A one-seater vehicle with a ball that rolls on the ground surface

Abstract

The invention relates to a vehicle (1) for the transportation of a rider (2), comprising a ball (4) rolling on a ground surface (3), a carrying element (5) precariously supported on said ball (4), on which the rider (2) stands in balance, a drive (6) supported by said carrying element (5) and driving said ball (4), and a controller (7) via which said drive (6) can be controlled in a desired direction of travel depending on the inclination of the carrying element (5) and the inclination direction of the carrying element (5), in which said drive (6) comprises four omni wheels (11a, 11b, 11c, 11d), at least two of which (11a, 11b, 11c, 11d) have inclination angles (γa, γb, γc, γd).

Description

[Technical field]

[0001] The present invention relates to a vehicle for the transportation of a rider, comprising a ball rolling on a ground surface, a conveying element precariously supported on the ball, on which a rider stands in balance while operating the vehicle, a drive supported by the conveying element and driving the ball, and a controller, via which the drive can be controlled in a desired direction of travel depending on the inclination of the conveying element and the direction of inclination of the conveying element. [Background technology]

[0002] A vehicle for the transportation of a rider, in particular a ball caster like a skateboard, is already known from European patent EP 3043877 (B1). The vehicle essentially consists of a ball rolling on the ground surface, a carrying element supported on the ball and having two contact surfaces, one for each foot of the rider, a drive and a controller. In one embodiment, the drive essentially consists of a total of four omni wheels, three of which are grouped together in one group and roll on the upper half of the ball and the fourth rolls along the equator of the ball. All omni wheels stand in each case without a tilt angle on the surface of the ball, so that when the carrying element is oriented horizontally, the axis of rotation of each of the three omni wheels of the group is horizontal and the axis of rotation of the fourth omni wheel is oriented vertically. The carrying element is supported on the ball mainly via a group of three omni wheels. The fourth omni wheel allows the carrying element to rotate around the vertical axis of the ball. Thus, the ball can roll in any direction on the ground surface under or within the carrying element located at the ball's equator. In addition to the support function, all omniwheels also assume a drive function. For this purpose, each omniwheel is driven by an electric motor and an upstream transmission attached to the carrying element. To use the vehicle, also called sports equipment, leisure equipment or entertainment equipment, the rider stands in free balance on the carrying element and controls, brakes and steers the vehicle by shifting his weight. The rider is assisted by a controller that includes, among other things, a balance control module that assists the rider to balance the carrying element in a horizontal position. The direction of movement of the vehicle, i.e. the direction of rolling of the ball, is controlled by the inclination of the carrying element caused by the rider's weight shift. The measured acceleration and angle data of the carrying elements are processed in the controller, on the basis of which it is determined which motor of each omniwheel should be driven, so that the desired movement behavior and balance position are achieved with the required rotation direction and rotation speed. The vehicle is equipped with three rechargeable batteries for the motors and the controller, which are placed on the underside of the carrying element around the ball.

[0003] Furthermore, European patent EP3378540(B1) discloses a similar vehicle with a ball, a carrying element and a group of three driven omni wheels. These three omni wheels also roll on the upper half of the ball and have their rotation axes pointing in different directions. Furthermore, the vehicle is equipped on the carrying element with a centrally arranged handle that can be held by the rider. Furthermore, at the upper end of the handle, a control means designed as a control stick, joystick or rocker switch is arranged, by means of which the so-called forward direction of the vehicle can be set. By means of the control means, the forward direction of the vehicle can be set such that this direction corresponds to the desired direction of movement, so that the rider can see the direction of movement without turning his head.

[0004] From Dutch patent NL1033676 (C2) a so-called dynamic balance ball scooter for personal transport is known, which allows the rider to move by means of a ball filled with compressed air. The ball scooter also includes a holding bar with a steering handle for the rider. The rider stands on a carrying element arranged on the ball. The ball is driven by a total of three pairs of omni wheels, each folded against the surface of the ball at a folding angle. Two pairs roll on the upper half of the ball and the third pair rolls on the lower half of the ball in the opposite direction.

[0005] Korean patent KR10-1269628(B1) discloses a further portable ball scooter for personal transport, with a ball supported on a carrying element formed as a plate and a holding bar with a steering handle. The carrying element is provided with a centrally located opening, from which only a small part of the upper half of the ball protrudes upwards. The ball is driven by an upstream transmission and four drive motors with drive rollers respectively supported on the carrying element. The drive rollers are arranged with respect to the surface of the ball on the equator, without an inclination angle, with a vertical direction of rotation. As seen in the circumferential direction of the ball, respectively adjacent drive rollers are arranged at uniform intervals from each other. When the carrying element is oriented horizontally, the rotation axes of the drive rollers are respectively oriented horizontally. Furthermore, each drive wheel is assigned an auxiliary ball, which is arranged offset outward from the ball via the respective drive roller and prevents the ball scooter from tipping over. The possibility of a rotational movement of the carrying element about a vertical axis by the drive motors is not described.

[0006] A similar arrangement of omni-wheels for a drive of a ball of a mobile robot is known from US Patent US8308604B2. Four omni-wheels engage the upper half of the ball at a common height, each with no inclination angle and with a horizontal axis of rotation. When viewed in the circumferential direction of the ball, adjacent omni-wheels are uniformly spaced from each other.

[0007] Furthermore, International Publication WO2020 / 110651(A1) discloses a drive device with three balls that roll on the ground surface. The balls are arranged at the corners of an imaginary triangle and are driven by three drive wheels. In this case, each drive wheel is meshed with two adjacent balls.

[0008] Moreover, US patent US10189342B2 has already shown a robot balancing on a ball, which is driven by three drive wheels distributed around the ball. Summary of the Invention [Problem to be solved by the invention]

[0009] Based on this, it is an object of the present invention to provide an improved small vehicle for rider transportation, comprising a ball that rolls on the ground and has unlimited movement in all directions.

[0010] This object is achieved by a vehicle for rider transportation with a ball rolling on the ground surface having the features of claim 1. Advantageous embodiments of the invention are described in claims 2 to 21. [Means for solving the problem]

[0011] According to the invention, a vehicle for the transportation of a rider is provided, comprising a ball rolling on a ground surface, a carrying element precariously supported on the ball, on which the rider stands in balance during the operation of the vehicle, a drive supported by the carrying element and driving the ball, and a controller, via which the vehicle can be controlled in the desired direction of travel depending on the inclination of the carrying element and the inclination direction of the carrying element, characterized in that the drive comprises four omni wheels, of which at least two omni wheels have an inclination angle not equal to zero. In the context of the invention, an inclination angle is understood to mean that the omni wheels, standing or lying tangentially to the surface, are inclined to the right or left by the inclination angle with respect to the supposed rolling direction of the ball. Thus, in addition to the driving force in the rolling direction of the ball, the omni wheels can also exert a lateral driving component on the ball. This lateral driving component can be used to rotate the carrying element to the right and left around the vertical axis of the ball, and can also be used for stabilization of the direction of rotation around the vertical axis. For this purpose, at least two omni wheels are inclined to co-rotate, allowing the conveying element to rotate in both directions around the vertical axis of the ball, independent of the respective rolling direction of the ball. From this it follows directly that in the co-rotating method, starting from a reference axis that is vertical when the conveying element is horizontal, positive or negative tilt angles should be treated as equivalent. In both cases, a single omni wheel is considered in the direction of the center of the ball. The tilt angle is therefore also called the steering angle. Four omni wheels with tilt angles according to the invention allow a rider, standing freely balanced on the conveying element, via a drive device, without the use of a holding bar, with or without a steering bar, to move the vehicle in any direction of movement and to rotate around the vehicle's own vertical axis. In this context, "able to move in any direction of movement" is understood to mean that the direction of movement, for example the forward direction of the vehicle, is decoupled from the direction in which the rider is looking or facing. That is to say, the rider can also move in a forward direction oblique to the direction in which he is facing.

[0012] The vehicle is controlled solely by the rider's feet, which are freely balanced on the carrying element. The rider initiates the vehicle's movement by shifting his weight. The controller reacts to changes in the inclination angle of the carrying element and rolls the ball in the desired direction via the drive. Thus, the controller compensates for the measured inclination of the carrying element and adjusts it so that it is preferably positioned horizontally. The rider only needs to stand on the carrying element in the area of ​​the stand-on surface provided with the anti-slip overlay, which allows the rider to stand firmly and safely and facilitates the adjustment of the weight shift.

[0013] In a particularly advantageous embodiment, the inclination angles of the ball with respect to the vertical axis are arranged to be in the ranges of -45° to 45° (excluding 0°, preferably excluding -2° to +2°), preferably -5° to -15° and +5° to +15° (excluding 0°, preferably excluding -2° to +2°). In this way, a good level of rotation of the ball around the vertical axis is achieved while at the same time a good application of the driving force to the surface of the ball for all movement movements. In accordance with the homo-directional characteristic, the inclination angles of at least two omni wheels also have the same sign.

[0014] In a particularly advantageous embodiment, the tilt angles of the two opposing omni-wheels are arranged to co-rotate, which allows for good transmission of the drive force for rotation about a vertical axis.

[0015] If all omni wheels are tilted by a tilt angle, with opposing omni wheels co-rotating and adjacent omni wheels counter-rotating, then reliable rotation of the ball around a vertical axis is achieved. In a plan view of the ball, omni wheels located on opposite sides of a line passing through the center point of the ball are considered to be opposed.

[0016] Further, all the omni wheels are arranged to tilt at alternate tilt angles, and the tilt angles of both the adjacent omni wheels and the opposite omni wheels co-rotate.

[0017] In an advantageous embodiment, the vehicle is designed such that the omniwheel is folded at a folding angle relative to the longitudinal axis of the ball, the folding angle being between -110° and +110°, preferably between 0° and 45°. In this way, a particularly compact construction of the vehicle is achieved.

[0018] The optimal arrangement of the omni wheels with respect to the vertical axis of the ball is achieved by making the spacing angle between the omni wheels between 80° and 110°, preferably 90°. In this way, the driving force can be introduced into the ball in a particularly satisfactory way. In this context, a spacing angle of 90°, with a 45° forward direction of the vehicle between the two omni wheels, is particularly advantageous when cutting the center of the ball in a conventional manner.

[0019] Furthermore, the elevation angle between the line passing from the center point of the ball through the axis of rotation of each omniwheel and the equator of the ball is adjusted to be between 20 and +65 degrees, preferably between 0 and 45 degrees, and particularly preferably to be 0 degrees. The adjustment of the elevation angle affects the movement and tilting behavior of the vehicle. The larger the elevation angle, the larger the tilt angle of the carrying element. The larger the tilt angle of the carrying element, the more quickly the movement direction and speed can be changed.

[0020] With respect to the above mentioned tilt angles, fold angles, elevation angles and the indicated ranges associated therewith, reference is made to the fact that with respect to the tilt angles, fold angles and elevation angles, these preferably each constitute exactly the same numerical value, but can also be entirely different from one another.

[0021] A particularly advantageous embodiment is that the conveying element is provided which reproduces the shape of a ball of larger diameter. The spherical design of the conveying element allows a compact construction.

[0022] An advantageous embodiment is designed such that the carrying element is composed of a cover part, two standing parts and a ring part, the cover part covering the upper part of the ball and the lower part of the ball protruding downwards from the ring part. The cover part covers the upper part of the ball and therefore protects the rider from contact with the rolling ball during the ride. The standing parts provide the rider with a sufficient standing surface and a slightly raised edge to allow safe standing. The ring part serves to stabilize the standing surface and protects the drive components from dirt and from possible contact with the feet of the rider with the rolling omniwheel.

[0023] Structurally, it is particularly advantageous if the stand-on portion of the carrying element is located approximately on the equator of the ball, so that an average balancing ability of the vehicle against the difficulty is achieved.

[0024] Provision is made for providing a surface on the standing piece for the rider to stand on, and for the standing piece with the standing surface to be oriented in an opposite direction to the ball, so that the ball can be positioned between the rider's feet to improve the vehicle's ability to balance and to allow for quicker starting by adopting a predetermined foot position.

[0025] In a particularly advantageous embodiment, the drive is attached to the ring part of the carrying element and the four omni wheels are each attached to a rotation axis for transmitting the drive force to the ball.

[0026] It is also advantageous for the weight of the vehicle that each omni wheel is driven directly, without transmission interconnection, via an electric motor, each electric motor being attached to a ring part of the carrying element.

[0027] In a preferred embodiment, the electric motor is powered via at least one rechargeable battery, which is arranged in the installation space of the transport element in a uniformly distributed manner around the ball, which does not impair the driving behavior of the vehicle due to the uniform distribution of the weight.

[0028] To determine the position of the conveying element in space, a gyroscope is arranged on the conveying element, by means of which the inclination and tilt direction of the conveying element are measured and the measured inclination and tilt direction are transmitted to the evaluation controller.

[0029] In an advantageous embodiment, the controller is configured to include a balance control module that assists the rider in balancing the transport element in a horizontal position in space. This balancing of the transport element in a balanced direction is performed by corresponding actuation of the first to fourth omni-directional wheels. The degree of assistance is variable and can be set to a high level where it is relatively easy for the rider to balance on the transport element. On the other hand, the level of assistance is not so high that it prevents the rider from accelerating the vehicle in an inclined direction due to weight transfer by shifting his / her weight like an accelerator pedal.

[0030] In terms of the construction, it is particularly advantageous to arrange four sensors on the ground surface of the carrying element, which register the presence of the toes or heels of the rider's feet and transmit the measured changes in weight to the evaluation controller. The raising and lowering of the rider's toes and heels makes it possible to control the rotation of the vehicle around a vertical axis.

[0031] Optimal movement behaviour of the vehicle without sudden or jerky movements is achieved by the fact that the transport element is supported on a ball via a support device, which includes at least one non-driven omni-wheel.

[0032] In a preferred embodiment, the vehicle does not provide handlebars for the rider, allowing the rider to freely balance on the vehicle's transportation element, similar to riding a skateboard, without having to support himself with his hands on a column or steering bar, or sit on a saddle or seat disposed on the transportation element.

[0033] The present invention will now be described in more detail with reference to the embodiments shown in the drawings. [Brief description of the drawings]

[0034] [Figure 1] FIG. 1 is a perspective view showing the principle of a vehicle according to the invention for passenger transport in a first embodiment. [Diagram 2] FIG. 2 shows a plan view of the vehicle of FIG. 1 without an occupant. [Diagram 3] FIG. 3 shows a side view of the vehicle of FIG. [Figure 4] FIG. 4 shows a further side view of the vehicle of FIG. [Diagram 5] FIG. 5 shows a horizontal cross-sectional view of the vehicle of FIG. [Figure 6] FIG. 6 shows a schematic diagram of a ball with a single omni wheel. [Figure 7] FIG. 7 shows a vertical cross-section of the vehicle of FIG. [Figure 8] FIG. 8 shows a further schematic diagram of a ball with a single omni wheel. [Figure 9] FIG. 9 shows a further schematic diagram of a ball with a single omni wheel. [Figure 10] FIG. 10 shows a further vertical cross-section of the vehicle of FIG. [Figure 11] FIG. 11 shows a schematic plan view of a ball with driven omni wheels. [Figure 12] FIG. 12 shows a schematic side view of a ball with omni wheels and a support device. [Figure 13] FIG. 13 shows a more schematic side view of a ball with omni wheels. [Figure 14] FIG. 14 shows a more schematic plan view of the ball with omni-wheels and support device. [Figure 15] FIG. 15 shows a simplified diagram of the vehicle's controller. [Figure 16] FIG. 16 shows a schematic plan view of a ball with omni-wheels and sensors mounted on a stand-on surface. [Figure 17] FIG. 17 shows a perspective view of the vehicle of FIG. 1 with the feet positioned during the starting procedure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] FIG. 1 is a perspective view showing the principle of a vehicle 1 according to the invention, in particular a skateboard-like ball roller for the movement of a rider 2. The vehicle 1 basically consists of a ball 4 rolling on a ground surface 3, a carrying element 5 supported on the ball 4, and a drive 6 with a controller 7, not shown in this figure. The use of the ball 4 as a replacement for wheels has the advantage that the vehicle 1 can be moved in any direction on the ground surface 3. The diameter of the ball 4 ranges from 100 mm to 500 mm, preferably from 200 mm to 250 mm. The vehicle 1 is also called a sports, leisure or entertainment equipment, and in use the rider 2 stands on the carrying element 5 in a free balance like a skateboard, and the rider 2 controls, brakes and steers the vehicle 1 by shifting his weight. Furthermore, the vehicle 1 does not provide a handle for the rider 2. The rider 2 therefore does not have available assistance such as a steering bar, a support column, a seat to sit on or an assistance for balancing. The rider 2 must therefore be free to balance on the carrying element 5 of the vehicle 1 without having to rest his hands on a post or steering bar, his shins on a kneeboard or sitting on a saddle or seat arranged on the carrying element 5.

[0036] The carrying element 5 is a complex part with several functions and for this purpose consists of a cover part 5a, two upstanding parts 5b and a ring part 5c. The top part 4a of the ball 4 is covered by the cover part 5a, thus protecting the rider 2 from contact with the rolling ball 4, which encloses an installation space 8 (see Fig. 10) between the surface 4b of the ball and the inside 5h of the cover part 5a. The cover part 5a is supported in the centre of the ball 4 via a support arrangement 9, which in Fig. 1 is hidden by the cover part 5a.

[0037] The upstanding part 5b, which is arranged on the opposite side to the ball 4, adjoins the lower end of the cover part 5a. The two upstanding parts 5b project outwards from the cover part 5a and form upstanding surfaces 10 for the right and left feet 2a of the rider 2. The upstanding surfaces 10 are substantially planar or horizontal, as seen when the vehicle 1 is in a horizontal balance position. When the vehicle 1 is seen in a forward direction V, the upstanding surfaces 10 are arranged on the right and left side next to the ball 4. The forward direction V concerns the rider 2 looking straight ahead, i.e. moving forward. Both upstanding parts 5b are formed as trapezoids with rounded corners, as seen in a plan view. Furthermore, the upstanding parts 5b are formed as plates or metal sheets, and the height of the horizontally oriented upstanding parts 5b corresponds only to a small part of the height of the ball 4.

[0038] For the rider 2, the vehicle 1 provides two standing surfaces 10 for the feet 2a of the rider 2 on the standing part 5b. These standing surfaces 10 may be simple markings of the size of the feet 2a or they may be free areas on the standing part 5b that are provided with an anti-slip coating or with a layer that reduces slippage. The standing part 5b is formed such that its outer edge 5d is somewhat higher than the standing surfaces 10. In this way, a clear boundary of the standing surface 10 is ensured and the rider 2 can stand safely on the standing part 5b and is prevented from slipping off the standing surface 10. To facilitate getting on and off the vehicle 1, no further attachment means for the feet 2a on the standing part 5b are provided.

[0039] However, the standing surface 10 can also be formed as a free surface without an outer edge 5d with a retaining strap, or in the shape of a shoe or sandal, with or without a retaining strap or similarly acting means, to allow the rider 2 to hold the standing part 5b more securely during the ride. The standing surface 10 indirectly determines the size or width of the standing part 5b, since the rider 2 needs to stand comfortably and safely on the standing part 5b in order to be able to control the vehicle 1 by weight transfer. The standing part 5b can in principle be trapezoidal, but also oval, rectangular, polygonal or combined geometric shapes. However, a trapezoidal standing part 5b has the advantage that the rider 2 has sufficient stability despite a material-saving design and enjoys a faster start by adopting a given rider position.

[0040] The lower end of the cover part 5a or the two upright parts 5b below it are adjoined by ring parts 5c, which stabilize the upright parts 5b and serve as a cover for the parts of the drive device 6, such as the omni wheels 11a, 11b, 11c, 11d and the electric motors 12a, 12b, 12c, 12d. Thus, the ball 4, with a part of its lower part, generally protrudes downwards from the conveying element 5 or its ring parts 5c. The ring parts 5c protect the drive device 6 from dirt and protect the rider's feet 2a from contact with the rotating omni wheels 11a, 11b, 11c, 11d and the motors 12a, 12b, 12c, 12d.

[0041] In the above-described embodiment, the conveying element 5 comprises a ring portion 5c as a downward extension of the cover portion 5a and for the support of the upright portion 5b. Alternatively, the conveying element 5 may be reduced to a portion whose cross section resembles the profile of a trapezoidal roof, as viewed in the forward movement direction V. The conveying element 5 is thus composed, viewed from above, of a flat horizontal crossbar, to which are connected, at the right and left edges, downwardly extending transverse webs, thus in each case adjacent to the lateral direction of the ball 4. The crossbar is thus arranged above the ball 4, and the two transverse webs, starting from the crossbar, extend vertically or obliquely outwards and extend downwards until near the equator 4c of the ball 4. The horizontally outwards facing upright portion 5b adjoins the lower end of the transverse webs.

[0042] 1 also shows that the vehicle 1 does not have a handle for the rider 2. However, in alternative embodiments, the upper part of the vehicle 1 may be provided with a central opening 5e for a handle, a holding bar (with or without a steering bar) or a seat in the cover part 5a of the carrying element 5. These can easily be added as required to increase safety when balancing on the vehicle 1.

[0043] FIG. 2 shows a plan view of the vehicle 1 without the rider 2. This view particularly well illustrates the design of the standing parts 5b of the carrying element 5. The trapezoidal or triangular standing parts 5b are arranged in the opposite direction to the ball 4 at the transition between the cover part 5a and the ring part 5c. Each standing part 5b5b comprises a standing surface 10, an outer edge 5d, a handle opening 5f and a handle 5g. The cylindrical outer edge 5d, which is higher than the standing surface 10, defines the outside of the trapezoidal standing part 5b5b and forms a clear boundary of the standing surface 10. The height difference between the standing surface 10 and the outer edge 5d is part of the total height of the standing part 5b. In this way, the boundary of the standing surface 10 is ensured in shape, i.e. the rider 2 does not slip off the standing surface 10 during the movement, but at the same time does not stumble during the boarding and disembarking. Alternatively, the outer edge 5d could be of a different shape, rounded or angular or polygonal in some way, but the advantage of a cylindrical outer edge 5d is that the feet 2a of the rider 2 encounter little or no resistance when sliding down.

[0044] The standing surface 10 is provided with two anti-slip overlays 10a, which are arranged respectively in the front area of ​​the foot 2a, specifically in the toe area, and in the rear area of ​​the foot 2a, specifically in the heel area. In this way, it is ensured that the rider 2 stands firmly on the standing surface 10 of the carrying element 5, and the weight transfer is better coordinated. The anti-slip overlays 10a attached to the standing surface 10, in conjunction with the outer edge 5d higher than the standing surface 10, provide a predetermined safety position for the foot 2a of the rider 2. Under each anti-slip overlay 10a there are a total of four sensors 10b, 10c, 10d, 10e, which register the lifting of the toe or heel due to the subsequent weight change and send a corresponding signal to the controller 7. In this way, the movement of the vehicle 1 is initiated and the desired direction of movement is determined.

[0045] Each of the standing parts 5b has a handle opening 5f and a handle 5g formed thereby. The handle opening 5f, with rounded corners and edges, is located on the outside of the standing part 5b with respect to the ball 4 and adjoins the outer edge 5d. The handle opening 5f is formed so that the rider's 2 hand can pass through it. Alternatively, the corners and edges of the handle opening 5f remain unrounded. However, due to the rounded corners and edges, the risk of injury when reaching through the handle opening 5f is significantly less than with unrounded corners and edges. The outer edge 5d of the standing part 5b, freed by the handle opening 5f, forms a handle 5g for easily carrying the vehicle 1 during travel. A carrying strap or similar aid can also be attached to one of the handles 5g of the standing parts 5b, or simultaneously to both.

[0046] In the following, in order to explain the moving direction and operation of the vehicle 1 in more detail, a Cartesian coordinate system is set with the center point of the ball 4 as the origin. The vertical axis x of this coordinate system indicates the forward direction V and the backward direction V, the horizontal axis y indicates the rightward moving direction R and the leftward moving direction L, and the vertical axis z is vertical. The vertical axis x and the horizontal axis y extend parallel to each other, and the vertical axis z is perpendicular to the horizontal ground surface 3.

[0047] Figure 3 shows a side view in the x-direction or reverse direction H of the vehicle 1 according to the invention of figure 2. This view shows that the standing part 5b of the carrying element 5 is arranged in a horizontal position, preferably at the equator 4c, with respect to the vertical axis z of the ball 4. It is also possible to arrange the standing part 5b higher for advanced riders and lower for beginners. In this way, it is possible to make the inclination angle of the standing part 5b with respect to the ball 4 larger or smaller, making it more difficult or easier to balance, get on and off or control the vehicle 1.

[0048] Figure 3 also shows that the cover part 5a of the conveying element 5 is spherical, thus reproducing the shape of the ball 4, but with a larger diameter. The advantage of this spherical design is that it allows a larger tilt of the conveying element 5 via the support arrangement 9 (see Figure 10) relative to the ball 4. However, other geometric designs are alternatively possible, which, if necessary, limit the tilt angle of the conveying element 5 by going from a spherical to an angular shape.

[0049] The outlines of the first and second electric motors 12a and 12b and the omni wheels 11a and 11b driven thereby are visible despite the ring portion 5c. The third and fourth omni wheels 11c, 11d and the associated electric motors 12c, 12d (see FIG. 5) are hidden by the ball 4 and the ring portion 5c.

[0050] Figure 4 shows yet another side view of the vehicle 1 of Figure 2. One of the two upright parts 5b is shown in front. On the side opposite the forward direction V of the vehicle 1, in the transition area between the cover part 5a and the ring part 5c of its carrying element 5, a charging socket 14 for charging the rechargeable battery of the vehicle 1 (see Figure 10) is arranged.

[0051] Figure 5 shows a horizontal section of the vehicle 1 at the equator 4c of the ball 4. This figure shows particularly well the design of the drive 6 in the conveying element 5. The drive 6 is essentially composed of a first omni wheel 11a, a second omni wheel 11b, a third omni wheel 11c and a fourth omni wheel 11d, which are directly driven without transmission interconnection by a first electric motor 12a, a second electric motor 12b, a third electric motor 12c and a fourth electric motor 12d. The omni wheels 11a, 11b, 11c, 11d each have the same diameter, preferably in the range of 20 mm to 300 mm, preferably in the range of 50 mm to 70 mm. To be able to describe the orientation of the omni wheels 11a, 11b, 11c, 11d in each case relative to the ball 4, each omni wheel 11a, 11b, 11c, 11d is provided with a dedicated Cartesian coordinate system whose origin is at the center of the omni wheel 11a, 11b, 11c, 11d and thus at the center of the respective rotation axis 11ay, 11by, 11cy, 11dy. This coordinate system includes a horizontal axis y for each rotation axis 11ay, 11by, 11cy, 11dy, a vertical axis x 11ax, 11bx, 11cx, 11dx (running through the center of the running surface of each omni wheel 11a, 11b, 11c, 11d) and a vertical axis z 11az, 11bz, 11cz, 11dz (running through the center of the running surface of each omni wheel 11a, 11b, 11c, 11d). The omni-wheels 11a, 11b, 11c, and 11d are mounted on a first rotation shaft 11ay, a second rotation shaft 11by, a third rotation shaft 11cy, and a fourth rotation shaft 11dy, respectively, and are rotatable about these shafts.

[0052] The omni wheels 11a, 11b, 11c, 11d are generally known and are also called omni-directional wheels. The running surface of the omni wheels 11a, 11b, 11c, 11d is composed of a number of rollers arranged on a circumference, the rotation axis of which is substantially perpendicular to the rotation axis 11ay, 11by, 11cy, 11dy of each omni wheel 11a, 11b, 11c, 11d and tangent to the circumference or running surface of the omni wheels 11a, 11b, 11c, 11d. By using the omni wheels 11a, 11b, 11c, 11d, the ball 4 can rotate with low friction not only in the driving direction of each omni wheel 11a, 11b, 11c, 11d, but also in all other directions of each omni wheel 11a, 11b, 11c, 11d.

[0053] The omni wheels 11a, 11b, 11c, 11d allow the vehicle 1 to move in all directions V, H, R, L and intermediate directions, and to rotate around the vertical axis z of the ball 4. The rotation axes 11ay, 11by, 11cy, 11dy are arranged spaced apart from and tangential to the surface 4b of the ball 4. In the case of a horizontal ground surface 3 and a standing surface 10 of the conveying element 5 parallel thereto, the rotation axes 11ay, 11by, 11cy, 11dy are oriented to rise towards the ground surface 3 or to fall away from the ground surface 3. Furthermore, the omni wheels 11a, 11b, 11c, 11d are distributed approximately evenly around the circumference of the ball 4 with respect to the vertical axis z of the ball 4.

[0054] In relation to the origin of the coordinate system of the ball 4 and the xy plane, the longitudinal axes 11ax and 11bx, 11cx and 11dx of the omni wheels 11a and 11b, 11c and 11d are spaced apart from each other by spacing angles αab and αcd, respectively. In this embodiment, the spacing angles αab and αcd are equal. However, it is also possible to make the spacing angles αab and αcd adjustable individually. The spacing angles αab and αcd are in the range of 80 degrees to 110 degrees, and are preferably equal to 90 degrees. In this embodiment, the rotation axis 11by of the second omni wheel 11b is oriented so as to be perpendicular to the rotation axis 11cy of the third omni wheel 11c, and the rotation axis 11ay of the first omni wheel 11a is oriented so as to be perpendicular to the rotation axis 11dy of the fourth omni wheel 11d. Thus, the rotation axes 11ay and 11cy of the omni wheels 11a and 11c are parallel to each other.

[0055] The omni wheels 11a, 11b, 11c, 11d are arranged such that their longitudinal axes 11ax, 11bx, 11cx, 11dx are perpendicular to the surface 4b of the ball 4 or perpendicular to the tangent of the surface 4b of the ball 4 and the contact surface of each omni wheel 11a, 11b, 11c, 11d with the surface 4b of the ball 4. Therefore, the omni wheels 11a, 11b, 11c, 11d have no tilt angle (see FIG. 9) or folding angle. Therefore, the folding angle δ described with reference to the following FIG. 6 is 0 degrees for all omni wheels 11a, 11b, 11c, 11d. In this embodiment, the folding angles δ of all omni wheels 11a, 11b, 11c, and 11d are equal. However, each folding angle δ may be individually adjustable. The orientation or inclination of the omni-wheels 11a, 11b, 11c, 11d relative to the axis y of the ball 4 can affect the transmission of rotational moment and thus the reaction speed of the vehicle 1. Thus, the coordinated action of the omni-wheels 11a, 11b, 11c, and 11d causes the vehicle 1 to move in a forward direction V and a rightward direction R or a backward direction H and a leftward direction L or in an intermediate direction between them. The movement of the vehicle 1 in the forward direction V or the backward direction H is achieved, for example, by driving the first and second omni-wheels 11a and 11b in one direction and driving the other two omni-directional wheels 11c, 11d to rotate in the opposite direction. The rotation of the ball 4 about the vertical axis Z is made possible by tilting the omni-directional wheels 11a, 11b, 11c, and 11d as defined by the tilt angle γ (see FIG. 13).

[0056] The motors 12a, 12b, 12c and 12d are attached to the ring portion 5c of the conveying element 5 and are actuated via the controller 7 (see FIG. 15). For the electric motors 12a, 12b, 12c and 12d, 24V DC motors with power levels ranging from 350 watts to 800 watts are used.

[0057] Fig. 6 shows a schematic diagram of a ball 4 with a single omni wheel 11a to show the folding angle δ. The folding angle δ allows, on the one hand, to rotate the vehicle 1 around the vertical axis z by the electric motors 12a, 12b, 12c, 12d, and, on the other hand, to save installation space in the case of omni wheels 11a, 11b, 11c, 11d with a larger diameter, by positioning the omni wheels 11a, 11b, 11c, 11d relative to the surface 4b of the ball 4. Fig. 6 clearly shows that the folding angle δ is formed between the x-axes 11ax, 11bx, 11cx, 11dx of the tilted omni wheels 11a, 11b, 11c, 11d, respectively, and the x-axes 11ax', 11bx', 11cx', 11dx' of the non-tilted omni wheels 11a', 11b', 11c', 11d'. The folding angle δ is in the range of −110 degrees to +110 degrees, and is preferably 0 degrees or 45 degrees.

[0058] Figure 7 shows the vehicle 1 of Figure 2 in a longitudinal section through the centre of the ball 4. The omni wheels 11a, 11b and the support device 9, which is located in the installation space 8 and comprises four omni wheels 9a, 9b, 9c, 9d and a battery 19, are clearly visible. Figure 7 also shows that between the surface 4b of the ball 4 and the inside 5h of the cover part 5a, a circumferential gap 15 remains, which allows the ball 4 to rotate freely relative to the carrying element 5. The vehicle 1 can also be provided with a suspension in the steering area of ​​the omni wheels 11a, 11b, 11c, 11d or via elastic balls. The ball 4 is manufactured from a hard plastic material. For example, a bowling ball is suitable. Furthermore, it can be seen that the omni wheels 11a, 11b are engaged in the area of ​​the equator 4c.

[0059] By tilting the omni wheels 11a, 11b, 11c, 11d with the tilt angles γa, γb, γc, γd with respect to the vertical axis z of the ball 4, the rotation of the carrying element 5 controlled by the rider 2 allows the vehicle 1 to rotate around the Z axis of the ball 4, while the rider 2 remains facing forward in the respective direction of travel. In this way, the vehicle 1 can be stabilized against undesired rotation of the carrying element 5 around the ball 4, which may be necessary, for example, when the vehicle 1 moves in the forward direction V or in the reverse direction H. The tilt angles γa, γb, γc, γd are not visible in this view and will be explained below with reference to FIG. 9. The omni wheels 11a, 11b, 11c, 11d are arranged in contact with the surface 4b of the ball 4 to transmit the rotational moment, so that a contact surface K is formed between the running surfaces of the omni wheels 11a, 11b, 11c, 11d and the surface 4b of the ball.

[0060] The batteries 19 are arranged above the support 5b in the installation space 8 between the carrying element 5 and the surface 4b of the ball 4. The batteries 19 are distributed approximately evenly over the circumference of the ball 4, around the vertical axis z of the ball 4.

[0061] FIG. 8 shows yet another schematic view of the ball 4 with a single omni wheel 11a and a support device 9, showing the elevation angle β. The elevation angle β can affect the movement and tilting behavior of the vehicle 1. FIG. 8 clearly shows that the elevation angle β is formed between the equator 4c and a line extending between the center point of the ball 4 and the rotation axes 11ay, 11by, 11cy, 11dy of the omni wheels 11a, 11b, 11c, 11d, respectively. The elevation angle β is in the range of -20 degrees to +65 degrees, preferably 0 degrees or 45 degrees.

[0062] Fig. 9 is a further schematic diagram of the ball 4 with a single omni wheel 11a to show the tilt angle γ. The tilt angle γ of at least two omni wheels 11a, 11b, 11c, 11d allows the vehicle 1 to rotate left and right about the vertical axis z while also achieving rotational stabilization about the z axis. Fig. 9 clearly shows that the tilt angle γ is formed between the vertical axes 11az, 11bz, 11cz, 11dz of the tilted omni wheels 11a, 11b, 11c, 11d respectively and the vertical axes 11az', 11bz', 11cz', 11dz' of the non-tilted omni wheels 11a', 11b', 11c', 11d'. The vertical axes 11az', 11bz', 11cz', 11dz' correspond to the vertical axis z of the ball 4 when the carrying element 5 is oriented horizontally. The tilt angle γ is in the range of -45 degrees to +45 degrees (excluding 0 degrees, preferably excluding 2 degrees to -2 degrees), preferably in the range of -5 degrees to -15 degrees and +5 degrees to +15 degrees, and particularly preferably +10 degrees to -10 degrees. The tilt angles γ of the omni wheels 11a, 11b, 11c, and 11d are equal in magnitude. Alternatively, only the tilt angles γ of the two opposing omni wheels 11a, 11b, 11c, and 11d are equal in magnitude.

[0063] Moreover, FIG. 10 shows a further vertical section of the vehicle 1 of FIG. 2, in which the structure and arrangement of the support device 9 of the ball 4 is clearly shown. The entire conveying element 5 is supported on top of the ball 4 in the central area of ​​the cover part 5a via the support device 9 and laterally via the omni wheels 11a, 11b, 11c, 11d. In the illustrated embodiment, the support device 9 comprises four non-driven omni wheels 9a, 9b, 9c, 9d, each rotatable about its own axis of rotation, which are arranged at the highest point of the surface 4b of the ball 4 relative to the origin of the coordinate system of the ball 4 and to the zy plane, and which are uniformly distributed around the axis z very close to each other but without contact. The axes of rotation of the omni wheels 9a, 9b, 9c, 9d of the support device 9 are approximately parallel to the standing surface 10 or to the ground surface 3 (if the ground surface 3 is horizontal). Alternatively, embodiments with omni wheels or other types of ball mounts are also possible. However, the advantage of the support device 9 with four omni wheels 9a, 9b, 9c, 9d is that the rolling of the ball 4 feels softer to the rider 2 and wear on the four omni wheels 9a, 9b, 9c, 9d is reduced by avoiding sudden or jerky movements.

[0064] FIG. 11 shows a simplified schematic plan view of the ball 4 with driven omni wheels 11a, 11b, 11c, 11d. The omni wheels 11a, 11b, 11c, 11d are tilted with tilt angles γa, γb, γc, γd, respectively. The second and third omni wheels 11b and 11c, and the fourth and first omni wheels 11d and 11a, are therefore in an X position relative to each other. For comparison, the non-tilted omni wheels 11c' and 11a', with tilts γc and γa of 0 degrees, are shown. The paths of movement LWa and LWc of the omni wheels 11a and 11c, which rotate in opposite directions, form an ellipse, viewed with respect to the origin of the coordinate system of the ball 4 and the xy plane. In this way, a rotational movement of the ball 4 around the axis z can also be performed. In contrast, the movement paths LWa' and LWc' of the omni wheels 11c' and 11a' overlap and form a straight line when viewed with respect to the origin of the coordinate system of the ball 4 and the xy plane. The movement paths LWa' and LWc' of the non-tilted omni wheels 11a' and 11c' allow only linear movement of the ball 4.

[0065] FIG. 12 shows a schematic side view of the ball 4 with omni wheels 11c and 11d and the support device 9. The omni wheels 11c and 11d are shown in a tilted position with tilt angles γc, γd. As a result, their movement paths LWc and LWd (not shown) extend elliptically around the ball 4. FIG. 8 also shows the contact surface K of the omni wheel 11c formed between the running surface of the omni wheel 11c and the surface 4c of the ball 4. The support device 9 in this embodiment consists of four non-tilted omni wheels 9a, 9b, 9c, 9d, whose rotation axes extend parallel to the horizontal ground surface 3.

[0066] 13 shows a further schematic side view of the ball 4 with omni wheels 11a, 11b, 11c, 11d. The vertical axes 11az, 11bz, 11cz, 11dz of the omni wheels 11a, 11b, 11c, 11d are inclined with respect to the vertical axis of the ball 4 by inclination angles γa, γb, γc, γd. Thus, the paths of movement LWc and LWa of the omni wheels 11a and 11c intersect at the level of the equator 4c. Since the first omni wheel 11a and the third omni wheel 11c are inclined with inclination angles γa and γc, a double γ angle is formed between their paths of movement LWa and LWc or between their vertical axes 11az and 11cz.

[0067] FIG. 14 shows a further schematic plan view of the ball 4 with the omni wheels 11a, 11b, 11c, 11d and the support device 9. The omni wheels 11a, 11b, 11c, 11d are inclined with inclination angles γa, γb, γc, γd. Thus, the omni wheels 11d and 11a and 11c and 11b are arranged in a so-called X-position relative to each other. The support device 9 consists of four omni wheels 9a, 9b, 9c, 9d uniformly distributed around the vertical axis z of the ball 4.

[0068] FIG. 15 shows a simplified diagram of the controller 7 of the vehicle 1. The controller 7 is arranged on and in the transport element 5. Several components are integrated in the controller 7 so that the weight shift of the rider 2 and thus the inclination of the transport element 5 can be detected based on the balance position of the transport element 5. The degree of inclination and the direction of inclination are detected by the pitch gyroscope 16a, the roll gyroscope 16b and the yaw gyroscope 16c. The gyroscopes 16a, 16b and 16c provide acceleration and angle data, respectively. The pitch gyroscope 16a detects the pivot movement about the horizontal axis y, the roll gyroscope 16b detects the pivot movement about the vertical axis x and the yaw gyroscope 16c detects the pivot movement about the vertical axis z. The control of the rotation direction about the vertical axis z is performed with the help of four sensors 10b, 10c, 10d, 10e arranged under the anti-skid overlay 10a of the standing surface 10 of the transport element 5. The data detected by the yaw gyroscopes 16a, 16b, 16c and the sensors 10b, 10c, 10d, 10e are transmitted to one of two evaluation controllers 17a, 17b.

[0069] Depending on the detected tilt and tilt direction, in the first and second evaluation controllers 17a, 17b the driven electric motors 12a, 12b, 12c and 12d are specifically actuated in the required direction of rotation and speed of rotation in each case via electronic stability programs 18a, 18b, 18c and 18d, so that the desired movement movement of the vehicle 1 is generated. At the same time, in parallel, the rider 2 is assisted via a balance control module in the evaluation controllers 17a, 17b, and a balance position of the upright part 5b of the carrying element 5, preferably oriented horizontally, is achieved by corresponding actuation of the electric motors 12a, 12b, 12c and 12d. The evaluation controllers 17a, 17b are formed as programmable microcomputers. The movement movement previously caused by the rider 2 by an initial weight shift is maintained as long as the rider 2 maintains the inclination of the carrying element 5 and is stopped when the rider 2 shifts his weight in the opposite direction. Undesirable control states such as the rotation of the carrying element 5 around the ball 4 when performing a rectilinear movement can also be solved. In conjunction with a steering control module in the evaluation controller 17a, 17b, the rotation of the carrying element 5 relative to the ball 4 can be induced in a targeted manner so that the rider 2 always remains facing in the direction of travel or faces forward again at the end of the steering maneuver.

[0070] Actuation of the rotation around the vertical axis z is performed via the yaw gyroscope 16c and the sensors 10b, 10c, 10d, 10e, which register the change in weight of the toe and / or heel of the foot 2a of the rider 2 and send a corresponding signal to the second evaluation controller 17b. Depending on whether the rotation is initiated in a clockwise or counterclockwise direction, the signal of the z axis is added to the actuation signals of the x- and y-axis motors 12a, 12b, 12c, 12d with a positive sign (z>0) for clockwise rotation and a negative sign (z<0) for counterclockwise rotation. The direction of rotation of the ball 4 around the vertical axis z is determined by a unilateral lift of the toe or heel. By lifting the right or left toe and thus releasing the sensors 10d and 10c arranged diagonally to each other, the rotation around the vertical axis z in the counterclockwise direction is actively controlled. By releasing the diagonally positioned sensors 10b and 10e under the right toe and left heel, the rotation around the vertical axis z in the clockwise direction is actively controlled accordingly. The simultaneous detection of the lifting motion and the corresponding weight change by the sensors 10d and 10c under the right and left heel, or the sensors 10b and 10e under the right and left heel, accelerates the rotation in the direction controlled by the foot position.

[0071] The above mentioned pitch gyroscope 16a, roll gyroscope 16b and yaw gyroscope 16c are understood to be any type of measuring device capable of determining the angular position and angular orientation with respect to the longitudinal axis x, the transverse axis y and the vertical axis z. They are usually electronic circuits operating with piezo sensors. The pitch gyroscope 16a, roll gyroscope 16b and yaw gyroscope 16c are each arranged at right angles to each other, so that the position of the conveying element 5 in space, in particular the upright part 5b, can be determined.

[0072] FIG. 16 shows a schematic plan view of the ball 4 with omni wheels 11a, 11b, 11c, 11d and sensors 10b, 10c, 10d, 10e arranged on the standing surface 10a. The sensors 10c, 10d, 10e record the weight of the right foot 2a and the left heel of the rider 2. In contrast, the sensor 10b may not record the weight because the toe of the left foot of the rider 2 is raised. After the detected weight change data is processed by the evaluation controller 17b (see FIG. 15), the rotational movement initiated by the rider 2 about the vertical axis z of the ball 4 is executed in the counterclockwise direction.

[0073] In Fig. 17, a perspective view of the vehicle 1 of Fig. 1 is shown, during the start-up procedure, with the feet 2a of the rider 2 placed on the standing surface 10a of the conveying element 5. The rider 2 places one foot 2a, one after the other, on the anti-slip overlay 10a arranged on the standing surface 10. If one foot 2a is already placed on the standing surface 10, but the other foot 2a is not yet on the ground surface 3, the balancing or movement of the vehicle 1 has not yet started. Only after all four sensors 10b, 10c, 10d, 10e have registered the presence of both feet 2a of the rider 2 and transmitted this to the evaluation controllers 17a, 17b, the vehicle 2 is balanced by the balance control module arranged in the evaluation controllers 17a, 17b, and the standing surface 10 of the conveying element 5 is in a horizontal position in space. [Explanation of symbols]

[0074] 1 vehicle 2 Riders 2a feet 3 Ground surface 4. Ball 4a Upper 4b surface 4c equator 5. Conveying elements 5a Cover part 5b Stand-on parts 5c Ring part 5d Outer edge 5e Opening 5f Handle opening 5g Handle 5h inside 6. Drive unit 7 Controller 8 Installation space 9. Support System 9a The first rotating omniwheel 9b Second rotatable omni wheel 9c 3rd rotatable omni wheel 9b 4th rotating omni wheel 10 stand-on surfaces 10a Anti-slip overlay 10b First Sensor 10c Second Sensor 10d 3rd sensor 10e 4th sensor 11a The first omniwheel 11b sec omni wheel 11c Third Omniwheel 11d 4th Omniwheel 11ax First vertical axis 11bx Second vertical axis 11cx 3rd vertical axis 11dx 4th vertical axis 11ay First horizontal / rotation axis 11 Second horizontal axis / rotation axis 11cy 3rd horizontal axis / rotation axis 11dy 4th horizontal axis / rotation axis 11az First Vertical Axis 11bz 2nd vertical axis 11cz 3rd vertical axis 11dz 4th vertical axis 12a First motor 12b Second motor 12c Third motor 12d 4th motor 14 Charging socket 15. Gap 16a Pitch Gyroscope 16b Roll Gyroscope 16c Yaw Gyroscope 17a First evaluation controller 17b Second evaluation controller 18a First Electronic Stability Program 18b Secondary Electronic Stability Program 18c 3rd Electronic Stability Program 18d 4th Electronic Stability Program 19 Battery LWa Omniwheel 11a movement path LWb Omniwheel 11b movement path LWc Omniwheel 11c movement path LWd Omniwheel 11d travel path H Reverse direction K contact surface L Left movement direction R Right movement direction V forward direction αab,cd interval angle β elevation angle γ Tilt angle δ Fold angle x vertical axis y horizontal axis z vertical axis

Claims

1. 1. A vehicle (1) for the movement of a rider (2), comprising a ball (4) rolling on a ground surface (3), a conveying element (5) precariously supported on the ball (4), on which the rider (2) stands in balance during operation of the vehicle (1), a drive (6) supported by the conveying element (5) and driving the ball (4), and a controller (7) via which the drive (6) can be controlled in a desired direction of travel depending on the inclination of the conveying element (5) and the inclination direction of the conveying element (5), characterized in that the drive (6) comprises four omni wheels (11a, 11b, 11c, 11d), at least two of which (11a, 11b, 11c, 11d) have inclination angles (γa, γb, γc, γd).

2. 2. The vehicle (1) according to claim 1, characterized in that the inclination angles (γa, γb, γc, γd) of two opposing omni wheels (11a, 11b, 11c, 11d) are co-rotating.

3. 3. The vehicle (1) according to claim 2, characterized in that all the omni wheels (11a, 11b, 11c, 11d) are tilted with tilt angles (γa, γb, γc, γd), and the tilt angles (γa, γb, γc, γd) of adjacent omni wheels (11a, 11b, 11c, 11d) rotate in opposite directions.

4. 3. The vehicle (1) according to claim 1 or 2, characterized in that all the omni wheels (11a, 11b, 11c, 11d) are inclined with inclination angles (γa, γb, γc, γd), and the inclination angles (γa, γb, γc, γd) of all the omni wheels (11a, 11b, 11c, 11d) are co-rotating.

5. 5. The vehicle (1) according to any one of claims 1 to 4, characterized in that the inclination angles (γa, γb, γc, γd) of the ball (4) with respect to the vertical axis (z) are in the range of -45 degrees to +45 degrees, preferably -5 to -15 degrees to +5 to +15 degrees.

6. 6. The vehicle (1) according to any one of claims 1 to 5, characterized in that the omni wheels (11a, 11b, 11c, 11d) are folded at folding angles (δa, δb, δc, δd) relative to the longitudinal axis (x) of the ball (4), said folding angles (δa, δb, δc, δd) being between -110 and +110 degrees, preferably between 0 and 45 degrees.

7. The vehicle (1) according to any one of claims 1 to 6, characterized in that the spacing angles (αab, αcd) between the omni wheels (11a and 11b, 11c and 11d) are between 80 and 110 degrees, preferably 90 degrees.

8. 8. The vehicle (1) according to claim 1, characterized in that an elevation angle (βa, βb, βc, βd) between a straight line extending from the center point of the ball (4) through the rotation axes (11ay, 11by, 11cy, 11dy) of each of the omni-wheels (11a, 11b, 11c, 11d) and the equator (4c) of the ball (4) is between 20 and +65 degrees, preferably between 0 and 45 degrees, particularly preferably 0 degree.

9. 9. Vehicle (1) according to any one of the preceding claims, characterized in that the carrying element (5) reproduces the shape of the ball (4) but with a larger diameter.

10. 10. The vehicle (1) according to any one of claims 1 to 9, characterized in that the carrying element (5) comprises a cover part (5a), two upstanding parts (5b) and a ring part (5c), the cover part (5a) covering an upper part of the ball (4) and a lower part of the ball (4) protruding downwards from the ring part (5c).

11. 11. Vehicle (1) according to any one of the preceding claims, characterized in that the upstanding portion (5b) of the conveying element (5) is arranged substantially at the equator (4c) of the ball (4).

12. 12. A vehicle (1) according to any one of claims 1 to 11, characterized in that a standing surface (10) for the rider (2) is arranged on the standing part (5b), the standing part (5b) having the standing surface (10) being arranged facing the ball (4).

13. 13. The vehicle (1) according to any one of claims 1 to 12, characterized in that the drive (6) is attached to the ring portion (5c) of the conveying element (5) and the four omni wheels (11a, 11b, 11c, 11d) are mounted on respective rotation axes (11ay, 11by, 11cy, 11dy).

14. 14. The vehicle (1) according to any one of claims 1 to 13, characterized in that each omni wheel (11a, 11b, 11c, 11d) is driven directly, without transmission interconnection, via an electric motor (12a, 12b, 12c, 12d), each electric motor (12a, 12b, 12c, 12d) being attached to the ring portion (5c) of the conveying element (5).

15. 15. The vehicle (1) according to claim 14, characterized in that the electric motors (12a, 12b, 12c, 12d) are powered via at least one rechargeable battery (19), the batteries (19) being arranged uniformly distributed in the installation space (8) of the conveying element (5) around the ball (4).

16. 16. The vehicle (1) according to claim 1, characterized in that gyroscopes (16a, 16b, 16c) are arranged above and below the conveying element (5) and measure the inclination and tilt direction of the conveying element (5) and transmit the measured inclination and tilt direction to the evaluation controller (17a, 17b).

17. 16. The vehicle (1) according to any one of claims 1 to 15, characterized in that the evaluation controller (17a, 17b) comprises a balance control module that assists the rider (2) in balancing the carrying element (5) in a horizontal position in space.

18. A vehicle (1) according to any one of claims 1 to 17, characterized in that four sensors (10b, 10c, 10d, 10e) are arranged on the standing surface (10) of the carrying element (5) and register the presence of the toe or heel of the foot (2a) of the rider (2) and transmit the measured weight changes to the evaluation controller (17b).

19. 19. The vehicle (1) according to any one of claims 1 to 18, characterized in that the conveying element (5) is supported on the ball (4) via a support device (9), the support device (9) comprising at least one non-driven omni wheel (9a, 9b, 9c, 9d).

20. 20. Vehicle (1) according to any one of the preceding claims, characterised in that the vehicle (1) does not have a steering wheel.

Images