DE102013113643A1 - Vehicle for locomotion of a driver with a ball rolling on a ground and in any direction - Google Patents

Abstract

The invention relates to a vehicle (1) for locomotion of a driver (2) with an element rolling on a floor (8), with a supporting element (3) which is unstably supported on the rolling element and on which the driver (2) operates the vehicle (1) is balanced, with a on the support member (3) supporting drive assembly (5) which drives the rolling element and with a controller (16) via which the drive assembly (5) in dependence on the inclination of the support element (3) and the inclining direction of the support member (3) is controlled in a desired direction of travel.
To create a particularly simple vehicle, it is proposed that the element rolling on the floor (8) is a ball (4) and the vehicle can be moved in any direction of travel via the drive arrangement (5).

Description

The invention relates to a vehicle for locomotion of a driver with a rolling on a ground element, with a labile to the rolling element supporting element on which the driver is balancing during operation of the vehicle, with a supported on the support member drive assembly, the the rolling element drives and with a control over which the drive assembly is controlled in response to the inclination of the support member and the inclination direction of the support member in a desired direction of travel.

From the European patent EP 1 181 187 B1 There is already known a transporter for a person that can be used as a mobile work platform, recreational vehicle, golf cart or delivery vehicle. In essence, this van consists of a platform on which the driver stands, and a handle-like handle, which is centrally located on the platform. On the handle controls for the van can be arranged. The platform can be moved on one floor via one or more wheels and stored unstably in relation to the wheel (s). The wheels are hereby arranged between, under or next to the legs of the driver. A drive of the wheels via electric motors, which in cooperation with a controller on the one hand to balance the platform with respect to the wheels and on the other hand implements a tilting of the platform by the driver in commands for driving the wheels in the corresponding direction of tilt. A scope of the tilting movement can also be evaluated as a measure of acceleration. In one embodiment, instead of one or more wheels, a ball is used, which then allows travel movements in the x and y directions. Another embodiment with a single wheel dispenses with the handlebar-like handle.

Furthermore, the Dutch laid-open specification describes NL 103 36 76 a ball scooter for the movement of a standing driver. This ball roller also consists essentially of a ball in wheel function, a platform for the driver and a handlebar-like handle. The ball is driven by six driven universal wheels.

On this basis, the present invention is based on the object to provide a particularly simple vehicle for the movement of a driver with a rolling on a ground element.

This object is achieved by a vehicle for the movement of a driver with a rolling on a ground element with the features of claim 1. Advantageous embodiments of the invention are specified in claims 2 to 14.

According to the invention, a particularly simple vehicle for locomotion of a driver with an element rolling on a ground, with a support element which is unstably supported on the rolling element and on which the driver balances during operation of the vehicle, is provided with a drive arrangement supported on the support element, which drives the rolling element and with a control over which the drive arrangement is controlled in dependence on the inclination of the support member and the inclination direction of the support member in a desired direction of travel, created by the fact that the rolling element on the ground is a ball and the drive assembly the vehicle is movable in any direction of travel. The vehicle is characterized in particular by a simple construction. In addition, it can be controlled simply by shifting the weight of the balancing rider, thereby changing the degree of inclination of the support member and the inclination direction from a balanced, preferably horizontal, orientation of the support member. As long as the driver causes an inclination by shifting the weight, the vehicle will move in that direction. The degree of inclination is used as a measure of an acceleration or a speed comparable to an accelerator pedal. The balanced alignment of the support element can also be adjusted tilted from the horizontal position tilted. In addition, the use of the ball has the advantage that vehicle can be moved on the ground in any direction in combination with a balancing of the overall system (human-vehicle). This vehicle is particularly suitable as a sports device, recreational device or Fungerät.

It is particularly advantageously provided that the vehicle is handle-less with respect to the driver. The driver can thus freely balance on the support element of the vehicle. In this context, a handle is to be understood that a balancing on the support member driver could support it while driving. A carrying handle on the support element to the transprot of the vehicle would thus not a handle.

Advantageously, an opening is arranged in the support element and the support element is designed as an annular disc. Due to the annular design of the support element, the ascent and descent is facilitated on the vehicle, since in each direction of tilting the distance to the ground is the same.

A labile suspension of the support element on the ball is particularly simple achieved that the ball protrudes into the opening of the support element.

A vehicle with respect to the difficulty medium balance is achieved in that the annular disc of the support member is disposed at the level of a horizontal equator of the ball.

It is also provided that are arranged on the support element contact surfaces for the driver and the contact surfaces are arranged with respect to the ball opposite. As a result, a good balance of the vehicle is achieved.

Structurally particularly advantageous is that the drive assembly is fixed to the support member and the drive assembly has at least two Allseitenräder with a rotation axis for transmitting the driving forces on the ball. Here, the axis of rotation is aligned parallel to the support element.

The driving forces can be particularly well introduced into the ball when three Allseitenräder are arranged on the support element and are evenly distributed around the ball.

A stabilization of the support element to the ball and a possibility of rotation of the support member to the ball is achieved in that the drive assembly has a fourth Allseitenrad with an axis of rotation, the axis of rotation is parallel to the vertical axis of the ball with horizontally oriented support member and the fourth Allseitenrad at the height of a horizontal equator attacks on the ball.

In constructive terms, it is provided that each Allseitenrad is driven by a gear and an electric motor and each electric motor is mounted on the support member. Also, the electric motors are powered by at least one rechargeable battery and the battery is disposed below the support member.

To determine the position of the support element in the space are arranged on the support element gyros, with which the degree of inclination and inclination direction of the support element can be measured and the measured inclination and inclination direction is passed to the controller.

Advantageously, it is provided that the controller comprises a balance control module that assists a driver in balancing the support element in a horizontal position in space. This balancing of the support element in a balanced alignment via a corresponding control of the first, second and third Allseitenrades. The degree of support can be varied and set so large that it is relatively easy for the driver to balance on the support member. On the other hand, the assistance is not so great as to prevent the driver from accelerating the vehicle in the tilting direction due to the shift of weight by shifting his / her weight in the manner of an accelerator pedal.

Hereinafter de invention will be explained in more detail with reference to an embodiment shown in a drawing. Show it:

1 a perspective principle view of a vehicle according to the invention for the movement of a driver,

2 a top view of the vehicle without driver,

3 a view of the vehicle according to 2 from below and

4 a schematic diagram of the control of the vehicle.

In the 1 is a perspective principle view of a vehicle according to the invention 1 for the movement of a driver 2 shown. The vehicle 2 consists essentially of a support element 3 one on a floor 8th rolling element in the form of a sphere 4 and a drive assembly 5 , From the drive assembly 5 are only schematically three Allseitenräder 9a . 9b and 9c shown. A fourth all-wheel 10 is from the ball 4 hidden and in 2 shown. Generally, the vehicle could 2 also be referred to as a trackless land vehicle. The support element 3 is as an annular disc 3a with a central circular opening 3b and an outer circular border 3c educated. In addition, the support element 3 formed as a plate or sheet, so the height of a horizontally oriented support element 3 a fraction of the height of the ball 4 equivalent. In principle, it is also conceivable that the support element 3 not just a circular border 3c but also an oval, rectangular or polygonal border 3c or combinations thereof. The same applies to the opening 3b , Overall, the circular shape of the support element 3 however, the advantage that the driver 2 the support element 3 at the end of a ride in any position on the edge 3c of the support element 3 can tilt and turn off. The same applies vice versa for an upgrade to the support element 3 and a subsequent start. In the opening 3b is the ball from below 4 used or the support element 3 will with its opening 3b on the ball 4 placed. In this case, then supports the support element 3 about the drive arrangement 5 on the ball 4 from. The drive arrangement 5 is configured such that between an inner edge 3d (please refer 2 ) of the opening 3b the disc 3a that the opening 3b bounded outside, and the ball 4 A gap 6 (please refer 6 ) remains. The gap 6 ensures a free spatial mobility of the ball 4 relative to the support element 3 , About the drive arrangement 5 is the ball 4 relative to the support element 3 movable and rolling on the ground 8th from. The drive arrangement 5 , in particular the direction of movement of the ball 4 , is about a weight shift of the driver 2 and thus an inclination of the support element 3 driven in a desired direction of travel. Correspondingly, a driver 2 thus in any direction with the help of the vehicle 1 on the ground 8th move.

Also shows the 1 that the driver 2 without a handle-like handle - as in about a skateboard - on the support element 3 stands when he is with the vehicle 1 moves. Also, a kneeboard or a seat are not on the support element 3 intended. It can, however, on the support element 3 a handle or in the support element 3 a handle opening may be provided to the vehicle 1 easy to carry. For the driver 2 sees the vehicle 1 on the support element 3 two contact areas 7 for the feet 2a the driver 2 in front. These footprints 7 can be bare marks the size of feet 2a be corresponding free areas on the support element 3 be a tether 7a or shoe or sandal with or without straps 7a or equivalent means are designed to the driver 2 a stronger hold on the support element 3 to give while driving. The footprints 7 indirectly determine the size or width of the support element 3 because the driver is comfortable and safe on the support element 3 must be able to control the vehicle by shifting weight. In terms of footprints 7 is also shown that this in terms of the ball 4 opposite to the support element 3 are arranged. In a forward direction V seen the vehicle 1 seen are the footprints 7 right and left of the ball 4 arranged. The forward direction V is here on the driver 2 related, that this moves forward with a straight line of sight so forward to the chest.

In addition, the 1 to see that the support element 3 in its horizontally oriented position preferably at the height of an equator 4a relative to a vertical vertical axis z of the ball 4 is arranged. Also conceivable is the support element 3 higher for advanced or lower for beginners. As a result, larger or smaller inclination angle of the support element 3 in terms of the ball 4 allowing a balancing, getting on or off or controlling the vehicle 1 complicate or facilitate. Regardless of the location of the support element 3 relative to the equator 4a the ball 4 the all-side wheels are supported 9a . 9b and 9c with horizontally oriented support element 3 above the equator 4a the ball 4 as the support element 3 alone on the all-side wheels 9a . 9b and 9c labile to the ball 4 is suspended.

In the 2 is a plan view of the vehicle 1 without a driver 2 shown. Particularly good in this view, the configuration of the drive assembly 5 to recognize. The drive arrangement 5 consists essentially of a first Allseitenrad 9a , a second all-wheel 9b and a third all-side wheel 9c , each about a first axis of rotation 9a , a second axis of rotation 9b and a third axis of rotation 9c are rotatably mounted, and a fourth Allseitenrad 10 rotatable about a fourth axis of rotation 10a is stored. The used side wheels 9a . 9b . 9c and 10 are well known and are also referred to as omnidirectional wheels. At the all-side wheels 9a . 9b . 9c and 10 is the tread of the all-side wheel 9a . 9b . 9c and 10 from a plurality along the circumference arranged rollers whose axes of rotation at right angles to the axis of rotation 9d . 9e . 9f and 10a of the respective Allseitenrades 9a . 9b . 9c and 10 and tangential to the circumference of the omnidirectional wheel 9a . 9b . 9c and 10 lie. The use of all-side wheels 9a . 9b . 9c and 10 allowed the ball 4 low friction next to the drive direction of the respective Allseitenrades 9a . 9b . 9c and 10 can turn in all other directions.

To follow the directions and the operation of the vehicle 1 to explain more detail, a Cartesian coordinate system with its zero point in the center of the sphere 4 placed. The longitudinal axis x of this coordinate system thus has in the forward direction of travel V and reverse direction H; the transverse axis y in the right-hand direction R and left-hand direction L and the vertical axis z in the vertical. The longitudinal axis x and the transverse axis y in this case run parallel and the vertical axis z at right angles to a horizontally aligned ground 8th ,

By means of the all-side wheels 9a . 9b and 9c is the vehicle 1 in all directions V, H, R and L and intermediate directions thereof movable. The axes of rotation 9d . 9e . 9f are parallel to a top 3e of the support element 3 arranged as well as at a distance and tangential to the surface 4b the ball 4 , Correspondingly are at a horizontal ground 9 and a top side parallel thereto 3e of the support element 3 , the axes of rotation 9d . 9e . 9f parallel to the ground 9 aligned. In addition, the first, second and third Allseitenrad 9a . 9b and 9c evenly around the circumference of the sphere 4 arranged distributed around. Regarding the zero point of the Coordinate system and seen on the xy plane are the all-side wheel 9a . 9b and 9c each spaced at an angle of 120 degrees to each other. The second all-wheel 9b is with its axis of rotation 9e aligned at right angles to the longitudinal axis x and aligned with the longitudinal axis x. A movement of the vehicle 1 in the forward direction of travel V or reverse direction H is achieved, for example, characterized in that the second all-side wheel 9b in one direction and the other two all-side wheels 9a . 9b be driven in opposite directions. According to the uniform distribution of the all-side wheels 9a . 9b and 9c are the first and third all-wheel 9a . 9c between the longitudinal axis x and the transverse axis y as well as with respect to the transverse axis y the second Allseitenrad 9b arranged opposite. The axes of rotation 9d . 9f the first and third Allseitenrades 9a . 9c are thus oriented obliquely to the longitudinal axis x and also to the transverse axis y. The all-side wheels 9a . 9b . 9c In addition to the function of serving as drive wheels also always have the same function as support wheels for each opposite Allseitenräder 9c . 9b . 9a to serve. A coordinated operation of the all-side wheels 9a . 9b . 9c thus leads to a movement of the vehicle 1 in the forward direction of travel V and right-hand drive direction R or in the reverse direction H and left-hand drive direction L or in any desired intermediate direction thereof.

By means of the fourth all-side wheel 10 is the vehicle 1 with respect to a rotation of the support element 3 around the ball 4 or the vertical axis z stabilizable. This can be, for example, during movements of the vehicle 1 be required in the forward direction V or in the reverse direction H. Also, the fourth Allseitenrad 10 be used to the support element 3 relative to the ball 4 with the aim to rotate that the driver 2 with his chest aligned in the respective direction of travel. The fourth all-wheel 10 is about its axis of rotation 10a rotatable on the support element 3 stored and is equal to the equator 4a the ball 4 with the surface 4b the ball 4 engaged. The rotation axis 10a is aligned parallel to the vertical axis z, when the support element 3 is aligned horizontally. As the support element 3 in the embodiment in the amount of the equator 4a the ball 4 is arranged, is the fourth all-side wheel 10 in the support element 3 admitted. Should the support element 3 in relation to the equator 4a be located higher or lower, the location of the fourth Allseitenrades 10 adjust accordingly to keep it in the equator area 4a engaged with the ball 4 stands.

Also is the 2 to see that the three all-side wheels 9a . 9b and 9c each with an electric motor 11a . 11b and 11c with an upstream gearbox 12a . 12b and 12c are driven. The motors 11a . 11b and 11c are on the support element 3 attached and are via a controller 13 driven. A corresponding drive is also available for the fourth all-side wheel 10 provided, but in the 2 not shown. As motors 11a . 11b and 11c 24V DC motors are used with outputs in the range of 350 watts to 800 watts.

Alternative to the three all-side wheels 9a . 9b and 9c can also use four Allseitenräder use, of which at least two are driven. The remaining and opposite Allseitenräder then take over the function of training wheels. Advantageously, in this case, the four Allseitenräder evenly around the ball 4 distributed around and the adjacent Allseitenräder are each arranged at 90 degrees to each other. Also, drive variants are conceivable in which on the fourth Allseitenrad 10 is dispensed with in relation to the z-axis.

Furthermore, in the 2 to recognize that between the surface 4b the ball 4 and the inner edge 3d of the support element 3 a circumferential gap 6 remains, the free rotation of the ball 4 relative to the support element 3 allowed. Also, a suspension of the vehicle 1 in the area of the articulation of the all-side wheels 9a . 9b . 9c . 10 or be provided via an elastic ball. The support element 3 relies exclusively on the all-side wheels 9a . 9b . 9c . 10 on the ball. Further supporting or connecting elements are not needed. The ball 4 is made of hard plastic. For example, bowling balls are suitable.

The 3 shows a view of the vehicle 1 according to 2 from underneath. It can be seen that several rechargeable batteries 14 from below on the support element 3 are attached. The batteries 14 are as close as possible to the ball 4 arranged to tilt the support element 3 not to hinder and to balance the support element 3 to facilitate. There are also several batteries for easier balancing 14 along the support element 3 and the ball 4 distributed provided. Basically it is also possible to use the batteries 14 also on the support element 3 to arrange or just a battery 14 to use.

In the 4 is a schematic diagram of the controller 13 of the vehicle 1 shown. The control 13 is on the support element 3 arranged. In the control 13 are a variety of components combined to starting from a balance position of the support element 3 Weight shifting of the driver 2 and thus tilting of the support element 3 to recognize. The degree of inclination and the inclination direction are from a pitch gyro 15a , a roll top 15b and a greed gyro 15c recognized. The pitch gyro 15a detects the pivoting movement about the transverse axis y, the roll gyroscope 15b around the longitudinal axis x and the yaw roundabout 15c around the vertical axis z. Depending on the detected degree of inclination and the inclination direction is in an evaluation control 16 the one or more motors to be driven 11a . 11b . 11c and 11d determined via a respective controller in the required direction of rotation and rotational speed controlled to produce the desired travel movement. At the same time, a balance control module is used in parallel within the evaluation control 16 the balance position of the support element 3 , which is preferably horizontal, by appropriate control of the motors 11a . 11b and 11c reach again. The previously from the driver 2 Driving movement caused by the first weight shift is maintained as long as the driver remains 2 the inclination of the support element 3 maintains, and is canceled when the driver 2 shifted his weight in the opposite direction. The fourth all-wheel 10 stabilizes the support element 3 relative to the ball 4 , which is helpful for linear driving movements. Also, unwanted control states such as rotation of the support element 3 around the ball 4 be dissolved. In connection with steering control modules within the evaluation control 16 can specifically a rotation of the support element 3 relative to the ball 4 be induced so that the driver 2 always remains aligned in the direction of travel in the direction of the chest or, at the end of a driving journey, is again aligned in the direction of the chest.

In addition, the schematic diagram in 4 to infer that a control 18 provided in the form of a handheld remote control over which the vehicle 1 can be switched on and off. Also is on the control 18 a deadman switch is provided so that the vehicle 1 only turned on when a corresponding button on the control 18 from the driver 2 is pressed. Also, additional keys may be provided to select different driving programs. These driving programs can be created according to different aspects. Different levels of difficulty can be set between beginners and experienced as well as different weight classes, the different accelerations, maximum speeds and sensitivities of the gyros or the drive signals for the motors determined therefrom 11a . 11b . 11c and 11d include. Also, the fourth engine 12d with which the movement of the support element 3 around the ball 4 controlled in different ways. The stabilization of the support element 3 prevents unwanted rotation of the support element 3 around the vertical axis z. In a preferred driving program, it is provided that an inclination in the right-hand driving direction R or the left-driving direction L at the same time a rotation of the supporting element 2 around the vertical axis z calls out, so that the driver 2 continues to move in the chest as you know it from a bicycle. When riding a bicycle, you also steer from a mixture into the bend and steer. Depending on the driving program, the driving movements in all driving directions V, H, R and L are also independent of each other and without a rotation of the supporting element 3 possible. By a superposition with the rotational movement over the vertical axis z a more natural driving feeling is mediated. Also a slow-speed and a high-speed program can be provided. Since the forward direction of travel V is the preferred direction of travel and the achievable acceleration or speed in the manner of an accelerator pedal by a forward inclination of the support element 3 is determined, is provided in a further driving program, the usual way to tilt horizontally balanced position in the rearward direction, so that only after the "gas giving", ie tilting of the support element 3 forward a horizontal position of the support element is achieved. This gives a more natural driving experience. Also, the Kippweg is increased to "accelerate", so that from the horizontal driving position can be further accelerated by tilting forward. Advantageously, the high-speed program are combined with the rearward tilting of the balanced position of the support element. Under the aforementioned pitch gyro 15a , Rolling top 15b and greed gyros 15c are any kind of measuring instruments to understand the angular positions and angular directions with respect to the longitudinal axis x, transverse axis y and the vertical axis z can be determined. The usual way is electronic circuits that work with piezo sensors. As the pitch gyro 15a , the roll top 15b and the greed gyro 15c are each arranged at right angles to each other, this can be the location of the support element 3 be determined in the room.

LIST OF REFERENCE NUMBERS

1

vehicle

2

driver

2a

feet

3

supporting member

3a

disc

3b

opening

3c

outer edge

3d

inner edge

3e

top

4

Bullet

4a

equator

4b

surface

5

drive arrangement

6

gap

7

footprints

7a

tether

8th

ground

9a

first all-wheel

9b

second all-wheel

9c

third all-side wheel

9d

first axis of rotation

9e

second axis of rotation

9f

third axis of rotation

10

fourth all-wheel

10a

fourth axis of rotation

11a

first engine

11b

second engine

11c

third engine

11d

fourth engine

12a

first transmission

12b

first transmission

12c

first transmission

13

control

14

battery

15a

Nick centrifugal

15b

Roll gyro

15c

Yaw gyro

16

Auswertesteuerung

17a

first controller

17b

second controller

17c

third controller

17d

fourth controller

18

switching element

19

receiver

H

Reverse direction

L

Left turn signal

R

Right direction

V

Forward direction

x

longitudinal axis

y

transverse axis

z

vertical axis

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1181187 B1 [0002]
• NL 1033676 [0003]

Claims (14)

Vehicle ( 1 ) for the movement of a driver ( 2 ) with one on a floor ( 8th ) rolling element, with a labile on the rolling element supporting support member ( 3 ) on which the driver ( 2 ) during operation of the vehicle ( 1 ) is balancing, with a on the support element ( 3 ) supporting drive arrangement ( 5 ), which drives the rolling element and with a control ( 16 ), via which the drive arrangement ( 5 ) depending on the inclination of the support element ( 3 ) and the direction of inclination of the support element ( 3 ) is controlled in a desired direction of travel, characterized in that on the ground ( 8th ) rolling element a ball ( 4 ) and via the drive arrangement ( 5 ) the vehicle is movable in any direction of travel. Vehicle ( 1 ) according to claim 1, characterized in that the vehicle ( 1 ) in relation to the driver ( 2 ) is handleless. Vehicle ( 1 ) according to claim 1 or 2, characterized in that in the support element ( 3 ) an opening ( 3b ) is arranged and the support element ( 3 ) as an annular disc ( 3a ) is trained. Vehicle ( 1 ) according to claim 3, characterized in that the ball ( 4 ) in the opening ( 3b ) of the support element ( 3 ) protrudes into it. Vehicle ( 1 ) according to claim 4, characterized in that the annular disc ( 3a ) of the support element ( 3 ) at the level of a horizontal equator ( 4a ) the ball ( 4 ) is arranged. Vehicle ( 1 ) according to one of claims 1 to 5, characterized in that on the support element ( 3 ) Footprints ( 7 ) for the driver ( 2 ) and the footprints ( 7 ) in relation to the sphere ( 4 ) are arranged opposite one another. Vehicle ( 1 ) according to one of claims 1 to 6, characterized in that the drive arrangement ( 5 ) on the support element ( 3 ) and the drive arrangement ( 5 ) at least two all-side wheels ( 9a . 9b . 9c ) with a rotation axis ( 9d . 9e . 9f ) for transmitting the driving forces to the ball ( 4 ) having. Vehicle ( 1 ) according to claim 7, characterized in that the axis of rotation ( 9d . 9e . 9f ) parallel to the support element ( 3 ) is aligned. Vehicle ( 1 ) according to claim 7 or 8, characterized in that three universal wheels ( 9a . 9b . 9c ) on the support element ( 3 ) and evenly around the ball ( 4 ) are distributed around. Vehicle ( 1 ) according to one of claims 1 to 9, characterized in that the drive arrangement ( 5 ) a fourth all-side wheel ( 10 ) with a rotation axis ( 10a ) whose axis of rotation ( 10a ) parallel to the vertical axis (z) of the sphere ( 4 ) with horizontally oriented support element ( 3 ) and the fourth all-side wheel ( 10 ) at the height of a horizontal equator ( 4a ) on the ball ( 4 ) attacks. Vehicle ( 1 ) according to one of claims 6 to 10, characterized in that each all-side wheel ( 9a . 9b . 9c . 10 ) via a transmission ( 12a . 12b . 12c ) and an electric motor ( 11a . 11b . 11c . 11d ) and each electric motor ( 11a . 11b . 11c . 11d ) on the support element ( 3 ) is attached. Vehicle ( 1 ) according to claim 11, characterized in that the electric motors ( 11a . 11b . 11c . 11d ) via at least one rechargeable battery ( 14 ) are energized and the battery ( 14 ) below the support element ( 3 ) is arranged. Vehicle ( 1 ) according to one of claims 1 to 12, characterized in that on the support element ( 3 ) Gyroscope ( 15a . 15b . 15c ) are arranged, the inclination and inclination direction of the support element ( 3 ) and measure the measured inclination and inclination direction to the controller ( 16 ) to hand over. Vehicle ( 1 ) according to one of claims 1 to 13, characterized in that the controller ( 16 ) comprises a balance control module that controls a driver ( 2 ) in the balancing of the support element ( 3 ) supported in a horizontal position in space.

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