Vehicle for one rider, having a ball rolling on the ground

Abstract

The invention relates to a vehicle (1) for the movement of one rider (2), having a ball (4) rolling on a ground (3), a carrying element (5) supported on the ball (4), on which carrying element the rider (2) stands when the vehicle (1) is in operation, and a drive arrangement (6) which is supported on the carrying element (5) and drives the ball (4). To create an improved vehicle, the invention proposes that the vehicle (1) is additionally supported via a roller (7) rolling on the ground (3).

Description

[0001] Vehicle for a driver with a ball rolling on a floor

[0002] The invention relates to a vehicle for the locomotion of a driver with a ball rolling on a ground, with a support element supported on the ball, on which the driver stands when the vehicle is in operation, with a drive arrangement supported on the support element, which drives the ball.

[0003] A vehicle for the locomotion of a rider, in particular a skateboard-like ball roller, is already known from European patent EP 3 043 877 B1. In ferry operation, the vehicle is in contact with the ground exclusively via a ball rolling on a ground and essentially consists of the ball, a support element supported on the ball with two contact surfaces for each of the rider's feet, a drive arrangement, and a control system. In one embodiment, the drive arrangement is essentially constructed from a total of four omnidirectional wheels, three of which are grouped together and roll on the upper half of the ball, and the fourth of which rolls along the equator of the ball.All omnidirectional wheels are positioned on the surface of the sphere without a tilt angle, so that with a horizontally aligned support element, the respective axes of rotation of the three omnidirectional wheels in the group are horizontal and the axis of rotation of the fourth omnidirectional wheel is vertical. The support element is supported on the sphere primarily by the group of three omnidirectional wheels. With the help of the fourth omnidirectional wheel, the support element can be rotated about a vertical axis of the sphere. The sphere can therefore roll in all directions on the ground under or within the support element, which is at the level of the equator of the sphere. In addition to their supporting function, all omnidirectional wheels also perform a drive function. For this purpose, the omnidirectional wheels are each driven by electric motors and upstream gears that are mounted on the support element.To use the vehicle, which can also be referred to as a sports device, leisure device, or fun device, the driver stands freely balancing on the support element and steers, brakes, and controls the vehicle by shifting their weight. The driver is supported by the control system, which includes a balance control module that helps the driver balance the support element in a horizontal position. The direction of movement of the vehicle and thus the rolling direction of the ball is controlled by the inclination of the support element, which is caused by a shift in the driver's weight. The measured acceleration and angle data of the support element are processed in the control system. Based on this, the motors to be driven for the respective omnidirectional wheels are determined. The desired travel movement and balance position are achieved with the required direction of rotation and speed.The vehicle is equipped with three rechargeable batteries for the motors and the control system, which are arranged around the sphere on the lower side of the support element.

[0004] Furthermore, another skateboard-like ball-and-socket scooter for a rider is known from British Patent Application GB 2 407 780 A. Here, too, the ball-and-socket scooter essentially consists of a ball rolling on a floor and a support element supported on the ball, with two contact surfaces for each of the rider's feet. The support element is rectangular in shape, like a skateboard. In a normal forward direction of travel, the support element is aligned lengthwise and the rider stands with one foot in front of and one foot behind the ball and thus laterally on the support element. The ball-and-socket scooter is propelled by the rider in a scooter-like manner, and the ball is correspondingly non-propelled. In addition, a sliding element, a roller, or a swivel castor is arranged in the area of ​​each of the four corners of the support element.The rider can steer the ball-scooter by lowering one of the two rear corners while riding, so that the sliding element, roller, or swivel caster comes into contact with the ground. This brakes the ball-scooter on one side and initiates a steering movement. A comparable skateboard-like and non-powered ball-scooter is known from European Patent Application EP 0 985435 A1. Instead of the sliding elements, rollers, or swivel casters arranged in the four corners of the support element, only a single ball is arranged centrally at the rear of the support element. The single ball for steering the ball-scooter is not in contact with the ground when the support element is in a horizontal position.

[0005] Based on this, the present invention is based on the object of creating an improved compact vehicle for the locomotion of a driver with a ball rolling on a floor.

[0006] This object is achieved by a vehicle for the locomotion of a driver with a ball rolling on a ground, having the features of claim 1. Advantageous embodiments of the invention are specified in claims 2 to 19. According to the invention, an improved vehicle for the locomotion of a driver with a ball rolling on a ground, with a support element supported on the ball, on which the driver stands when the vehicle is in operation, with a drive arrangement supported on the support element which drives the ball, is created in that the vehicle is additionally supported by a roller rolling on a ground. The vehicle uses only a ball and a roller as rolling elements, with steering being achieved by the ball being drivable transversely to the direction of travel.

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

[0008] A particularly advantageous feature is that the roller is dragged across the support element by the driven ball. Overall, the design is such that the ball is driven and the roller is non-driven, similar to a front-wheel drive vehicle. During operation, the roller is dragged by the ball. Overall, the vehicle is comparable to a scooter, with a driven front ball that can be steered via the drive and a dragged rear roller. During normal vehicle operation, both the ball and the roller are in contact with the ground.

[0009] Stable driving behavior in the forward direction is achieved by arranging the roller behind the ball and at a distance from the ball when viewed in the forward direction of the vehicle.

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

[0011] Direct steering behavior is achieved by arranging the ball between the front support part and the rear support part when viewed in the forward direction of the vehicle.

[0012] A more indirect steering behavior is achieved in that, as seen in the forward direction of travel of the vehicle, the ball is arranged in front of the front support part and in front of the rear support part. In a preferred embodiment, provision is made for the front support part to be arranged above the ball and, as seen in the forward direction of travel of the vehicle, the ball is arranged in front of the rear support part. In connection with this feature, above means that, as seen in a plan view of the vehicle, the front support part is arranged at least partially above the ball. Preferably, as seen in a plan view of the vehicle, the front support part is arranged completely within the contour of the sphere and, in particular, centrally above the ball.

[0013] To allow the driver to balance on the vehicle, the roller is designed so that the vehicle can be tilted to the right and left when viewed in the forward direction. The roller can be narrow or crowned for this purpose.

[0014] It is particularly advantageous that the vehicle can be steered via an inclination of the vehicle caused by the driver, whereby a control system evaluates the inclination and the drive arrangement drives the ball in a desired direction of travel. The vehicle is steered exclusively via the feet of the driver, who is freely balancing on the support element. The driver initiates the steering of the vehicle by shifting his or her weight. The control system reacts to the change in the lateral inclination angle of the support element and drives the ball via the drive arrangement to roll in the desired lateral direction. The lateral inclination angle is in the range from 0 degrees to + / - 15 degrees or preferably up to + / - 10 degrees. The control system then compensates for the measured inclination of the support element so that it is again in a preferably horizontal orientation.Preferably, the rider simply stands in the area of ​​the contact surfaces on the support element, which are provided with anti-slip pads to ensure a firm and secure stance for the rider and better coordination of weight shifting. Advantageously, the control system comprises a balance control module that supports a rider in balancing the support element in a horizontal position in space. This balancing of the support element into a balanced orientation takes place via appropriate control of the first and second omnidirectional wheels. The degree of assistance can be varied and set so that it is relatively easy for the rider to balance on the support element. On the other hand, the assistance is not so great that the rider is prevented from shifting their weight and causing the vehicle to lean.

[0015] In one variant, the roller is designed in such a way that, viewed in the forward direction, the vehicle is stabilized to the right and left. This eliminates the need for the driver to balance freely and steers the vehicle using the appropriate controls.

[0016] What is particularly advantageous and simple is that the vehicle has only a single ball and / or only a single roller.

[0017] Structurally, it is preferably provided that the support element comprises a cover part, two support parts and a support part, the cover part covers the upper part of the ball and the lower part of the ball projects downwards from the support part.

[0018] An effective drive of the ball is achieved by the fact that the ball is driven directly by two omnidirectional wheels and by an electric motor each without the need for an intermediate gear, and each electric motor is attached to the support element.

[0019] It is particularly advantageous that the electric motors are supplied with energy via at least one rechargeable battery.

[0020] Optimum driving behavior of the vehicle without sudden or abrupt movements is achieved by the support element being supported on the ball via a support arrangement, wherein the support arrangement comprises at least one non-driven omnidirectional wheel.

[0021] Advantageously, the vehicle is handleless and is steered by a rider balancing freely on the support element, without the use of a handlebar. The rider can thus balance freely on the support element of the vehicle, skateboard-like, without having to support themselves with their hands on a support or handlebar, or sit on a saddle or seat mounted on the support element.

[0022] In an alternative embodiment, the vehicle may have a handlebar to provide support to the driver and to accommodate controls for the desired directions of travel.

[0023] The invention is explained in more detail below with reference to several exemplary embodiments illustrated in a drawing. In the drawings:

[0024] Figure 1 is a perspective view of a principle of a vehicle according to the invention for the movement of a driver in a first embodiment,

[0025] Figure 2 is a perspective view of a driver carrying the vehicle, Figure 3 is a perspective view of the vehicle according to Figure 1 without a driver, Figure 4 is a perspective view of the vehicle according to Figure 3 with a transparent support element,

[0026] Figure 5 is a perspective view of a principle of a vehicle according to the invention for the movement of a driver in a second embodiment,

[0027] Figure 6 is a perspective view of the vehicle according to Figure 5 without a driver, Figure 7 is a perspective view of a principle of a vehicle according to the invention for the movement of a driver in a third embodiment,

[0028] Figure 8 is a further perspective schematic view of the vehicle according to Figure 7 and Figure 9 is a schematic diagram of the vehicle control system.

[0029] Figure 1 shows a perspective schematic view of a vehicle 1 according to the invention, in particular a skateboard-like ball roller, for the locomotion of a rider 2 in a first embodiment. The vehicle 1 essentially consists of a single ball 4 rolling on a floor 3, a single roller 7 rolling on the floor 3, a support element 5 supported on the ball 4 and the roller 7, and a drive arrangement 6 (not shown in this figure) for the ball 4 with a controller 20. Viewed in the direction of a longitudinal axis x of the vehicle 1 and in a forward direction of travel V of the vehicle 1, the ball 4 is arranged in front of the roller 7 and at a distance from the roller 7 on the support element 5. Furthermore, the roller 7 is mounted on the support element 5 so as to be rotatable about a transverse axis y. The transverse axis y is oriented at right angles to the longitudinal axis x and, when the support element 5 is oriented horizontally, is also oriented horizontally.In addition, the roller 7 has a spherical or circular segment-shaped running surface which is oriented towards the diameter of the ball 4, i.e. has the same curvature. Furthermore, the contact points or contact lines or contact surfaces of the ball 4 and the roller 7 on the ground 3 lie one behind the other on the longitudinal axis x of the vehicle 1. The ball 4 has a diameter in the range from 50 mm to 270 mm, preferably in the range from 75 mm to 150 mm, particularly preferably 100 mm, and the roller 7 has a diameter in the range from 20 mm to 100 mm, preferably in the range from 35 mm to 75 mm, particularly preferably 70 mm. The width of the roller 7 is in the range from 10 mm to 150 mm, preferably 10 mm to 30 mm, particularly preferably 10 mm. It is conceivable to use wheels that are familiar from inline skaters and have a diameter of 70 mm and a width of 10 mm and are made of PU material.The support element 5 has a length in the range of 500 mm to 1000 mm, preferably 500 mm to 800 mm, particularly preferably 600 mm. A front region of the ball 4 has a distance of 30 mm to 100 mm from a front end of the support element 5. The roller 7 can project as far as a rear end of the support element 5. A wheelbase relative to a roller axis 7a of the roller 7 and a 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 is limited upwards by the dimensions of the roller 7 and ball 4 as well as the length of the support element 5.

[0030] Since the vehicle 1 rests on the ground 3 only via the single ball 4 and the single roller 7, it can tilt laterally to the right and left about the longitudinal axis x. The driver 2 thus balances on the vehicle 1 with respect to the longitudinal axis x while driving. The driver 1 is assisted in this by the control system 20, which includes, among other things, balance control modules 18a, 18b with corresponding electronic stability programs that assist the driver 2 in balancing the support element 5 about the longitudinal axis x in a horizontal position. Furthermore, the ball 4 and the roller 7 partially protrude downward from the support element 5.

[0031] The use of the driven ball 4 as a wheel replacement has the advantage that the vehicle 1 can be driven on the ground 3 in any direction and can thus 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-hand direction L, a right-hand direction R, and a forward direction V (see Figures 3 and 4).

[0032] The vehicle 1 can also be referred to as a sports device, leisure device, or fun device, on which the rider 2 stands freely balancing on the support element 5 during use, like a skateboard, and on which the rider 2 steers the vehicle 1 by shifting his weight. Braking, accelerating, and driving the vehicle 1 can also be accomplished by shifting the weight of the rider 2 or by a remote control operated by the rider 2. Shifting the weight of the rider 2 forwards and backwards is sufficient to generate control impulses via first and second sensors 10a, 10b in contact surfaces 10 of the support element 5. Furthermore, in this first embodiment and the second embodiment described later, the vehicle 1 has no handlebars with respect to the rider 2. Thus, the rider 2 has no aids such as a handlebar, a support for support, or a seat for sitting or as an aid for balancing.The driver 2 must therefore balance freely on the supporting element 5 of the vehicle 1 without supporting himself with his hands on a support or on a handlebar or with his shins on a kneeboard or sitting on a saddle or seat arranged on the supporting element 5.

[0033] The support element 5 is a complex component with multiple functions and comprises a cover part 5a, two support parts 5b, and a lower support part 5c. The cover part 5a covers an upper part 4a of the ball 4 (see Figure 4), thus protecting the driver 2 from contact with the rotating ball 4. The cover part 5a surrounds an installation space 8 (see Figure 4) between a surface 4b of the ball and an inner side of the cover part 5a (see Figure 4).

[0034] Adjoining a lower edge of the cover part 5a are support parts 5b arranged opposite one another with respect to the ball 4. The two support parts 5b protrude outward from the cover part 5a like front and rear extensions and forward and rearward in the forward direction of travel V, forming essentially flat or, as seen in a horizontal balance position of the vehicle 1, horizontal support surfaces 10 for a right and left foot 2a of the driver 2 (see also Figure 3). In this essentially lateral balance position of the vehicle 1, the ball 4 and the roller 7 are located on the ground 3.

[0035] Viewed in a forward direction of travel V of the vehicle 1, the contact surfaces 10 are arranged in front of and behind the ball 4. The forward direction of travel V refers to a direction of travel of the vehicle 1 in the direction of its longitudinal axis x, with the ball 4 located in front of the roller 7. The driver 2 moves sideways in the forward direction of travel V. Figure 2 shows a perspective view of a driver 2 carrying the vehicle 1 on his back, for example, using shoulder straps (not shown). The total weight of the vehicle 1 is less than 5 kg, preferably in the range of 3 to 5 kg.

[0036] Figure 3 shows a perspective view of the vehicle according to Figure 1 without the driver 2. The shape of the vehicle 1 and thus essentially the shape of the support element 5 is reminiscent of a sandal, in which the cover part 5a forms the strap, to which a front, shorter and wider support part 5b and a rear, longer and narrower support part 5b are connected, viewed in the direction of the longitudinal axis x. Viewed in a plan view, the support element 5 is trapezoidal in shape with rounded edges at the front and rear and tapering towards the rear. In principle, it is also conceivable for the support element 5, in particular the support parts 5b, to be not only semicircular and trapezoidal, but also oval, rectangular or polygonal, or in a combined geometric shape.However, the semicircular or trapezoidal support parts 5b have the advantage that, despite their material-saving design, the rider 2 has sufficient stability and facilitates mounting and dismounting by quickly and intuitively assuming a predetermined riding position. The support parts 5b border the cover part 5a opposite the ball 4. The support surface 10 for the front foot 2a is located in front of the ball 4 in the forward direction of travel V, and the support surface 10 for the rear foot 2a is also located above the roller 7 in the forward direction of travel V.

[0037] The support surfaces 10 shown in Figure 3 for the right and left feet 2a of the rider 2 can be mere markings the size of a portion of the feet 2a or areas on the support parts 5b that are covered or coated with an anti-slip surface. The size of the support surfaces 10 is selected such that at least a central portion of the feet 2a and the full width of the feet 2a are supported.

[0038] In a preferred embodiment, a first sensor 10a and a second sensor 10b are located in the area of ​​the contact surfaces 10 for the right and left feet 2a of the driver 2, respectively. These sensors 10a, 10b can be used by the driver 2 to control the acceleration, driving, and braking of the vehicle 1. For this purpose, the sensors 10a, 10b can register, for example, weight changes or gestures or sequences made by the driver 2 via his feet 2a and send a corresponding signal to the controller 20. This determines the movement of the vehicle 1 in the forward direction V.

[0039] Figure 4 shows a further perspective view of the vehicle 1 according to Figure 3, wherein the support element 5 is shown transparent in order to show the internal structure of the vehicle 1, in particular its drive arrangement 6. As previously described, the vehicle 1 rolls on a combination of ball 4 and on the floor 3. The roller 7 is mounted on the support element 5 via a roller axis 7a, which is aligned parallel to the transverse axis y. The ball 4 is inserted from below into a corresponding lower opening in the support part 5c and the support element 5 rests on top of the ball 4 by means of a support arrangement 9. The support arrangement 9 is located at the top in the region of the center of the cover part 5a and comprises two non-driven omnidirectional wheels 9a, 9b, each of which can rotate about its own axis of rotation, each of which is aligned in the direction of the transverse axis y.Viewed in the direction of the longitudinal axis x, the omnidirectional wheels 9a, 9b are arranged very close to each other but not touching each other, to the right and left of the center of the ball, and in a V-shaped position relative to each other. Alternatively, a design of the support arrangement 9 with a different type of ball bearing is also possible. The advantage is that the rolling of the ball 4 feels smoother for the driver 2, and by avoiding any sudden or abrupt movements, wear on the two omnidirectional wheels 9a, 9b is reduced. The omnidirectional wheels 9a, 9b are mounted on the support element 5.

[0040] The drive arrangement 6 essentially consists of a first omnidirectional gear 11a, a second omnidirectional gear 11b, a third omnidirectional gear 11c, and a fourth omnidirectional gear 11d, which are distributed essentially evenly around the circumference of the sphere 4, preferably at the level of an equator 4c of the sphere 4. The first omnidirectional gear 11a and the second omnidirectional gear 11b are spaced symmetrically to the right and left of the longitudinal axis x, as viewed in the direction of the longitudinal axis x, and are each driven directly and without the interposition of a gear by a first motor 12a and a second motor 12b, which are supported on the support element 5. In Figure 4, the second omnidirectional gear 11b is concealed by the sphere 4. The omnidirectional gears 11a, 11b each preferably have the same diameter in the range from 20 mm to 300 mm, preferably in the range from 50 mm to 70 mm. The axes of the omnidirectional wheels 11a, 11b are aligned in a V-shape with respect to the longitudinal axis x, widening towards the front.The non-driven omnidirectional wheels 11c, 11d are smaller and each preferably have the same diameter in the range of 10 mm to 150 mm, preferably in the range of 20 mm to 40 mm.

[0041] The batteries 19 for the motors 12a, 12b and the control system 20 are arranged within the support part 5c and below the front support part 5b, and thus in front of the ball 4. A coordinated drive of the two omnidirectional wheels 11a, 11b thus results in a movement of the vehicle 1 in the forward direction V, in the right-hand direction R, or in the left-hand direction L, or in any direction intermediate therebetween. Movement of the vehicle 1 in the forward direction V is achieved, for example, by driving the first and second omnidirectional wheels 11a and 11b in opposite directions.

[0042] The motors 12a, 12b are attached to the support element 5 and are controlled by a controller 20 (see Figure 9). 24V DC motors with power ratings in the range of 350 watts to 800 watts are used as motors 12a, 12b. The use of brushless three-phase motors in the range of 100 watts to 500 watts is also conceivable.

[0043] To drive the ball 4, at least two driven omnidirectional gears 11a, 11b are required, which preferably drive the ball 4 at a 90-degree angle to each other on the equator 4c. A drive with three, four, or more omnidirectional gears 11a, 11b, 11c, 11d is theoretically also possible. A design as omnidirectional gears 11a, 11b, 11c, 11d is possible, but not necessary. Omnidirectional gears are only required if the ball 4 is driven above or below the equator 4c. Otherwise, the use of wheels or rollers as drive gears is possible, replacing the omnidirectional gears 11a, 11b, 11c, 11d.

[0044] It goes without saying that a circumferential gap remains between the surface 4b of the ball 4 and the inside of the cover part 5a, which allows free rotation of the ball 4 relative to the support element 5. Suspension of the vehicle 1 can also be provided in the area of ​​the articulation of the omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d or via an elastic ball. The ball 4 is preferably made of hard plastic. Bowling balls, for example, are suitable. Typically, the ball 4 is encapsulated in rubber or polyurethane. It can also be seen that the omnidirectional wheels 11a, 11b, 11c, 11d engage in the area of ​​the equator 4c. The omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d used are generally known and are also referred to as omnidirectional wheels.In the case of the omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d, the running surface consists of a plurality of rollers arranged along the circumference, the axes of rotation of which are essentially orthogonal to the axis of rotation of the respective omnidirectional wheel 9a, 9b, 11a, 11b, 11c, 11d and tangential to a circumference or a running surface of the omnidirectional wheel 9a, 9b, 11a, 11b, 11c, 11d. The use of omnidirectional gears 9a, 9b, 11a, 11b, 11c, 11d allows the ball 4 to rotate with low friction in all other directions to the respective omnidirectional gear 9a, 9b, 11a, 11b, 11c, 11d in addition to the drive direction of the respective omnidirectional gear 9a, 9b, 11a, 11b, 11c, 11d.

[0045] The support element 5, in its additional function as a housing, protects the drive arrangement 6 from contamination and the driver's feet 2a from possible contact with the rotating omnidirectional wheels 9a, 9b, 11a, 11b, 11c, 11d and the motors 12a, 12b.

[0046] Figure 4 also shows that the supporting part 5c of the supporting element 5 is rounded. The advantage of this rounded design lies in the increased inclination capability of the supporting element 5. Alternatively, other geometric designs are also conceivable, which, as required, limit the angle of inclination of the supporting element 5 by transitioning from a rounded to a square shape. The contours of the first and second motors 12a and 12b are visible despite the covering supporting part 5c.

[0047] Overall, vehicle 1 is characterized by the fact that, as with a front-wheel drive vehicle, the ball 4 at the front is driven, while the roller 7 at the rear is undriven. During vehicle 1's operation, the roller 7 is thus towed by the ball 4. Overall, vehicle 1 is comparable to a scooter, with a driven and steerable front ball 4 and a towed rear roller 7. During normal operation of vehicle 1, both the ball 4 and the roller 7 are in contact with the ground 3.

[0048] Figure 5 shows a perspective schematic view of a vehicle 1 according to the invention for the locomotion of a driver 2 in a second embodiment. This vehicle 1 functions like the previously described first embodiment, except that both feet 2a are either positioned behind the ball 4 in the direction of the longitudinal axis x, or the front foot 2a is positioned above the ball 4 and the rear foot 2a is positioned behind the ball 4 in the direction of the longitudinal axis x. In connection with the position of the front foot 2a above the ball 4, "above" is understood to mean that, viewed from above the vehicle 1, the front support part 5a for the front foot 2a is arranged at least partially above the ball 4. Preferably, viewed from above the vehicle 1, the front support part 5a and thus the front foot 2a resting thereon are arranged completely within the contour of the ball 4 and, in particular, centrally above the ball 4.Due to the similarities with the first embodiment, reference is made to the description of Figures 1 to 4 and the reference numerals used there are adopted below.

[0049] In the second embodiment, steering is also performed via balance in the direction of the transverse axis y. Optionally, a steering rod (not shown) can be attached to the vehicle 1. A corresponding connection hole is indicated on top of the cover part 5a. This transforms the vehicle 1 into a scooter, in particular a ball scooter.

[0050] Figure 6 shows a perspective view of the vehicle 1 according to Figure 5 without the driver 2. Due to the similarities with the first embodiment, reference is also made to the description of Figures 1 to 4 and the reference numerals used there. As previously described, only the arrangement of the support parts 5b relative to the ball 4 is different here.

[0051] Figure 7 shows a perspective schematic view of a vehicle 1 according to the invention for the locomotion of a driver 2 in a third embodiment. This vehicle 1 functions like the previously described first embodiment, except that either both feet 2a are behind the ball 4 as viewed in the direction of the longitudinal axis x, or the front foot 2a is above the ball 4 and the rear foot 2a is behind the ball 4 as viewed in the direction of the longitudinal axis x, and a handlebar 21 is provided. Due to the similarities with the first and second embodiments, reference is made to the description of Figures 1 to 6, and the reference numerals used there are adopted below. A seat (not shown) can also be provided for the driver 2. The seat is then arranged on the support element 5. The vehicle 1 is steered via the handlebar 21 with corresponding switching elements or by shifting weight from right to left.Figure 8 shows a further perspective principle view of the vehicle 1 according to Figure 7. Here, the batteries 19 are arranged between the ball 4 and the roller 7 below the supporting part 5c.

[0052] Figure 9 shows a schematic diagram of the control system 20 of the vehicle 1. The control system 20 is arranged on and / or within the support element 5. The control system 20 combines a plurality of components to detect weight shifts of the driver 2 and thus any lateral rolling of the support element 5, based on a balanced position of the support element 5. The degree of rolling in the direction of the transverse axis y is detected by a roll gyroscope 16b. The gyroscope 16b provides acceleration and angle data. The roll gyroscope 16b records the inclination movement about the longitudinal axis x. The lateral inclination angle is in the range from 0 degrees to + / - 15 degrees, or preferably + / - 10 degrees.The control of the movement of the vehicle in the forward direction V is carried out via a signal transmitter 16a, which receives, for example, signals from first and second sensors 10a, 10b in the contact surfaces 10 of the support element 5 and thus from the feet 2a of the driver 2. The signal transmitter 16a can also receive signals from a remote control operated by the driver 2 or signals from the handlebars or other control elements. The data recorded by the roll gyroscope 16b and the signal transmitter 16a are sent to an evaluation control 17a. Depending on the recorded degree of inclination and the direction of inclination and the signals in the forward direction V, the motor(s) 12a, 12b to be driven are controlled in the first evaluation control 17a in the required direction of rotation and rotation speed, each determined via an electronic stability program 18a, 18b, in order to generate the desired travel movement of the vehicle 1.At the same time, a balance control module within the evaluation control 17a supports the driver 2 in regaining the lateral balance position of the support parts 5b of the support element 5, which are preferably aligned horizontally, by appropriately controlling the motors 12a, 12b. The evaluation control 17a is designed as a programmable microcomputer. The travel movement previously initiated by the driver 2 via the first weight shift is maintained as long as the driver 2 maintains the inclination of the support element 5 and is canceled when the driver 2 shifts his weight in the opposite direction.

[0053] The aforementioned roll gyroscope 16b refers to any type of measuring device that can determine the angular positions and directions relative to the transverse axis y. Typically, these are electronic circuits that operate with piezo sensors.

[0054] It can be provided that after both sensors 10a, 10b have registered the presence of both feet 2a of the driver 2 and sent it to the evaluation control 17a, the vehicle 2 is balanced by a balance control module arranged in the evaluation control 17a, so that the contact surfaces 10 of the support element 5 are brought into a horizontal position in space.

[0055] The previously described vehicles 1 can also have one wheel or two laterally spaced wheels instead of the spherical roller 7, thus achieving lateral stability of the vehicle 1 and thus eliminating the need for balancing. The vehicle 1 then has a three-point support on the ground 3. The steering of the vehicle 1 is then achieved via a remote control, sensors with contact with the feet, or switching elements on the handlebars or brake pedal, or accelerator pedal on the vehicle 1. The vehicle 1 can also generally be equipped with a brake.

[0056] In the previously described embodiments, first and second omnidirectional gears 9a, 9b of the support assembly 9 and first to fourth omnidirectional gears 11a, 11b, 11c, 11d for driving and guiding the ball 4 have been described. These omnidirectional gears 9a, 9b, 11a, 11b, 11c, 11d are characterized by high stability. Within the scope of the invention, it is entirely possible to replace the first and second omnidirectional gears 9a, 9b of the support assembly 9 with Teflon-mounted balls, as well as the first to fourth omnidirectional gears 11a, 11b, 11c, 11d with normal rollers, which then, however, must engage the equator 4c of the ball 4.

[0057] In principle, it is also conceivable that the vehicle 1, like a kart, has a seat on the support element 5 in front of the roller 7 and support surfaces 10 for the feet 2a are arranged in the area of ​​the ball 4, preferably to the right and left of the ball 4. List of reference symbols

[0058] 1 vehicle

[0059] 2 drivers

[0060] 2a Feet

[0061] 3 Floor

[0062] 4 balls

[0063] 4a upper part

[0064] 4b Surface

[0065] 4c Equator

[0066] 5 supporting element

[0067] 5a Cover part

[0068] 5b Support parts

[0069] 5c supporting part

[0070] 6 Drive arrangement

[0071] 7 roll

[0072] 7a roller axle

[0073] 8 Installation space

[0074] 9 Support arrangement

[0075] 9a first rotating omnidirectional wheel

[0076] 9b second rotating omnidirectional wheel

[0077] 10 contact surfaces

[0078] 10a first sensor

[0079] 10b second sensor

[0080] 11a first omnidirectional wheel

[0081] 11b second omnidirectional wheel

[0082] 11c third omnidirectional wheel

[0083] 11d fourth omnidirectional gear

[0084] 12a first engine

[0085] 12b second engine

[0086] 16a Signal device

[0087] 16b Rolling gyroscope

[0088] 17a first evaluation control

[0089] 18a first electronic stability program

[0090] 18b second electronic stability program 19 battery

[0091] 20 Control

[0092] 21 handlebars

[0093] L Left-hand direction R Right-hand direction

[0094] V Forward direction x Longitudinal axis y Transverse axis

Claims

Patent claims 1. Vehicle (1) for the locomotion of a driver (2) with a ball (4) rolling on a floor (3), with a support element (5) supported on the ball (4) on which the driver (2) stands when the vehicle (1) is in operation, with a drive arrangement (6) supported on the support element (5) which drives the ball (4), characterized in that the vehicle (1) is additionally supported by a roller (7) rolling on a floor (3).

2. Vehicle (1) according to claim 1, characterized in that the vehicle (1) is steerable via the driven ball (4).

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

4. Vehicle (1) according to one of claims 1 to 3, characterized in that, viewed in a forward direction (V) of the vehicle (1), the roller (7) is arranged behind the ball (4) and at a distance from the ball (4).

5. Vehicle (1) according to one of claims 1 to 4, characterized in that, viewed in the forward direction (V) of the vehicle (1), the support element (5) has a front support part (5b) for a first foot (2a) of the driver (2) and a rear support part (5b) for a second foot (2a) of the driver (2).

6. Vehicle (1) according to claim 5, characterized in that, viewed in the forward direction (V) of the vehicle (1), the ball (4) is arranged between the front support part (5b) and the rear support part (5b).

7. Vehicle (1) according to claim 5, characterized in that, viewed in the forward direction (V) of the vehicle (1), the ball (4) is arranged in front of the front support part (5b) and in front of the rear support part (5b).

8. Vehicle (1) according to claim 5, characterized in that the front support part (5b) is arranged above the ball (4) and, viewed in the forward direction (V) of the vehicle (1), the ball (4) is in front of the rear support part (5b) is arranged.

9. Vehicle (1) according to one of claims 1 to 8, characterized in that the roller (7) is designed such that, viewed in the forward direction of travel (V), the vehicle (1) can be tilted to the right and left.

10. Vehicle (1) according to claim 9, characterized in that the vehicle (1) is steerable via an inclination of the vehicle (1) caused by the driver (2), in that a control (20) evaluates the inclination and the drive arrangement (6) drives the ball (4) in a desired direction of travel.

11. Vehicle (1) according to one of claims 1 to 10, characterized in that the roller (7) is designed such that, viewed in the forward direction of travel (V), the vehicle (1) is stabilized to the right and left.

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

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

14. Vehicle (1) according to one of claims 1 to 13, characterized in that the support element (5) comprises a cover part (5a), two support parts (5b) and a support part (5c), the cover part (5a) covers the upper part of the ball (4) and the lower part of the ball (4) projects downwards from the support part (5c).

15. Vehicle (1) according to one of claims 1 to 14, characterized in that the ball (4) is driven via two omnidirectional wheels (11a, 11b) directly and without the interposition of a transmission via an electric motor (12a, 12b) each, and each electric motor (12a, 12b, 12c, 12d) is fastened to the support element (5).

16. Vehicle (1) according to claim 15, characterized in that the electric motors (12a, 12b) are supplied with energy via at least one rechargeable battery (19).

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

18. Vehicle (1) according to one of claims 1 to 17, characterized in that the Vehicle (1) has no handles.

19. Vehicle (1) according to one of claims 1 to 18, characterized in that the vehicle (1) has a handlebar (21).

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