normal distance from each other in the center or intersect in the center.

44. The device according to claim 38, wherein: said movement device contains a first carrier element, which is disposed rigidly connected to said holding device, said first carrier element is rotatably driven with respect to said carriage about a first secondary axis, the first secondary axis passes through the center; said movement device has a second carrier element, said first carrier element is rotationally driven with respect to said second carrier element about the first secondary axis, said second carrier element is rotationally driven with respect to said carriage about a second secondary axis, the first secondary axis and the second secondary axis are substantially orthogonal to each other, the first secondary axis and the second secondary axis have a smallest normal distance from each other in the center or intersect in the center; and said movement device has a third carrier element, said second carrier element is rotationally driven with respect to said third carrier element about the second secondary axis, said third carrier element is rotationally driven with respect to said carriage about a third secondary axis, the second secondary axis and the third secondary axis are substantially orthogonal to each other and that the second secondary axis and the third secondary axis have a smallest normal distance from each other in the center or intersect in the center.

45. The device according to claim 44, wherein said movement device contains a hoisting device for a translational movement of said holding device, of said first carrier element, of said second carrier element and/or, of said third carrier element.

46. The device according to claim 45, wherein said movement device having said hoisting device extends substantially parallel to the vertically oriented major axis of rotation and/or normally to the trajectory, and said hoisting device contains at least one linear drive.

47. The device according to claim 44, further comprising: an image reproduction surface; and a cabin, said holding device is disposed in said cabin, and said image reproduction surface for a graphical representation of a simulation environment is disposed in said cabin.

48. The device according to claim 47, further comprising a replica of an object to be simulated is provided in said cabin, said replica of the object to be simulated is selected from the group consisting of an aircraft cockpit, a vehicle cockpit, a helicopter cockpit and a ship cockpit.

49. The device according to claim 48, further comprising: a control device; and control elements disposed in a region of said holding device, said control elements are connected to said control device, and a movement of the device, namely a simulation, is influenced using said control elements, so that the person located in said cabin can control a simulated object or the movement of the device.

50. The device according to claim 47, wherein said cabin is configured so that said cabin is closable, said cabin has a cabin door and a cabin opening which is closed by said cabin door.

51. The device according to claim 47, wherein at least one of said image reproduction surface or said cabin is disposed on said second carrier element or on said third carrier element, so that said holding device has at least one drivable rotational degree of freedom relative to at least one fo said image reproduction surface or said cabin.

52. The device according to claim 47, wherein said second carrier element is configured annular or C-shaped and is rigidly connected to said cabin, or said second carrier element contains an annular or C-shaped section and said cabin is part of said second carrier element.

53. The device according to claim 47, wherein said third carrier element is configured annular and extends around said cabin.

54. The device according to claim 44, further comprising rotary drives; wherein said third carrier element is configured annular and extends around said cabin, said third carrier element has recesses formed therein for accommodating said rotary drives; and wherein said rotary drives disposed in said third carrier element are configured to rotate said second carrier element about the second secondary axis and to rotate said third carrier element about the third secondary axis.

55. The device according to claim 45, wherein said hoisting device engages on said third carrier element in a region of the third secondary axis.

56. The device according to claim 43, wherein said first carrier element is configured as a cantilever which on one side, behind said holding device, is rotatably connected to said second carrier element, so that said first carrier element extends behind and/or below the person from said holding device to said second carrier element.

57. The device according to claim 38, further comprising a carriage drive device, said carriage is displaced on said main carrier by means of said carriage drive device.

58. The device according to claim 57, wherein said carriage is displaceable on said main carrier by means of said carriage drive device, wherein said carriage drive device is selected from the group consisting of a cable drive, a hydraulic drive, a direct drive and a direct drive with radial load compensation.

59. The device according to claim 57, wherein said carriage drive device is a cable drive containing: a plurality of deflection pulleys, at least one of said deflection pulleys being rotatatably mounted on said carriage; a cable guided around said plurality of deflection pulleys and is partially fixed to said main carrier with one end, with both ends or with at least one section to said main carrier; main carrier deflection pulleys which are rotatably mounted on said main carrier, said main carrier deflection pulleys being disposed on both outer regions of said main carrier; and a cable drive pulley for driving said cable drive.

60. The device according to claim 59, wherein: said cable drive pulley is disposed coaxially to the vertically oriented major axis of rotation of said main drive; and when said carriage is stationary with respect to said main carrier, said cable drive pulley and said main drive have a same angular velocity, and wherein to move said carriage on said main carrier, said cable drive pulley and said main drive have an angular velocity difference.

61. The device according to claim 59, wherein said cable drive pulley has a drive disposed in a fixed position.

62. The device according to claim 57, wherein: said carriage drive device is a hydraulic drive device; and said main drive for displacing said carriage on said main carrier is a hydraulic cylinder.

63. The device according to claim 57, wherein said carriage drive device is a direct drive, said direct drive has drive wheels, which are mounted on said carriage so that they can be rotated and driven, said drive wheels roll over parts of said main carrier to cause a displacement of said carriage with respect to said main carrier, and said direct drive further has drives for said drive wheels that are connected to said carriage and are disposed on said carriage itself.

64. The device according to claim 57, wherein said carriage drive device is a direct drive with additional radial load compensation; further comprising a foundation; further comprising a radial load compensation drive disposed in a fixed position in said foundation; and further comprising at least one traction element extending from said radial load compensation drive as far as said carriage, and is connected at one end to said carriage, so that said traction element primarily compensates for a radial acceleration in order to generate a counter-force to the radial acceleration and a functional separation is created between “holding” said carriage by means of the radial load compensation and “moving” said carriage by means of said direct drive.

65. The device according to claim 64, wherein said traction element is guided into said main carrier in a region of the vertically oriented major axis of rotation.

66. The device according to claim 64, wherein said traction element is configured as a block and tackle.

67. The device according to claim 38, wherein said main drive contains a hydraulic main carrier drive or an electric main carrier drive for rotating said main carrier about the vertically oriented major axis of rotation.

68. The device according to claim 67, wherein said main drive contains a plurality of main carrier drives, in particular 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22 or more said main carrier drives.

69. The device according to claim 67, further comprising an engagement device selected from the group consisting of a sprocket with a central element and friction rings with a central element, said main carrier drives engage via said sprocket or said friction rings with said central element connected to said main carrier, to drive said main carrier in a rotary manner about the vertically oriented major axis of rotation.

70. The device according to claim 42, wherein the first secondary axis corresponds to a roll axis of the person.

71. The device according to claim 38, wherein the normal distance of the center from the vertically oriented major axis of rotation in the first outer maximum position is between 4 and 8 meters.

72. The device according to claim 38, wherein the normal distance of the center from the major axis of rotation in the second outer maximum position is between 0 and 4 meters.

73. The device according to claim 38, wherein the normal distance of the center from the vertically oriented major axis of rotation in the first outer maximum position is at least 2 times greater than the normal distance of the center from the vertically oriented major axis of rotation in the second outer maximum position.

74. A simulator selected from the group consisting of a flight simulator and a motion simulator for a spatial movement of at least one person and for a simulation of acceleration sequences, the simulator comprising: a carriage; a movement device; a holding device for holding the person in a region of a center, said holding device is mounted on said carriage by means of said movement device; and a horizontally oriented main carrier, said carriage is displaceable along said main carrier, said main carrier is rotatably mounted, is driven and if appropriate, is driven about a vertically oriented major axis of rotation, wherein said main carrier has a first main arm and a second main arm, wherein said first and second main arms extend radially outwards in opposite directions from the vertically oriented major axis of rotation, and wherein said carriage is displaced along said first main arm and said second main arm, said first main arm, measured normally with respect to the vertically oriented major axis of rotation, is longer than said second main arm or that the vertically oriented major axis of rotation is disposed asymmetrically relative to said main carrier along a longitudinal extension of said main carrier.

Description

[0047] FIG. 1 shows a device according to the invention in a partial sectional view, wherein the direction of the trajectory of the carriage extends substantially in the projection of the image.

[0048] FIG. 2 shows a partial sectional view in a device according to the invention, wherein the trajectory of the carriage extends substantially in the image plane.

[0049] FIG. 3 shows a view of a device according to the invention from above.

[0050] FIG. 4 shows a schematic view, or sectional view of a device according to the invention.

[0051] FIG. 5 shows another schematic view, or sectional view of a device according to the invention.

[0052] FIG. 6 shows a detail of a device according to the invention.

[0053] FIG. 1 shows a device according to the invention in a schematic view of a partial sectional representation.

[0054] The device is preferably arranged on a foundation 37. This foundation 37 can be, for example, a concrete foundation.

[0055] The foundation 37 has one or more main carrier drives 43 connected thereto. The main carrier drives 43 are parts of the main drive 35. The main drive 35 is configured and/or suitable for effecting a rotation of the main carrier 6 about the major axis of rotation is 7, and in particular to drive the main carrier 6 about the major axis of rotation 7 in a rotary manner. For this purpose, in the present design the main drive 35 comprises gear wheels, which are coupled or connected to the main carrier drives 43 which engage in a sprocket 44. The sprocket 44 is preferably rigidly connected to the main carrier 6 and in particular is arranged coaxially with the major axis of rotation 7. When the main carrier drives 43 are driven, the sprocket 44 is driven in a rotary manner, which also drives the main carrier 6. If appropriate, in addition or as an alternative to gear wheels, the main drive comprises friction wheels which effect a transmission of the torque from the main carrier drive 43 onto the main carrier 6 via friction rings. In all embodiments, either friction rings, gear wheels or a combination of the two configurations can be used for the drive of the main carrier 6.

[0056] In the area of the foundation or between the physically fixed components of the device and the main carrier 6, a main bearing 46 is preferably provided. This main bearing can be designed in particular as a radial bearing, an axial bearing, as a combination of the two types of bearing, or as a plurality of bearings arranged separately from each other. The main bearing is in particular suitable and/or configured for bearing the rotation of the main carrier 6 about the major axis of rotation 7 with respect to the physically fixed components, in particular with respect to the foundation.

[0057] The device according to the invention comprises a main carrier 6 which, as shown in this embodiment, is trough-shaped or U-shaped. If appropriate, however, in all embodiments the carrier can also be designed in different shapes. In a preferred form however, the main carrier 6 has a U-shaped profile along the displacement path of the carriage. The carriage 5 is preferably mounted and/or guided in this U-shaped profile.

[0058] The device according to the invention preferably comprises a carriage 5. This carriage 5 can be moved along a trajectory 10 along the main carrier 6 and can be driven in a moveable manner. In a preferred form the carriage 5 is guided along the main carrier 6 or on the main carrier 6. In the case of a U-shaped design of the main carrier 6, the carriage can be guided in the lower region, i.e. in the floor region of the U-shaped carrier. In addition, in the case of a U-shaped design of the carrier, the carriage can also be guided in the central region or on the ends of the arms of the U-shaped carrier. The U-shaped design and multi-point guiding enable the stability of the overall system to be improved.

[0059] The carriage can be displaced with respect to the main carrier 6. This means that the carriage has two degrees of freedom. One degree of freedom is defined by the rotation of the main carrier 6 about the major axis of rotation. A further degree of freedom is defined by the displacement of the carriage 5 along the main carrier 6. A movement device 4 is provided on the carriage 5. The movement device 4 can preferably be displaced jointly with the carriage, and therefore has at least the same degrees of freedom as the carriage. The movement device 4 is suitable and/or configured for moving a holding device 2.

[0060] This holding device 2 is in particular configured for fixing or holding a person 1 in the region of a centre 3. The holding device 2 is preferably connected to a first carrier element 15. In the present embodiment a cabin 23 is provided. This cabin 23 preferably surrounds the person 1, the holding device 2 and the centre 3. In the present embodiment the cabin 23 also surrounds the first carrier element 15, which means that the components mentioned in the present view are hidden, and hence shown by a dashed line. The holding device 2 is preferably rigidly or fixably connected to the first carrier element 15. The first carrier element 15 is arranged so that it can rotate about a first secondary axis 16 with respect to the carriage 5. A second carrier element 17 is also provided. The second carrier element 17 is arranged so that it can rotate about a second secondary axis 18 with respect to the carriage. The first carrier element 15 is preferably arranged so that it can rotate about the first secondary axis 16 with respect to the second carrier element 17. The first secondary axis 16 preferable passes through the centre 3.

[0061] A third carrier element is also preferably provided. The third carrier element 19 is arranged so that it can rotate about a third secondary axis 20 with respect to the carriage. In the present view, the third secondary axis 20 extends in the projection of the image. The second carrier element 17 is preferably arranged so that it can rotate about the second secondary axis 16 with respect to the third carrier element 19.

[0062] If appropriate, a hoisting device 21 is also provided. The hoisting device 21 allows a raising and/or lowering movement of the holding device 2 with respect to the carriage 5. The raising/lowering direction preferably extends parallel to the major axis of rotation. The third carrier element 19 is preferably arranged about a third secondary axis 20 with respect to the hoisting device 21. The third carrier element 19 is also preferably linearly moveable with respect to the carriage by means of the hoisting device 21.

[0063] It can be the case that only a first carrier element and a second carrier element are provided, wherein the first carrier element is arranged such that it can be rotated with respect to the second carrier element. If appropriate, in this embodiment the second carrier element may be coupled with the carriage via a hoisting device 21.

[0064] In the present embodiment of FIG. 1 therefore, the holding device 2 for the person 1 has six degrees of freedom, in particular four rotational degrees of freedom and two translational degrees of freedom. Three rotational degrees of freedom are defined by the rotation about the auxiliary axes 1, 6, 18 and 20. A further rotational degree of freedom is defined by the rotation of the main carrier 6 about the major axis of rotation 7. A translational degree of freedom is obtained due to the displaceability of the carriage 5 along the main carrier 6. A further translational degree of freedom is obtained by means of the hoisting device 21.

[0065] If appropriate, more or fewer degrees of freedom can be provided.

[0066] FIG. 2 shows the same or a similar device to that of FIG. 1. The main carrier 6 is arranged such that it can be rotated about a major axis of rotation 7. The major axis of rotation is preferably vertically oriented. In addition a foundation 37 is preferably also provided, in which, for example, drives or bearings for moving the device according to the invention are or can be arranged. Details of the drive are hidden in FIG. 2. The carriage 5 is arranged such that it can be displaced along the main carrier 6. The main carrier 6 preferably comprises a first main arm 8 and a second main arm 9. The main arms 8, 9 preferably extend substantially radially outwards from the major axis of rotation 7. In a preferred manner the two main arms 8, 9 are chained linearly together, producing a linear trajectory 10 of the carriage 5 on the main carrier 6. If appropriate, however, in all embodiments the trajectory 10 may be designed slightly curved or partially curved. It is preferable in all embodiments to arrange the trajectory 10 linearly along the carrier. By displacing the carriage 5 along the trajectory 10, the centre 3 can be moved from a first outer maximum position 11 to a second outer maximum position 12. The trajectory 10 therefore extends from the first outer maximum position 11 of the centre to the second outer maximum position 12 of the centre 3 and in particular, is limited by the two maximum positions in all embodiments. In the first outer maximum position 11 the carriage is preferably located on the first main arm 8, and in particular in the outer region of the first main arm 8. In the second outer maximum position of the centre 3 the carriage is located on the second main arm 9, and in particular in the outer region of the second main arm 9. In the present illustration this alternative position is drawn as a dashed line. According to the invention, it is provided that the first normal distance 13 of the centre 3 from the major axis of rotation 7 in the first outer maximum position 11 is greater than the second normal distance 14 between the major axis of rotation 7 and the centre 3 in the second outer maximum position 12.

[0067] It may be the case that the dimension 47 of the first main arm 8 is greater than the dimension 48 of the second main arm 9.

[0068] At constant angular velocity of the main arm, the radial acceleration acting on the person 1 can be changed due to the fact that the centre 3 is pushed outwards along the trajectory. Since the maximum radius of the centre 3 on the first main arm 8 is greater than that on the second main arm 9, by moving the carriage 5 along the first main arm 8 at a constant angular velocity a higher radial acceleration can be induced than that on the second main arm 9. In all embodiments the carriage 5 can be moved into any desired intermediate position between the two maximum positions 11, 12.

[0069] The device shown in FIG. 2 may in particular be designed in the same way as the device shown in FIG. 1. In particular, the degrees of freedom of the holding device 2 with respect to the environment can also be designed the same as in the description of FIG. 1. In particular in the embodiment shown in FIG. 2 also, six degrees of freedom are preferably obtained. If appropriate, however, the holding device 2 or the person 1 may also have fewer or more degrees of freedom with respect to the environment.

[0070] FIG. 3 shows an embodiment of a device according to the invention or of a system according to the invention, from above. The device comprises a main carrier 6. This main carrier 6 is mounted rotatably about a major axis of rotation 7 and preferably is or can be driven. The major axis of rotation 7 extends in the projection of the image in this view.

[0071] The main carrier 6 preferably has a first main arm 8 and a second main arm 9. The two main arms 8 and 9 project out on both sides of the major axis of rotation 7 or extend away from this major axis of rotation 7. the main carrier 6 is preferably designed in such a way that the first main arm 8 and the second main arm 9 are chained together in a straight line. A carriage 5 is arranged on the main carrier 6. The carriage 5 can be displaced along a trajectory 10 along the main carrier 6.

[0072] In particular, the trajectory 10 extends along the main carrier 6 from the first main arm 8 beyond the major axis of rotation 7 to the second main arm 9. The carriage 5 can therefore be moved from the first main arm 8 onto the second main arm 9. In all embodiments the carriage 5 can preferably be displaced from the region of the major axis of rotation 7 on both sides. A movement device 4 is provided on the carriage 5. The movement device 4 can, in particular, correspond to the movement devices of the other embodiments. Using the movement device 4 a holding device 2 for a person 1, both elements 2, 1 not being visible in the present view, can be rotated or moved with respect to the carriage 5 and to the environment.

[0073] In particular, the movement device 4 comprises a first carrier element 15, a second carrier element 17 and possibly a third carrier element 19. These three carrier elements 15, 17, 19 can, if appropriate, be rotated about secondary axes 16, 18, 20. A hoisting device 21 is preferably also provided. using the hoisting device 21, the holding device 2 or the person 1 can be moved translationally with respect to the main carrier 6. In particular, the direction of movement of the hoist device 21 is arranged parallel to the major axis of rotation 7.

[0074] A cabin 23 is preferably provided. The holding device 2 is provided in the cabin 23. The holding device 2 is suitable and/or configured for positioning or holding a person 1 in the region of the centre 3. The centre 3 can be moved along the trajectory 10 by activating the carriage 5.

[0075] In particular, the centre 3 can be moved from a first outer maximum position 11 to a second outer maximum position 12. The first normal distance 13 of the centre from the major axis of rotation 7 is preferably greater than the second normal distance 14 of the second outer maximum position 12 from the major axis of rotation 7. This allows the centre to be moved further out along the first main arm 8 than along the second main arm 9. If appropriate, the entire main carrier 6 can be arranged asymmetrically. In such a design the dimension 47 of the first main arm 8 is greater than the dimension 48 of the second main arm 9. The dimensions 47, 48 each extend substantially normally from the major axis of rotation 7 up to the outer end of the first or second main arm, or of the main carrier.

[0076] In the present illustration of FIG. 3, a drive device 30 is provided for moving the carriage 5. The carriage drive device 30 in this embodiment is designed as a cable drive. In such a device, a cable 33 is passed around a plurality of deflection pulleys 32. The cable 33 is also passed around a cable drive pulley 34. By rotating the cable drive pulley 34 the cable or parts of the cable can be moved, to also displace the carriage 5 on the main carrier 6. A drive 36 is provided for this purpose. This drive 36 is preferably arranged in a fixed position.

[0077] If appropriate, however, this drive 36 or parts of the drive 36 can also be provided on the main carrier. A deflection pulley 32 may be designed as a tensioner pulley. This tensioner pulley is configured to hold the cable under tension in each operating position. The tensioner pulley in this view is the pulley that is arranged closest to the cable drive pulley 34. The cable drive of the following embodiment also comprises a plurality of main carrier deflection pulleys 31. The main carrier deflection pulleys 31 are preferably arranged on the main carrier 6 such that they can rotate. In addition, deflection pulleys are located on the carriage 32 such that they can rotate.

[0078] The cable 33 or the cables 33 are passed over all pulleys shown in the drawing. The cable is preferably fixed to one or more sections of the main carrier 6. By activating the cable drive pulley 34, in particular by means of the drive 36 of the cable drive pulley 34, the carriage 5 can be displaced on the main carrier by changing the length of the cable sections or cable slings.

[0079] FIG. 4 shows a further configuration of a device according to the invention. In contrast to the illustration of FIG. 3, in order to move the carriage 5 on the main carrier 6, the carriage drive device 30 comprises one or more drive wheels 39, which roll over an element of the main carrier 6. All other components correspond to the components of FIG. 1, FIG. 2 or FIG. 3 as appropriate. The drive wheels 39 preferably comprise one or more drives 40. The drives 40 are configured and/or suitable for driving the drive wheel 39 or drive wheels 39, and therefore effecting a displacement of the carriage 5 on the main carrier 6. The drives 40 can, if appropriate, be arranged on the carriage, or be moveable together with the carriage.

[0080] At high radial accelerations, in order to brace the displacement of the carriage by means of the drive wheels 39 it may be necessary to provide another drive. In accordance with the present embodiment this additional drive is designed as a radial load compensation drive 41. The radial load compensation drive 41 preferably comprises a traction element 42, which is connected to the carriage 5 or engages with the carriage 5. The traction element 42 is driven by a drive 36.

[0081] If appropriate, the traction element 42 is arranged in the form of a block and tackle.

[0082] If appropriate, the radial load compensation drive 41 comprises a block and tackle. The traction element 42 is preferably designed as a flexible traction element, such as in particular a cable. The traction element 42 is preferably guided into the main carrier 6 in the region of the major axis of rotation 7. In the region where the traction element 42 passes through into the main carrier 6, deflection pulleys 32 are also provided. The deflection pulleys 32 divert the traction element from the preferably fixed drive, so that a section of the traction element 42 can engage with the carriage 5. This means that the traction element 42 comprises a section which is provided between carriage and deflection pulley 32. This section extends substantially at an oblique angle or preferably horizontally. Between the drive of the traction element 42 and the deflection pulley 32, a second section of the traction element 42 is provided. This extends substantially at an oblique angle or preferably vertically.

[0083] The configuration of the direct drive using one or more drive wheels 39 and the radial load compensation drive 41 results in a division of forces between “holding” the carriage against the radial acceleration forces by the radial load compensation drive 41 and “moving” the carriage on the main carrier 6 by driven drive wheels 39.

[0084] FIG. 5 shows a further embodiment of a possible carriage drive device 30 and a schematic hydraulic circuit diagram of this embodiment. The carriage drive device 30 of the embodiment shown in FIG. 5 comprises a hydraulic cylinder 38, which can be designed as appropriate as a conventional, adequately dimensioned hydraulic cylinder 38. All other components correspond to the components of FIG. 1, FIG. 2 or FIG. 3 as appropriate. The hydraulic cylinder 38 is provided on the main carrier 6 and in particular is co-rotated about the major axis of rotation 7. Changes in the length of the hydraulic cylinder 38 enable a traction element 42 to be moved. This traction element 42 engages with the carriage 5 in order to move the carriage along the main carrier 6. If appropriate, the traction element 42 can be designed as a pressure element.

[0085] If appropriate, the traction element can be a rod, which is designed as a push-and-pull element. If appropriate, the traction element 42 is designed in the form of a cable.

[0086] A plurality of hydraulic cylinders 38 may be provided, which act against each other and thus improve the ability to displace the carriage on the main carrier. If appropriate however, only a single hydraulic cylinder 38 is provided, which can move the carriage along the first main arm and the second main arm and in particular, from the first maximum position of the centre as far as the second maximum position of the centre.

[0087] FIG. 6 shows a further detail of a design of the device according to the invention in a schematic view. If appropriate, the movement device 4 and the cabin 23 are designed in all embodiments as shown in FIG. 6. In the present embodiment the cabin 23 comprises a cabin door 26. The cabin door 26 is designed such that it can be opened and closed. The cabin door closes a cabin opening 27 as appropriate. It is preferable to design the cabin door 26 such that it completes the shape of the cabin 23. For example, the cabin can have a spherical shape or a spherical inner surface.

[0088] In particular, an image reproduction surface 24 is provided on the inner side of the cabin. The image reproduction surface preferably extends over the entire visual field or the entire field of view of the person 1. If appropriate, a projector or a plurality of projectors is provided, by means of which the images, in particular images of the simulated environment artificially generated by a computer, can be projected onto the image reproduction surface 24.

[0089] The person 1 is held on a holding device 2. The holding device is designed, for example, as a seat or a couch. The holding device preferably comprises belts, so that the person can be fastened to the holding device 2. The holding device is in particular configured for positioning the person 1 in the region of a centre 3. In all embodiments the person's head is preferably positioned in the centre. If appropriate, in all embodiments the chest or the heart of the person can be positioned in the centre 3. The holding device 2 preferably comprises an adjustable degree of freedom with respect to the first carrier element 15. This degree of freedom is defined, for example, by a seat adjustment.

[0090] In particular, it may be necessary to provide an adjustment facility of the holding device with respect to the first carrier element 15, in order to provide the facility to position the person 1 with respect to the centre. The holding device can be rotated together with the first carrier element about a first secondary axis 16. This rotation of the first carrier element about the axis of rotation 16 takes place in particular with respect to the second carrier element 17. In the present embodiment the first carrier element 15 is designed as a cantilever or as a curved overhanging carrier. In the rear region, in particular behind the person 1, the first carrier element 15 is guided relative to the second carrier element 17, and can be rotatably mounted therein or thereon. In addition, the rotary drive 29 is provided for rotating the first carrier element with respect to the second carrier element. In the present embodiment the second carrier element 17 is designed substantially C-shaped. If appropriate, the second carrier element is a part of the cabin 23. The cabin 23 may have a stiffening effect for the second carrier element 17.

[0091] If appropriate, the second carrier element 17 can have a recess 28. In this recess 28, the rotary drive 29 and, if appropriate, the bearing for the rotation of the first carrier element with respect to the second carrier element can be provided. The second carrier element 17 is arranged such that it can rotate with respect to a third carrier element 19. In particular, the rotation takes place about a second secondary axis 18. The third carrier element 19 is designed, for example, annularly and may extend right around the cabin 23. In the present illustration the main parts of the ring which can be seen are the intersecting faces.

[0092] The third carrier element 19 is preferably arranged so that it can rotate about a third secondary axis 20 with respect to the carriage. In this illustration, the third secondary axis 20 extends in the projection of the image. To rotate the second carrier element item 17 or the third carrier element 19, more than one, and at least two, rotary drives 29 are provided in the third carrier element 19. The rotary drives 29 can be provided in particular in recesses 28 of the third carrier element. Preferably, the three secondary axes 1, 6, 18, 20 have their shortest normal distance from each other in the region of the centre 3. The three secondary axes 1, 6, 18, 20 preferably intersect each other in the centre 3. In the present embodiment the first secondary axis corresponds to the roll axis of the person 1. The person 1 and, in particular, the holding device, may have a rotational degree of freedom with respect to the cabin 23 and in particular with respect to the image reproduction surface 24, which is preferably a rolling rotational degree of freedom.

[0093] In the present configuration the second secondary axis 18 preferably corresponds to the yaw axis. The third secondary axis 20 preferably corresponds to the pitch axis. By rotating the person, for example by 90°, about the first secondary axis however, the second secondary axis and the third secondary axis change their orientation with respect to the person, so that the second secondary axis corresponds to the pitch axis and the third secondary axis to the yaw axis.

LIST OF REFERENCE NUMERALS

[0094] 1 person [0095] 2 holding device [0096] 3 centre [0097] 4 movement device [0098] 5 carriage [0099] 6 main carrier [0100] 7 major axis of rotation [0101] 8 first main arm [0102] 9 second main arm [0103] 10 trajectory [0104] 11 first outer maximum position [0105] 12 second outer maximum position [0106] 13 first normal distance [0107] 14 second normal distance [0108] 15 first carrier element [0109] 16 first secondary axis [0110] 17 second carrier element [0111] 18 second secondary axis [0112] 19 third carrier element [0113] 20 third secondary axis [0114] 21 hoisting device [0115] 22 linear drive [0116] 23 cabin [0117] 24 image reproduction surface [0118] 25 control element [0119] 26 cabin door [0120] 27 lockable cabin opening [0121] 28 recesses [0122] 29 rotary drive [0123] 30 carriage drive device [0124] 31 main carrier deflection pulley [0125] 32 deflection pulley [0126] 33 cable [0127] 34 cable drive pulley [0128] 35 main drive [0129] 36 drive for cable drive pulley [0130] 37 foundation [0131] 38 hydraulic cylinder [0132] 39 drive wheel [0133] 40 drive for drive wheel [0134] 41 radial load compensation drive [0135] 42 traction element [0136] 43 main carrier drive [0137] 44 sprocket [0138] 45 friction ring [0139] 46 main bearing [0140] 47 dimension of first main arm [0141] 48 dimension of second main arm