Vehicle for rider with ball rolling on ground

Abstract

The invention relates to a vehicle (1) for moving a rider (2), comprising a ball (4) that rolls on the ground (3), a support element (5) supported on the ball (4), on which the rider (2) stands when the vehicle (1) is operated, and a drive device (6) supported on the support element (5) and driving the ball (4). In order to produce an improved vehicle, the invention proposes that the vehicle (1) is also supported by rollers (7) which roll on the ground (3).

Description

Technical Field

[0001] The invention relates to a vehicle for moving a rider, comprising a ball rolling on the ground, a carrier element supported on the ball, and a drive device supported on the carrier element and driving the ball. The rider stands on the carrier element during operation of the vehicle. Background Art

[0002] A vehicle for rider mobility, particularly a spherical scooter similar to a skateboard, is known from European Patent EP 3 043 877 B1. The vehicle, during operation, contacts the ground only via a ball rolling on the ground, and primarily consists of a ball, a supporting element supported on the ball and having two standing surfaces (one for each foot of the rider), a drive unit, and a controller. In one embodiment, the drive unit primarily consists of four omnidirectional wheels, three of which are grouped together and roll on the upper half of the ball, with the fourth of the four omnidirectional wheels rolling along the equator of the ball. All omnidirectional wheels have no tilt angle on the surface of the ball in each case, so that when the supporting element is horizontally oriented, the respective rotation axes of the three omnidirectional wheels in the group are horizontal, while the rotation axis of the fourth omnidirectional wheel is vertically oriented. The supporting element is primarily supported on the ball via the group of three omnidirectional wheels. With the help of the fourth omnidirectional wheel, the supporting element can rotate about the vertical axis of the ball. Therefore, the ball can roll in all directions on the ground below or in the supporting element located at the equator of the ball. In addition to supporting the vehicle, all omnidirectional wheels also perform a drive function. To this end, each omnidirectional wheel is driven by an electric motor and a front-mounted transmission mounted on a support element. To use the vehicle (which can also be referred to as a sports device, leisure device, or entertainment device), the rider stands on the support element in a free-balancing manner and controls, brakes, and steers the vehicle by shifting their weight. The rider is assisted in this by a controller, which includes, in particular, a balance control module that helps the rider balance the support element to a horizontal position. The vehicle's direction of movement, and therefore the ball's rolling direction, is controlled by the inclination of the support element, which is caused by the rider's weight shift. The controller processes the measured acceleration and angle data of the support element, based on which motors of each omnidirectional wheel are driven to achieve the desired driving motion and balance position with the required rotational direction and speed. The vehicle is equipped with three rechargeable batteries for the motors and controller, which are located on the underside of the support element around the ball.

[0003] Another skateboard-like ball scooter for a single rider is known from British publication GB 2 407 780 A. In this case, the ball scooter also essentially consists of a ball that rolls on the ground and a support element supported on the ball and having two standing surfaces (one for each rider's foot). The support element is rectangular in shape, like a skateboard. In a typical forward travel direction, the support element is oriented in its longitudinal direction, and the rider stands with one foot in front of the ball and the other behind it, thus standing sideways on the support element. For example, the ball scooter is driven by the rider in a similar manner to a scooter, and the ball is undriven. Furthermore, sliding elements, rollers, or steering rollers are arranged in each of the four corners of the support element. The rider can steer the ball scooter during travel by lowering one of the two rear edges, causing the sliding element, rollers, or steering rollers to contact the ground. This brakes the ball scooter on one side, initiating a steering movement. A comparable ball scooter, similar to a skateboard and without a drive, is known from European publication EP 0 985 435 A1. Instead of sliding elements, rollers, or steering rollers arranged at each of the four corners of the support element, only a single ball is arranged at the rear of the support element. This single ball, used for steering the ball scooter, does not come into contact with the ground when the support element is in a horizontal position. Summary of the Invention

[0004] Based on this, it is an object of the present invention to provide an improved compact vehicle for rider mobility having a ball that rolls on the ground.

[0005] This object is achieved by a vehicle for rider mobility having a ball that rolls on the ground, having the features of claim 1. Advantageous embodiments of the invention are given in claims 2 to 19.

[0006] According to the present invention, an improved vehicle for rider mobility is provided, comprising a ball that rolls on the ground, a carrier element supported on the ball, and a drive device supported on the carrier element and driving the ball, wherein the rider stands on the carrier element during operation of the vehicle, the vehicle being supported by rollers that rotate on the ground. The vehicle uses only the ball and the rollers as rolling elements, wherein steering is achieved by the fact that the ball can be driven transversely to the direction of travel.

[0007] Advantageously, the vehicle can be steered via the driven ball.

[0008] In a particularly advantageous manner, the rollers are dragged by the driven balls via the support elements. Overall, the balls are driven, while the rollers are undriven or non-driven, similar to a vehicle with front-wheel drive. Therefore, the rollers are dragged by the balls during operation. Overall, the vehicle resembles a scooter, with a driven, steerable front ball and a dragged rear roller. During normal operation of the vehicle, both the ball and the rollers are in contact with the ground.

[0009] The stable driving behavior in the forward driving direction is achieved by the fact that the rollers are arranged behind the ball and at a distance therefrom, when viewed in the forward driving direction of the vehicle.

[0010] Advantageously, it is provided that the support element, viewed in the forward travel direction of the vehicle, has a front standing portion for a first foot of the rider and a rear standing portion for a second foot of the rider.

[0011] A direct steering behavior is achieved by the fact that the ball is arranged between the front standing part and the rear standing part when viewed in the forward travel direction of the vehicle.

[0012] An indirect steering behavior is achieved by the fact that the ball is arranged in front of the front standing part and in front of the rear standing part when viewed in the forward travel direction of the vehicle.

[0013] In a preferred embodiment, the front stand is arranged above the ball when viewed in the forward direction of travel of the vehicle, and the ball is arranged in front of the rear stand. In this regard, "above" means that the front stand is at least partially above the ball when viewed from above on the vehicle. Preferably, the front stand is arranged completely within the outline of the ball, and in particular above the center of the ball, when viewed from above on the vehicle.

[0014] In order to allow the rider to maintain balance on the vehicle, the search roller is designed so that the vehicle can tilt to the right and left when viewed in the forward direction of travel. For this purpose, the roller can be narrow or circular.

[0015] In a particularly advantageous manner, the vehicle can be steered by the rider tilting the vehicle, wherein a controller assesses the tilt and the drive device drives the ball in the desired direction of travel. The vehicle is steered solely by the rider's feet, which are freely balanced on the support element. By shifting their weight, the rider initiates steering of the vehicle. The controller thus reacts to changes in the lateral tilt angle of the support element and drives the ball in the desired lateral direction via the drive device. The lateral tilt angle is within a range of 0 degrees to + / - 15 degrees, or preferably + / - 10 degrees. The controller then compensates for the measured tilt of the support element, aligning it to a preferred horizontal orientation. The rider preferably stands only on the support element in an area of the standing surface provided with a non-slip covering, enabling a secure and safe standing position and better coordination of weight transfer. Advantageously, the controller includes a balance control module that assists the rider in spatially balancing the support element to a horizontal position. This balancing of the support element in the balanced orientation is achieved by correspondingly actuating the first and second omnidirectional wheels. The degree of assistance can be varied and is arranged to make it relatively easy for the rider to maintain balance on the load-bearing element.On the other hand, the degree of assistance is not so great as to prevent the rider from turning the vehicle in the direction of the tilt by shifting his weight due to weight shift.

[0016] In one variant, provision is made for the rollers to be formed so that, when viewed in the forward direction of travel, the vehicle is stabilized to the left and right. Thus, the rider does not have to balance freely, but rather steer the vehicle via corresponding control elements.

[0017] In a particularly advantageous and simple manner, the vehicle comprises only a single ball and / or a single roller.

[0018] In a structurally preferred manner, provision is made for the carrying element to comprise a covering portion, two standing portions and a carrying portion, wherein the covering portion covers the upper portion of the ball and the lower portion of the ball protrudes downwardly beyond the carrying portion.

[0019] An efficient drive of the balls is achieved by the fact that they are driven directly via two omnidirectional wheels and without an intervening transmission, in each case via an electric motor, and each electric motor is fixed to the carrier element.

[0020] In a particularly advantageous manner, the motor is powered via at least one rechargeable battery.

[0021] An optimal driving behavior of the vehicle without sudden or unexpected movements is achieved in that the support element is supported on the ball via a support device, wherein the support device comprises at least one non-driven omnidirectional wheel.

[0022] Advantageously, the vehicle has no handlebars and is steered by the rider standing on the support element in a freely balanced manner without using a grip bar. Thus, the rider can freely balance on the support element of the vehicle in the manner of a skateboard, without supporting himself with his hands on a post or steering rod or sitting on a saddle or seat arranged on the support element.

[0023] In an alternative embodiment, the vehicle can include a steering arrangement to provide a grip for the rider and to accommodate controls for the desired direction of travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The invention will be explained in more detail below with the aid of a few exemplary embodiments shown in the accompanying drawings, in which: Figure 1 shows a perspective view illustrating the principle of a vehicle for rider mobility according to the invention in a first embodiment, Figure 2 A perspective view showing a rider carrying a vehicle, Figure 3 Shown Figure 1 A perspective view of a vehicle without a rider, Figure 4 Shown Figure 3 perspective view of a vehicle with a transparent carrier element, Figure 5 shows a perspective view illustrating the principle of a vehicle for rider mobility according to the invention in a second embodiment, Figure 6 Shown Figure 5 A perspective view of a vehicle without a rider, Figure 7 shows a perspective view illustrating the principle of a vehicle for rider mobility according to the invention in a third embodiment, Figure 8 Shown Figure 7 Another perspective view of the principle of the vehicle, and Figure 9 A simplified schematic diagram of a vehicle's controller is shown. DETAILED DESCRIPTION

[0025] Figure 1A perspective view illustrates the principle of a first embodiment of a vehicle 1 for moving a rider 2 according to the present invention (specifically, a ball-shaped scooter similar to a skateboard). Vehicle 1 essentially consists of a single ball 4 rolling on a ground surface 3, a single roller 7 rolling on the ground surface 3, a support element 5 supported on the ball 4 and roller 7, and a drive device 6 with a controller 20 for the ball 4 (not shown in this figure). When viewed in the direction of the longitudinal axis x of the vehicle 1 and in the forward direction of travel V of the vehicle 1, the ball 4 is arranged on the support element 5, spaced apart from and in front of the roller 7. Furthermore, the roller 7 is mounted on the support element 5 so as to be rotatable about a transverse axis y. When the support element 5 is also oriented horizontally, the transverse axis y is perpendicular to the longitudinal axis x and oriented horizontally. Furthermore, the roller 7 has a running surface in the shape of a circle or a circle segment, which is oriented on the diameter of the ball 4, i.e., has the same curvature. Furthermore, the contact points, contact lines, or contact surfaces of the ball 4 and roller 7 on the ground surface 3 are arranged one behind the other along the longitudinal axis x of the vehicle 1. The diameter of the ball 4 is in the range of 50 mm to 270 mm, preferably in the range of 75 mm to 150 mm, particularly preferably 100 mm, and the diameter of the roller 7 is in the range of 20 mm to 100 mm, preferably in the range of 35 mm to 75 mm, particularly preferably 70 mm. The width of the roller 7 is in the range of 10 mm to 150 mm, preferably 10 mm to 30 mm, particularly preferably 10 mm. It is feasible to use the rollers known from inline skates, which have a diameter of 70 mm and a width of 10 mm and are made of PU material. The length of the support element 5 is in the range of 500 mm to 1000 mm, preferably 500 mm to 800 mm, particularly preferably 600 mm. The front area of the ball 4 is spaced 30 mm to 100 mm from the front end of the support element 5. The roller 7 can protrude as far as the rear end of the support element 5. The wheelbase about the roller axis 7 a of the roller 7 and the virtual axis of rotation of the ball 4 during forward travel is at least 300 mm in order to achieve stable driving behavior of the vehicle 1 and has an upper limit determined by the dimensions of the roller 7 and the ball 4 and the length of the support element 5 .

[0026] Because vehicle 1 rests on ground surface 3 via only a single ball 4 and a single roller 7, it can tilt laterally to the left and right about longitudinal axis x. Consequently, rider 2 maintains balance relative to longitudinal axis x on vehicle 1 during travel. Rider 1 is assisted in this regard by controller 20, which includes, in particular, balance control modules 18a, 18b with corresponding electronic stability programs. These modules assist rider 2 in balancing support element 5 in a horizontal position about longitudinal axis x. Furthermore, ball 4 and roller 7 partially protrude downwardly from support element 5.

[0027] The use of a driven ball 4 as a wheel replacement has the advantage that the vehicle 1 can be driven in any desired direction on the ground 3 and can therefore also be steered by means of the ball 4. In the present case, the vehicle 1 is driven via the ball 4 in a left driving direction L, a right driving direction R and a forward driving direction V (see FIG. Figure 3 and Figure 4 ).

[0028] Vehicle 1, which can also be referred to as a sports device, leisure device, or entertainment device, allows rider 2 to stand on support element 5 in a free-balancing manner, similar to a skateboard, and steer vehicle 1 by shifting their weight. Vehicle 1 can also be braked, accelerated, and moved by rider 2 shifting their weight or by a remote control operated by rider 2. The forward and backward weight shifts by rider 2 are sufficient to generate control pulses via first and second sensors 10a, 10b in support surface 10 of support element 5. Furthermore, in this first embodiment and the second embodiment described below, vehicle 1 lacks handlebars for rider 2. Therefore, rider 2 has no auxiliary devices, such as a steering column, a support post, or a seat to sit on, or any other aids to balance. Therefore, rider 2 must balance freely on support element 5 of vehicle 1 without supporting themselves with their hands on a post or steering column, their lower legs on a kneeboard, or a saddle or seat positioned on support element 5.

[0029] The bearing element 5 is a complex component having multiple functions and for this purpose comprises a covering portion 5a, two standing portions 5b and a lower bearing portion 5c. The upper portion 4a of the ball 4 (see Figure 4 ) is covered by the cover portion 5a, which thus protects the rider 2 from contact with the rotating ball 4, and the cover portion 5a surrounds the mounting space 8 (see FIG. Figure 4 ).

[0030] The standing portion 5b, which is arranged in an opposite manner relative to the ball 4, adjoins the lower edge of the cover portion 5a. The two standing portions 5b protrude outwardly as front and rear projections away from the cover portion 5a and project forward and rearward in the forward travel direction V and form a standing surface 10 that is substantially flat or horizontal when viewed when the vehicle 1 is in a horizontally balanced position for the right and left feet 2a of the rider 2 (see also FIG. Figure 3 ). In this essentially transverse equilibrium position of the vehicle 1 , the ball 4 and the roller 7 are on the ground 3 .

[0031] The standing surface 10 is arranged in front of and behind the ball 4 when viewed in the forward travel direction V of the vehicle 1. The forward travel direction V is based on the travel direction of the vehicle 1 in the direction of its longitudinal axis x, with the ball 4 being located in front of the roller 7. In the forward travel direction V, the driver 2 moves sideways.

[0032] Figure 2 A perspective view is shown of a rider 2 carrying the vehicle 1 on his back, for example via a shoulder strap (not shown). The total weight of the vehicle 1 is less than 5 kg, preferably in the range of 3 to 5 kg.

[0033] Figure 3 Shown Figure 1 Perspective view of the vehicle without rider 2. The shape of the vehicle 1, and therefore the basic shape of the support element 5, resembles that of a sandal, with the cover 5a forming the shoelaces, bounded by a shorter, wider stand 5b at the front and a longer, narrower stand 5b at the rear when viewed in the direction of the longitudinal axis x. When viewed from above, the support element 5 is trapezoidal in shape, with circular sections at the front and rear, tapering towards the rear. The support element 5, and in particular the stand 5b, can have not only semicircular or trapezoidal shapes but also oval, rectangular, polygonal, or a combination of these geometric shapes. However, a semicircular or trapezoidal stand 5b offers the advantage that, despite its material-saving design, the rider 2 still enjoys sufficient stability and facilitates boarding and exiting the vehicle by quickly and intuitively adopting the desired rider position. The stand 5b adjoins the cover 5a on the side opposite the ball 4. The standing surface 10 of the front foot 2 a is in front of the ball 4 when viewed in the forward travel direction V, and the standing surface 10 of the rear foot 2 a is above the roller 7 when also viewed in the forward travel direction V.

[0034] Figure 3 The standing surface 10 shown in the figure for the right and left feet 2a of the rider 2 can be a mere marking of the size of a portion of the foot 2a, or can be an area on the standing portion 5b provided with or equipped with an anti-slip coating. The size of the standing surface 10 is selected so that at least the central portion of the foot 2a and the entire width of the foot 2a are supported.

[0035] In a preferred embodiment, a first sensor 10a and a second sensor 10b are located in the area of the standing surface 10 for the right and left feet 2a of the rider 2, respectively. These sensors 10a, 10b can be used to control the acceleration, movement, and braking of the vehicle 1 by the rider 2. For this purpose, the sensors 10a, 10b can, for example, register weight changes or gestures or sequences of movements performed by the rider 2 with his feet 2a and send corresponding signals to the controller 20. In this way, the movement of the vehicle 1 in the forward travel direction V is determined.

[0036] Figure 4 Shown Figure 3 Another perspective view of vehicle 1, in which the support element 5 is transparent to reveal the interior design of vehicle 1, particularly its drive unit 6. As previously described, vehicle 1 rolls on ground 3 via a combination of ball 4 and [void]. Rollers 7 are mounted on support element 5 via roller axles 7a oriented parallel to transverse axis y. Ball 4 is inserted from below into corresponding lower openings in support portion 5c, and support element 5 rests on top of ball 4 via support device 9. Support device 9 is located at the top in the center of cover portion 5a and includes two non-driven omnidirectional wheels 9a, 9b, each rotatable about its own axis of rotation oriented in the direction of transverse axis y. When viewed in the direction of longitudinal axis x, omnidirectional wheels 9a, 9b are arranged very close to each other, but not touching, to the right and left of the center of the ball and in a V-shaped position relative to each other. Alternatively, embodiments of support device 9 with other types of ball mounting are possible. The advantage is that the rolling of the ball 4 feels softer to the rider 2 and that wear on the two omnidirectional wheels 9a, 9b is reduced by avoiding possible sudden or unexpected movements.

[0037] The drive device 6 is essentially composed of a first omnidirectional wheel 11a, a second omnidirectional wheel 11b, a third omnidirectional wheel 11c and a fourth omnidirectional wheel 11d, which are substantially evenly distributed around the periphery of the ball 4, preferably at the height of the equator 4c of the ball 4. The first omnidirectional wheel 11a and the second omnidirectional wheel 11b are symmetrically spaced to the left and right of the longitudinal axis x when viewed in the direction of the longitudinal axis x, and each is directly driven by a first motor 12a and a second motor 12b without the interposition of a transmission, said motors being supported on the carrier element 5. Figure 4 , the second omnidirectional wheel 11b is obscured by the ball 4. The omnidirectional wheels 11a, 11b each preferably have the same diameter, ranging from 20 mm to 300 mm, preferably from 50 mm to 70 mm. The axes of the omnidirectional wheels 11a, 11b are oriented so as to widen forward in a V-shape relative to the longitudinal axis x. The non-driven omnidirectional wheels 11c, 11d are smaller and each preferably has the same diameter, ranging from 10 mm to 150 mm, preferably from 20 mm to 40 mm.

[0038] The battery 19 for the motors 12a, 12b and the controller 20 is arranged within the load-bearing portion 5c, below the front stand portion 5b, and thus in front of the ball 4. Thus, the coordinated driving of the two omnidirectional wheels 11a, 11b results in movement of the vehicle 1 in the forward travel direction V, in the rightward travel direction R, in the leftward travel direction L, or in any intermediate directions. For example, movement of the vehicle 1 in the forward travel direction V is achieved because the first and second omnidirectional wheels 11a and 11b are driven in counter-rotating manner.

[0039] The motors 12a, 12b are attached to the carrier element 5 and are actuated via the controller 20 (see Figure 9 ). 24V DC motors with a power level in the range of 350W to 800W are used as the motors 12a, 12b, but it is also possible to use brushless three-phase AC motors in the range of 100W to 500W.

[0040] To drive the ball 4, at least two driving omnidirectional wheels 11a, 11b are required, preferably driving the ball 4 at a 90-degree angle relative to each other at the equator 4c. Theoretically, it is also possible to use three, four, or more omnidirectional wheels 11a, 11b, 11c, 11d for driving. Designing the [gap] as omnidirectional wheels 11a, 11b, 11c, 11d is possible, but not required. Omnidirectional wheels are only necessary when driving the ball 4 above or below the equator 4c. Otherwise, wheels or rollers can be used instead of omnidirectional wheels 11a, 11b, 11c, 11d as driving wheels.

[0041] Obviously, a circumferential gap remains between the surface 4b of the ball 4 and the inner side of the cover 5a, which allows the ball 4 to rotate freely relative to the support element 5. Vehicle 1 can also be provided with suspension in the turning area of the omnidirectional wheels 9a, 9b, 11a, 11b, 11c, and 11d, or via an elastic ball. The ball 4 is preferably made of hard plastic. For example, a bowling ball is suitable. Typically, the ball 4 is coated with rubber or polyurethane. Furthermore, it can be seen that the omnidirectional wheels 11a, 11b, 11c, and 11d are engaged in the area of the equator 4c.

[0042] The omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d used are generally known and are also referred to as omni wheels. In the case of omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d, the running surface consists of a plurality of rollers arranged along a circumference, the rotation axes of which are substantially perpendicular to the rotation axis of the respective omnidirectional wheel 9a, 9b, 11a, 11b, 11c, 11d and tangential to the circumference or running surface of the omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d. The use of omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d enables low-friction rotation of the ball 4 not only in the drive direction associated with the respective omnidirectional wheel 9a, 9b, 11a, 11b, 11c, 11d, but also in all other directions of the respective omnidirectional wheel.

[0043] In its additional function as housing, the carrying element 5 protects the drive device 6 from dust and protects the rider's feet 2a from contact with the rotating omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d and the motors 12a, 12b.

[0044] Figure 4 The supporting portion 5c of the supporting element is also shown as being circular. The advantage of this circular design is the increased tilting capability of the supporting element 5. However, other geometric designs are also possible, where the tilting angle of the supporting element 5 is limited as needed by transitioning from a circular shape to an angular shape. Despite the covered supporting portion 5c, the outlines of the first motor 12a and the second motor 12b are still visible.

[0045] In general, it should be noted that vehicle 1 is similar to a vehicle with a front-wheel drive. In this case, ball 4 is driven at the front, while roller 7 at the rear is non-driven. Therefore, roller 7 is dragged by ball 4 during operation of vehicle 1. In general, vehicle 1 can be compared to a scooter, with a driven front ball 4 that can be steered by a drive, and a dragged rear roller 7. Therefore, during normal operation of vehicle 1, both ball 4 and roller 7 are in contact with ground surface 3.

[0046] Figure 5, which illustrates the principle of a vehicle 1 for movement of a rider 2 according to the invention in a second embodiment. This vehicle 1 functions in the same way as the first embodiment described above, except that either both feet 2a stand behind the ball 4 when viewed in the direction of the longitudinal axis x, or the front foot 2a stands above the ball 4 and the rear foot 2a stands behind the ball 4 when viewed in the direction of the longitudinal axis x. With regard to the position of the front foot 2a above the ball 4, "above" is to be understood as meaning that the front standing part 5a for the front foot 2a is at least partially arranged above the ball 4 when viewed in a top view of the vehicle 1. Preferably, the front standing part 5a and therefore the front foot 2a resting thereon are arranged completely within the contour of the ball 4 and in particular above the center of the ball 4 when viewed in a top view of the vehicle 1. Due to the common features with the first embodiment, reference is made below to the detailed description of the vehicle 1 regarding the front foot 2a above the ball 4. Figures 1 to 4 The description and the following use the reference numerals used there.

[0047] In the second embodiment, the balance is also used for steering in the direction of the transverse axis y. Optionally, a steering device (not shown) can be attached to the vehicle 1. The corresponding connection holes are indicated on the top of the cover part 5a. In this way, the vehicle 1 becomes a scooter, in particular a ball scooter.

[0048] Figure 6 Shown Figure 5 A perspective view of the vehicle 1 without the rider 2. Due to the common features with the first embodiment, reference is again made to the Figures 1 to 4 As previously mentioned, only the arrangement of the standing portion 5b relative to the ball 4 is chosen to be different.

[0049] Figure 7 A perspective view is shown showing the principle of a vehicle 1 for the movement of a rider 2 according to the invention in a third embodiment. This vehicle 1 functions in the same manner as the first embodiment described above, except that either both feet 2a stand behind the ball 4 when viewed in the direction of the longitudinal axis x, or the front foot 2a stands above the ball 4 and the rear foot 2a stands behind the ball 4 when viewed in the direction of the longitudinal axis x, and is provided with a steering device 21. Due to the common features with the first and second embodiments, reference is made to FIG. 1 to FIG. Figure 6 The description of the vehicle 1 and the reference numerals used there are adopted below. A seat for the rider 2, not shown, can also be provided. In that case, the seat is arranged on the support element 5. The vehicle 1 is controlled via a steering device 21 with corresponding switch elements or via a weight shift to the right or left.

[0050] Figure 8 Another perspective view is shown, which shows Figure 7 Principle of vehicle 1. In this case, the battery 19 is arranged between the ball 4 and the roller 7 below the carrying part 5c.

[0051] Figure 9 A simplified schematic diagram of the controller 20 of the vehicle 1 is shown. The controller 20 is arranged on and / or within the support element 5. Several components are integrated into the controller 20 to detect the weight shift of the rider 2 and, therefore, the lateral roll of the support element 5, based on the equilibrium position of the support element 5. The degree of roll in the direction of the transverse axis y is detected by a roll gyroscope 16b. The gyroscope 16b provides both acceleration and angle data. The roll gyroscope 16b detects tilting movements about the longitudinal axis x. The lateral tilt angle ranges from 0 degrees to + / - 15 degrees, or preferably + / - 10 degrees. The vehicle's movement in the forward direction of travel V is controlled via a signal converter 16a, which receives signals, for example, from first and second sensors 10a, 10b in the support element 5's standing surface 10, and thus from the rider's foot 2a. The signal converter 16a can also receive signals from a remote control operated by the rider 2, or from a steering system or other control element. The data detected by the roll gyro 16b and the signal converter 16a are sent to an evaluation controller 17a. Based on the detected degree and direction of tilt, as well as the signal in the forward travel direction V, the first evaluation controller 17a activates the motors 12a, 12b in the desired rotational direction and speed, as determined by the electronic stability program 18a, 18b, in order to generate the desired travel motion of the vehicle 1. Simultaneously, the balance control module within the evaluation controller 17a assists the rider 2 in achieving a lateral equilibrium position of the preferably horizontally oriented standing portion 5b of the support element 5 by correspondingly activating the motors 12a, 12b. The evaluation controller 17a is implemented as a programmable microcomputer. As long as the rider 2 maintains the tilt of the support element 5, the travel motion previously generated by the rider 2 through the initial weight transfer is maintained and is paused when the rider 2 shifts their weight in the opposite direction.

[0052] The above-mentioned roll gyroscope 16b is to be understood as any type of measuring device by means of which the angular position and angular orientation relative to the transverse axis y can be determined. These are generally electronic circuits working together with piezoelectric sensors.

[0053] It can be provided that after both sensors 10a, 10b have detected the presence of the feet 2a of the rider 2 and sent this to the evaluation controller 17a, the vehicle 2 is balanced by a balance control module arranged in the evaluation controller 17a so that the standing surface 10 of the support element 5 is in a horizontal position in space.

[0054] Instead of circular rollers 7, vehicle 1 can include one or two laterally spaced wheels, thereby providing lateral stability to vehicle 1 and eliminating the need for balancing. Vehicle 1 then has three points of support on ground 3. Vehicle 1 is then steered using a remote control, a foot contact sensor or a switch element on the steering device, or a brake pedal or accelerator pedal on vehicle 1. Vehicle 1 may also be equipped with brakes.

[0055] In the aforementioned exemplary embodiment, the first and second omnidirectional wheels 9a, 9b of the support device 9 and the first to fourth omnidirectional wheels 11a, 11b, 11c, 11d for driving and guiding the ball 4 have been described. These omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d are characterized by a high level of stability. Within the scope of the present invention, it is of course possible to replace the first and second omnidirectional wheels 9a, 9b of the support device 9 with balls mounted in polytetrafluoroethylene, and the first to fourth omnidirectional wheels 11a, 11b, 11c, 11d with conventional rollers that must engage the equator 4c of the ball 4.

[0056] Of course, it is also feasible that the vehicle 1 comprises a seat in the manner of a go-kart on the carrier element 5 in front of the wheels 7 and the support surfaces 10 for the feet 2 a are arranged in the area of the ball 4 , preferably on the left and right sides close to the ball 4 . Reference Signs List 1 vehicle 2 riders 2a foot 3 Ground 4 balls 4a Upper part 4b Surface 4c Equator 5 Load-bearing components 5a Covering part 5b Standing Section 5c load-bearing part 6 Drive unit 7 Scroll Wheel 7a Roller shaft 8 Installation space 9 Support device 9a First rotatable omnidirectional wheel 9b Second rotatable omnidirectional wheel 10 Standing Surface 10a First sensor 10b Second sensor 11a First omnidirectional wheel 11b Second omnidirectional wheel 11c Third omnidirectional wheel 11d Fourth omnidirectional wheel 12a First motor 12b Second motor 16a Signal Converter 16b Roll gyro 17a First evaluation controller 18a First Electronic Stability Program 18b Second Electronic Stability Program 19 Batteries 20 Controller 21 Steering device L Left direction R right direction V Forward driving direction x longitudinal axis y horizontal axis

Claims

1. A vehicle (1) for moving a rider (2), comprising a ball (4) rolling on a ground surface (3), a support element (5) supported on the ball (4), and a drive device (6) supported on the support element (5) and driving the ball (4), the rider (2) standing on the support element during operation of the vehicle (1), characterized in that The vehicle (1) is also supported by rollers (7) that roll on the ground (3).

2. The vehicle (1) according to claim 1, characterized in that The vehicle (1) can be steered via a driven ball (4).

3. The vehicle (1) according to claim 1 or 2, characterized in that The roller (7) is dragged by the driven ball (4).

4. The vehicle (1) according to any one of claims 1 to 3, characterized in that When viewed in the forward travel direction (V) of the vehicle (1), the roller (7) is arranged behind the ball (4) and spaced apart from the ball (4).

5. The vehicle (1) according to any one of claims 1 to 4, characterized in that When viewed in the forward travel direction (V) of the vehicle (1), the support element (5) has a front standing portion (5b) for a first foot (2a) of the rider (2) and a rear standing portion (5b) for a second foot (2a) of the rider (2).

6. The vehicle (1) according to claim 5, characterized in that When viewed in the forward travel direction (V) of the vehicle (1), the ball (4) is arranged between the front standing portion (5b) and the rear standing portion (5b).

7. The vehicle (1) according to claim 5, characterized in that When viewed in the forward travel direction (V) of the vehicle (1), the ball (4) is arranged in front of the front standing portion (5b) and in front of the rear standing portion (5b).

8. The vehicle (1) according to claim 5, characterized in that When viewed in the forward travel direction (V) of the vehicle (1), the front standing portion (5b) is arranged above the ball (4), and the ball (4) is arranged in front of the rear standing portion (5b).

9. The vehicle (1) according to any one of claims 1 to 8, characterized in that The rollers (7) are arranged so that the vehicle (1) can tilt to the left and right when viewed in the forward travel direction (V).

10. The vehicle (1) according to claim 9, characterized in that The vehicle (1) can be steered by the rider (2) tilting the vehicle (1), wherein a controller (20) evaluates the tilt and the drive device (6) drives the ball (4) in the desired direction of travel.

11. The vehicle (1) according to any one of claims 1 to 10, characterized in that The rollers (7) are arranged so that the vehicle (1) is stabilized to the left and to the right when viewed in the forward travel direction (V).

12. The vehicle (1) according to any one of claims 1 to 11, characterized in that The vehicle (1) has only a single ball (4).

13. The vehicle (1) according to any one of claims 1 to 12, characterized in that The vehicle (1) has only a single roller (7).

14. The vehicle (1) according to any one of claims 1 to 13, characterized in that The carrying element (5) comprises a covering portion (5a), two standing portions (5b) and a carrying portion (5c), wherein the covering portion (5a) covers the upper portion of the ball (4), and the lower portion of the ball (4) protrudes downwardly outside the carrying portion (5c).

15. The vehicle (1) according to any one of claims 1 to 14, characterized in that The ball (4) is driven directly via two omnidirectional wheels (11a, 11b) and without an intervening transmission in each case via an electric motor (12a, 12b), and each electric motor (12a, 12b, 12c, 12d) is fixed to the carrier element (5).

16. The vehicle (1) according to claim 15, characterized in that The motors (12a, 12b) are powered via at least one rechargeable battery (19).

17. The vehicle (1) according to any one of claims 1 to 16, characterized in that The carrier element (5) is supported on the ball (4) via a support device (9), wherein the support device (9) comprises at least one non-driven omnidirectional wheel (9a, 9b).

18. The vehicle (1) according to any one of claims 1 to 17, characterized in that The vehicle (1) has no handles.

19. The vehicle (1) according to any one of claims 1 to 18, characterized in that The vehicle (1) comprises a steering device (21).

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