WO2017134223A1

WO2017134223A1 - Transport means and transport system, and method for operating same

Info

Publication number: WO2017134223A1
Application number: PCT/EP2017/052380
Authority: WO
Inventors: Michael PROF. DR. TEN HOMPEL; Philipp WRYCZA; Martin Fiedler
Original assignee: Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority date: 2016-02-05
Filing date: 2017-02-03
Publication date: 2017-08-10
Also published as: DE102016201820A1

Abstract

The invention relates to a transport means, having an outer element (1, 31, 32, 33, 34, 63) and an inner element (3, 67) arranged within the outer contour of the outer element, wherein the inner element has a drive device having at least one aviation drive element (6, 7), - the inner element is movably mounted on the outer element at least at times and the outer element has at least one contour extending along a periphery that is capable of rolling. Thus, energy-efficient rolling of the transport means is enabled, and an extremely flexible drive is provided by means of the aviation drive elements.

Description

Means of transport and transport systems and methods of their operation

The present invention is in the field of mechanical engineering and electrical engineering and can be used with particular advantage in various sectors of logistics.

In transport, the task is often to carry a means of transport or a load to be transported to a known destination. For this purpose, a variety of solutions with different advantages and disadvantages has already become known. For example, rail-bound transport systems are known in which means of transport can be moved within a rail network between different points. The transport path is effected here by a switch system, which is controlled either by an operating point outside the means of transport or by a vehicle driver or automatic control unit traveling individually with the rail vehicle. Such systems are implemented, for example, in the form of rail networks and other rail-based transport systems. light, but in a more abstract interpretation of the term "rail" also by pneumatic tube systems in which the transport means leading tubes each form rail elements.

On the other hand, transport systems are known that require less infrastructure, such as the operation of aircraft drones that can be controlled by GPS systems.

The present invention is based on the background of the prior art the object to provide a means of transport and / or a transport system that allow the driving of a destination with the least possible total effort with the lowest possible requirements for an existing infrastructure.

The object is achieved with the features of the invention by a means of transport according to claim 1 and a transport system according to claim 21. The dependent claims 2 to 20 and 23 to 26 show advantageous embodiments. In addition, claim 27 gives a method for operating a means of transport, and claim 33 a method for operating a means of transport or a transport system.

Accordingly, the invention relates to a transport means having an outer member and an inner member disposed within its outer contour, the inner member having a drive means with at least one aeronautical drive element, the inner member is at least temporarily movably mounted on the outer member and the outer member at least one circumferential circumferential has a rollable contour.

The rollable contour of the outer element allows a movement of the transport means on a base by simply rolling the outer element. In this case, the pad can be formed either by a flat or curved surface, or even completely or partially by rail elements. Such rail elements may for example be formed as strand-like elements, for example webs or strips, ropes or wires, or also, as will be explained in more detail below, for example as pipes, Half pipes, gutters or grooves. By a rolling locomotion can be achieved quickly and energy-saving with a means of transport a destination. The transport means has an inner element with at least one aviation drive element, by means of which the transport means can be driven. In this case, an aeronautical drive element or a combination of several aeronautical drive elements can generate a torque or a thrust force by means of which the transporting means can be set in a rolling motion or can be accelerated translationally. The decisive factor for the effect of the drive is the direction in which a thrust force or a rotational acceleration is generated. If, for example, the means of transport lies on a flat surface or rail and a thrust force is generated by means of an aviation drive element which has a horizontal component parallel to the surface on which the means of transport is located, then a translational movement of the transport means over the surface can be produced. It is also possible by means of the aviation drive element to generate a torque on the inner element or to displace the inner element into rotation, wherein due to the principle of actio and reactio the outer element can be set in an opposite rotational movement and thus a rolling movement of the transport means can be generated. The inner element may have a plurality, in particular 2, 3, 4, 5, 6 or more than 6, more than 8, more than 10 or more than 12 aviation drive elements, each of which may be individually controllable with respect to the thrust generated. The thrust can be controlled, for example, by adjusting the pitch, that is, by an angle of attack of rotor blades or by a speed. The aviation drive elements can be arranged side by side and in particular with respect to their respective axes of symmetry or the respective thrust directions generated by them in a fixed, in particular invariable angle to each other. In this case, the overall thrust direction or a torque can be generated by a coordinated control of the thrust of the individual aeronautical drive elements. The orientation of the total thrust force with respect to the inner element can be fixed. The aeronautical drive elements can be next to each other equidistantly to each other, in particular circular or in the form of a regular

Arranged polygon. They can be placed in openings of a flat circular be arranged disc, wherein the disc is a part of the inner element.

The rollable contour of the means of transport can be rollable along one or more different circumferential directions; in particular, the means of transport can be rollable in any direction.

The contour of the transport means may comprise rollers which are rotatably mounted within the outer member relative to this or the outer contour may itself constitute an abrollfähiges element as the outer surface of the outer member and be firmly and immovably connected to the outer member. The axis of the rolling motion can be in this case in the middle of the outer element. In this case, no rotatable mounting of a rolling element with respect to the outer element is necessary.

In the exhaust air flow of one or more aeronautical drive elements, in each case a guide element can be arranged, which can be controlled pivoting or rotatable. However, the aeronautical propulsion elements can also be beneficial without

Be arranged guide elements and the aviation drive can also be controlled solely by thrust control.

To create a horizontal component of the thrust of the aerospace propulsion, the inner member may be first rotated with some or all of the aviation propulsion elements through an asymmetric thrust distribution and then operated with a horizontal thrust component.

In this case, for example, a load-holding device on the inner element can be rotated such that its position and orientation remain unchanged at a desired position / orientation. This can be done by means of a support sensor on the load-holding device or by means of an orientation sensor. It is also possible to detect the movement of the inner element and to calculate a compensating movement of the load-holding device. An antria between the inner element and the load holding device can then generate a relative movement between these two elements with the aim of stabilizing the load holding device with respect to its orientation in space.

On a flat surface thus the means of transport can be moved by suitable control of the aeronautical driving elements in all directions. If rail elements are present on which the means of transport can be moved, then the transport direction is determined by the rail elements. The fact that the means of transport itself rolls, no chassis or wheel needed. The drive of the means of transport is very flexible through the use of one or more aeronautical propulsion elements.

It can also be provided that the aviation drive elements are at least temporarily arranged exclusively within the outer contour of the outer element. The retraction of the aviation drive elements in the outer contour of the outer member ensures that a free rolling of the transport means in all directions is possible without the aviation drive elements can be damaged or collide with obstacles outside of the means of transport.

It can also be provided that the aeronautical drive elements are arranged exclusively within the outer contour of the outer element.

It is also conceivable that at least one, in particular several or all aeronautical drive elements are fully or partially extendable beyond the outer contour of the outer element addition. There are, for example, drive systems with one or more propellers conceivable that are temporarily extendable for driving the transport, but also embodiments are conceivable in which one or more propellers are arranged exclusively within the contour of the outer element, as long as the entry and exit of an air flow through the outer element is made possible for the aeronautical drive elements.

As aviation drive elements are basically all types of movable elements conceivable that can produce a thrust in the air atmosphere, such as propellers, propellers, turbines or jet engines. Internal combustion engines, electric motors, but also any other conceivable type of engine come into question as drive for such elements.

In order to enable or facilitate a comfortable and energy-saving rolling of the means of transport on a base, it can be provided that the outer element has a circular cross-section at least at one point. For this purpose, it can be concretely further provided that the contour of the outer element is spherical, cylindrical, barrel-shaped or cylindrical in shape with a sidecut or constriction. In a spherical design of the transport this can roll very freely in all directions, while a roller-shaped training a rolling movement in each case only allows in two directions and for changing the rolling direction, first a rotation of the roller in the desired direction of travel is necessary. But there are basically all abrollfähigen forms of transport means conceivable, the Abrollfähigkeit is sufficient on a rail, so that only the running on a rail part of the transport must be formed with a round cross-section.

To a necessary for the effectiveness of the aerospace propulsion elements air flow into and out of the means of transport, d. H. In particular, in the contour of the outer member to the inner member and the inner member again through the outer member outward to allow, it can be provided that the outer member at least one opening, in particular at least two openings, which extends from the outside of the Extending outer element to an interior of the Außenelemen- tes, in which the inner element is arranged.

It can also be provided in principle that the outer element has a plurality of openings, so that an air flow through the outer element in many places is possible. This is the case, for example, in the case of a wire-lattice-like expression of the outer element, or if the outer element has a multiplicity of adjacent through-openings.

An advantageous embodiment of the invention can provide that the inner element is rotatably mounted on the outer element about an axis fixed with respect to the outer element. Thus, the transport by a rolling of the outer element in total on a base, for example, on a rail, unroll and thereby move translationally. Advantageously, the rolling movement can be designed such that the outer element rotates about the fixed axis. At the same time by a drive, such as an aerospace drive element, the inner element are rotated relative to the outer member about the fixed axis in the opposite direction sense such that the inner member remains rotationally fixed with respect to the base. It can also be provided that the inner element is rotatably mounted on the outer element about at least two axes fixed relative to the outer element and / or an intermediate element. In this case, the inner element is rotatably mounted relative to the outer element by a multi-stage, gimbal suspension about a plurality of axes, so that even with a rolling movement of the outer member about an arbitrarily selected axis the

Inner element rotatable about the same axis in the opposite direction and thus rotatably fixed relative to the ground can be fixed.

For both cases, d. H. On the one hand, the rotatability of the inner element about a single axis or, on the other hand, rotatability about different axes within the outer element, it can be provided that the inner element is rotatably mounted in one or more bearings (s) fastened to the outer element and / or an intermediate element. Such bearings can be used as rotation bearings, for example in the form of

Slide bearings or bearings, be formed. Hereby bearings with low friction can be realized. The use of magnetic bearings is conceivable in this context. The rotatability of the inner element relative to the outer element can also be ensured by the inner element being displaceably mounted on an inner surface of the outer element, in particular by means of a rolling body element. If the outer element has a cylindrical or spherical inner surface, then the inner element can be fitted into this surface in such a way that it slides on the surface. In this case, in the case of a cylindrical inner surface of the outer element, the inner element is rotatable about a single axis, while it is rotatable relative to the outer element about different axes if this has a spherical inner surface on which the inner element is guided. In this case, the inner element may be guided slidingly or by means of roller bearings on the outer element, or friction-reducing liquids or gels may also be used. In addition to the drive of the means of transport by aviation drive elements, an electromotive drive can also be provided, which can be realized by the inner element and the outer element are driven directly relative to each other by means of a stator attached to one of the elements and an anchor attached to the other element , In this case, a winding in the stator or in the rotor with a current or a voltage can be applied to produce a relative torque between the stator and the rotor.

An aeronautical propulsion system can be realized for the means of transport in that the inner element has an aviation drive with one or more aeronautical propulsion elements, in particular with propellers, by means of which it generates a torque about an axis of rotation and / or a thrust force with a horizontal component on the inner element can be. Thus, by tilting the aeronautical drive elements on the transport means, a force can be generated parallel to a base surface or a rail, so that the transport can be offset by the aviation drive in a rolling motion on the base. It is also possible for the aviation drive to exert a torque on the inner element which causes the outer element to experience a torque in the opposite direction according to the principle "actio equals reaction". This also makes it possible to generate a rolling movement of the means of transport. Torques can be generated by the aviation drive, for example by acceleration of rotational movements or, in the presence of multiple aerospace propulsion elements, by different speeds, the different speeds can be compensated or reinforced by different angles of attack of rotor blades.

It can also be provided that the inner element has a drive with one or more aeronautical drive elements, in particular with

Propellers, by means of which on the inner element a force can be generated in the vertical direction, which is greater than the force acting on the transport means of gravity. As a result, the means of transport in the

Able to take off from a U nterlage and free to float or to fly. For a transport path, this results in a variety of possible combinations of different path elements, the transport partially resource-saving roll on a base and can fly partially.

For example, in busy areas, there is an advantage in using a fixed infrastructure, for example a rail or pneumatic post system, whereas in more infrastructural areas of the transport route the more energy-intensive but faster flight may be preferable. The choice of the transport route can be made dependent on the overall energy efficiency, on the time required for the transport or on the occupation of certain transport routes by other means of transport. In order to be able to carry a load with the means of transport, provision can be made for a holding device for a load to be transported to be firmly connected to the inner element. In this case, it may be useful to hold by relative movements between the inner member and the outer member, the inner member substantially rotationally fixed to also hold the load held in it rotatably.

However, it can also be provided that a holding device for a load to be transported relative to the inner element is rotatable about at least one axis, in particular about two axes. In this case, a control device or control device for controlling or regulating the position and / or orientation of the holding device relative to the inner element can additionally be provided, which generates a relative rotational movement between the holding device and the inner element, which ensures a rotationally fixed positioning of the load in which the inner element can provide independent of rotation of the element. A gyroscope can be used for such a control.

The aeronautical drive elements can basically have internal combustion engines. For an environmentally friendly and well controllable realization of the drive of the means of transport, it can also be provided, for example, that the aerodynamic drive element (s) of the inner element can be driven exclusively by electric motors. Electric motors are powerful and lightweight to produce and very easy to control, and also the operation of extremely low volume is possible.

However, it can also be provided that the aeronautical drive element (s) of the inner element at least partially each have a control device for the angle of attack of rotor blades, wherein in particular the aeronautical drive elements can be driven in particular by internal combustion engines. Combustion engines are not as flexible and quickly controllable in terms of their speed as electric motors, but this can be compensated by a rapid control of the angle of attack of rotor blades.

A comfortable as possible rotationally fixed positioning of the inner element or, for example, a holding device within the inner element can be ensured by providing a control device which is adapted to stabilize the inner element rotationally fixed independently of a rotational movement of the outer element, in particular by / the aviation drive (s) and / or an electric motor drive, which has a stator and a rotor, one of which element is connected to the outer element and the respective other element with the inner element. For the control, an acceleration sensor, for example a gyroscope, can be provided on the inner element.

The invention relates, in addition to a means of transport of the type described above and described, also to a transport system with at least one means of transport of the type mentioned above and with a rail element for unrolling at least one rollable contour of the means of transport.

The interaction of the transport means with the rail element or a system of rail elements shows the advantage of a resource-saving transport by the described means of transport. For this purpose, for example, an existing pneumatic tube system can be used, wherein the Drive the means of transport in the pneumatic tube system is not caused by air pressure that supplies the pipe system and controls, but by the built-in transport means drive. Height differences can be overcome by means of the transport system, for example, that the rail element extends at least partially with a slope. By its own drive, the means of transport can also roll uphill or downhill automatically along a rail element. It can also be advantageously provided that an inductive means for recovering electrical energy during the

Relative movement between the inner element and the outer element during rolling of the transport means along a slope is used.

In a particular embodiment, it may be provided, for example, that at least two parallel rail elements are provided, on which the transport means unrolls and which lead to a supply voltage for an electric drive of the means of transport. Such rail elements may be formed as a strand-shaped metallic rails or as tensioned wires or cables made of metal.

It can also be provided that one or more or all rail elements are formed by a channel which is closed or half open in cross section, in particular within a pipe or a gutter or a half pipe.

In points in a transport system with at least one rail fork with at least three interconnected at one point rail elements that lead to various other rail elements, it can be provided that the transport has a storage device in which data of a destination are stored, and that the transport a Navigation device which operates on a rail fork, either an element of the means of transport or an element of the rail crotch to control a continuation of the movement over one of the interconnected rail elements. In this way, the drive in the means of transport can be adjusted by the navigation device in the means of transport itself in such a way that the means of transport is provided by its own Moves drive at the fork to the selected rail element and thus selects the right continuing transport path.

The navigation device, which can operate for example by means of a GPS system, can also effect a steering of the aviation drive during a movement independent of rails. In such a case, it is advantageous if the height component in the form of the ascertained height above ground level or above sea level is also determined and controlled during navigation in order to control the altitude at flown partial sections. The navigation device can be arranged and fastened, for example, to the inner element or directly to a load-holding device.

The outer skin of the outer element may be formed as an antenna or part of an antenna for the navigation system.

However, it can also be operated by the navigation device, which is arranged on or in the means of transport, a stationary switch, which actuates a mechanical actuating device on the rail elements, which ensures a desired control of the further rail path for the means of transport. For example, the navigation device of the means of transport can be connected via a radio link with the stationary switch. However, it can also be provided by other forms of communication, such as light or infrared signals, or a mechanical actuation of a switch in the desired shape. The corresponding signals originate from the means of transport itself or the navigation device arranged in it. The means of transport searches itself in this way a transport path to the destination stored in it.

Except for a means of transport of the type described above and a transport system with corresponding means of transport, the invention also relates to a method for operating a means of transport, which can be provided that in a first movement section, the transport rolls by rotation about one of its axes and in one preceding or subsequent movement section by means of an aviation drive flies. This operation describes the combination of different transport path sections, such as a taxiway and a flight path in any order. Such a combination of different fortifications The mode of transport of a means of transport is currently new in the described form and allows an efficient travel distance to a destination.

It can be provided that in a movement section in which the transport moves by rolling, the inner member is rotatably stabilized against the rolling motion. In the movement sections, in which the means of transport moves on the fly, the entire means of transport can be stabilized in space by a corresponding control of the aviation drives. In addition, the inner element can still be stabilized with respect to the outer element by its own drive.

For driving on a base, for example on a rail or in a rail element, which is formed by a tube, it can be provided that the thrust force of an aerospace drive of the inner element with respect to the vertical direction, which is defined by gravity, is inclined to a To drive rolling movement of the outer element. Appropriate alignment of the thrust may be accomplished by suitable alignment of an aeronautical drive or an element of a drive, for example by tilting a propeller or a jet engine or rotating it in the desired direction of travel.

Usually, a plurality of aeronautical drive elements will be provided on a transport means, which are spaced apart from each other, for example distributed in a triangle, quadrangle or polygon or on a circular path on the circumference of the inner element. As a result of an uneven distribution of the thrust forces of the individual aeronautical drive elements, it is thus possible to achieve alignment of the entire drive force.

Resulting torques can also be generated by controlling individual aviation drives with respect to the pitch, ie the angle of attack, the propellers.

It may also be provided that, when the drive of the inner element is inclined, a load holder connected to the inner element is stabilized against rotation. This can be done by causing an oblique Position of the drive of the inner element a load holder is rotated by the drive.

A further advantageous embodiment of the means of transport provides that in a rolling movement of the transport means, the inner member by means of an electric motor drive, the inner and the outer member relative to each other drives, is stabilized. For this purpose, a control device is provided which has, for example, a gyrosensor for determining accelerations of the inner element and which regulates the electromotive drive. It makes sense to provide a plurality of electromotive drives which have independent stators and rotors and which can effect a relative rotation of the inner element relative to the outer element about a plurality of independent axes. For the navigation of a means of transport in a rail system with at least one rail fork with at least three interconnected rail elements leading to various other rail elements, it may be provided that a navigation device of the transport means on a rail fork on the basis of in a storage device of the transport stored data of a

Destination either one element of the means of transport or an element of the rail crotch operated to control a continuation of movement over one of the interconnected rail elements. At a fork in the road, the navigation system installed in the means of transport can determine its current location and determine the route to the destination by means of a location-determining device.

It follows, which of the lying before the means of transport, and thus, which branching rail element must be selected. The desired rail element can be at the fork by an independent

Alignment of the means of transport and a suitable orientation of the rolling motion can be selected. However, it can be operated by the transport and a stationary switch device in the rail system, which leads to a mechanical coding of the rail system, ie effectively blocking the wrong, not selectable rail elements, so that the transport itself automatically on the appropriate rail on emotional. For this purpose, the means of transport can actuate the switch in the rail system via a radio link or another remote-acting connection.

In the following the invention is illustrated and explained with reference to figures of a drawing in embodiments. It shows

1 shows schematically a spherical transport means with propeller drives,

2 shows the mounting of an inner element on an outer element,

3 shows a rotatable mounting about two axes of an inner element on an outer element,

4 shows a sliding mounting of an inner element on an inner surface of an outer element,

5 drive and moving directions of a means of transport on a plane,

6 shows a part of a rail system with a switch,

7 shows a composite transport path of a means of transport,

8 a transport path which runs partly through a rail network,

9 shows the structure of a navigation device of the means of transport,

10 shows an example of a transport means, in which the outer element is formed like a lattice, as well as

Fig. 11 different forms of outer elements of a means of transport. Figure 1 shows a round, rollable outer contour of an outer element 1, which may be formed for example as a ball. The wall of the outer element is shown schematically; It is a thin-walled ball which has a spherical inner space 2. I am this one

Interior element 3, which has a holding device 4 for a load to be transported 5 and an aviation drive with a plurality of aeronautical drive elements 6, 7. The aeronautical drive elements each have a rotor unit 8 with one or more individual motors and in each case one or more propellers or propellers 9. Several of these aeronautical drive elements are attached to the periphery of the holding device 4 and preferably distributed equidistantly in the circumferential direction. Two, three, four or more such aeronautical drive elements may be provided on the inner element 3. The motor units 8 of the aviation drive elements can be designed as electric motors or as internal combustion engines.

Controls are usually provided which control the individual aeronautical drive elements with respect to the thrust. For this purpose, the speed or the drive torque of the motors and / or an angle of attack

(Pitch) of the foliage screws / propellers are controlled. The control of the individual aeronautical drive elements 6, 7 is coordinated in such a way that, overall, a thrust in a desired direction and strength acts on the inner element 3, whereby, for example, torques can also act on the inner element 3.

The inner element 3 is rotatably mounted on the inside of the outer element 1 by means of second fixed rotary bearings 10, 11. The corresponding bearings are designed as a rotary bearing, either as a sliding bearing or as a rolling bearing.

In Figure 2, an embodiment of a bearing 11 is shown, wherein an outer bearing ring IIa is attached to the outer member 1, while the inner bearing ring is integrated into the shaft stub 12. Corresponding ball bearing cages 13, 14 with rolling elements are provided at an axial distance with respect to the shaft stub 12 from each other. Between the ball-bearing cages 13, 14, an electromechanical drive device in the form of an electric motor with an external stator 15 and a rotor 16 integrated in the shaft stub 12 is provided. The rotor 16 has, for example, permanent magnets, so that a brushless drive can be formed by suitable control of the stator 15 by means of a voltage source 17.

Rolls the ball shown in Figure 1 about an axis corresponding to the connecting axis of the bearings 10, 11, so the inner member 3 can be driven in opposite directions by the drive 15, 16, 17, wherein the drive is adjustable so that the I nnenelement relative to the pad on which the transport rolls, remains rotationally fixed.

Rolls the ball and rotates about an axis that does not coincide with the connecting axis 10, 11, so can be exercised by appropriate control of the aeronautical driving elements, a torque on the inner member which rotates the outer member such that at a given rolling direction, the rotation of the transport to the connection axis of the bearings 10, 11 takes place. If such a rotation succeeded, then the electric motor drive 15, 16, 17 can be used in the manner described above for stabilizing the inner element 3.

In order for the aeronautical drive elements to be able to develop thrust, an air exchange between the interior of the outer element 1 and the outer environment is provided. There are openings 18, 19, 20 distributed in the outer member 1 such that in different rotational positions of the inner member about the axis of the bearings 10, 11 in the direction of action of the aeronautical drive elements 6, 7 air from the outer element and can enter this.

Such openings may be formed as circular through holes, but also, as shown in more detail below, the outer element can be constructed like a grid and provided with a plurality of small openings. 3 shows schematically a cardanic suspension of an inner element 3 on an outer element 1 by means of an intermediate element 21. The inner element 3 is rotatably mounted on the intermediate element 21 by means of two bearings 10, 11, while the intermediate element 21 by means of two bearings which are similar to the bearings 10, 11 are constructed, is mounted on the outer element 1. In the given example, the axis of rotation formed between the bearings 10, 11 is arranged perpendicular to the axis of rotation 22 of the intermediate element 21. However, other angles between the two axes of rotation may be provided, so that by combining two

Rotational movements about the various axes arbitrary rotational movements between the outer member 1 and the inner member 3 can be realized. Thus, rotations of the outer member 1, which take place by rolling on a base in any direction, be neutralized by suitable combined rotational movements about the two given axes of the gimbal so that the

Inner element 3 against the base can be held against rotation. For this purpose, electromotive drives can be provided on both axes of rotation respectively in the bearings, as shown by way of example in FIG. However, stabilization of the inner element 3 can also be effected solely by suitable actuation of the aeronautical drive elements 6, 7.

FIG. 4 shows, within an outer element 1, an inner element 3 in a view in which all aeronautical drive elements 6, 7 can be seen. In the given view, six aerospace propulsion elements are shown with propellers shown schematically.

The storage of the inner element 3 according to the figure 4 in the interior of the outer member 1 is not via fixed rotary bearings, but by outer supports 23, 24 of the inner member 3 on the spherical inner wall la of the outer member 1 slide. In this way, the inner element 3 is rotatable in any direction within the outer member 1. The supports 23, 24 can either slide directly with sliding surfaces on the spherical inner contour la of the outer element, optionally with the interposition of a lubricant, or they can by rolling bearings 23a, 24a, for example, ball bearings with corresponding bearing cages, roll on the contour. FIG. 5 schematically shows a support 25 in the form of a straight flat surface on which a transporting means 68 can move by rolling. The transporting means 68 has a spherical outer element 1 in which an inner element 3 is rotatably mounted. Schematically, two aeronautical drive elements 6, 7 are shown. It is further the thrust direction 26, 27 of the two aeronautical drive elements 6, 7 shown. Above the transport means 68, the resulting force action in the form of the arrow 28 is shown. The resulting force 28 can be decomposed into the two components 29, 30, wherein the force component 29 is directed vertically to the base 25 and can serve for lifting the transport means 68 in the air with sufficient size. The horizontal component 30 is directed parallel to the surface of the base 25 and leads to a rolling movement of the transport means 68 on the base. By means of different thrust of the aeronautical drive elements 6, 7, torques can also be exerted on the inner element 3, which can likewise lead to the generation of a rolling movement of the outer element. With a suitable orientation of the torque, however, this can also lead to a rotation of the inner element 3 relative to the outer element of the transport means 68.

Basically, the means of transport need not be spherical, but it is sufficient if it has a rollable contour. The unrolling can take place on a more or less flat surface, but also on or in a rail. Four contours 31, 32, 33, 34 are shown by way of example in FIG. 11, wherein a ball or roller mold 31 is shown on the upper left side, while to the right is shown a roll mold 32 with a constriction of the roll diameter in the central region. Bottom left is shown a roller mold 33 with two constrictions, the bottom of the constrictions each having a circular cross-section. It is conceivable in such a shape of a transport rolling on two adjacent rails that engage in the constrictions. At the bottom right in FIG. 11, a barrel-shaped contour is shown, which can roll, for example, in a channel-shaped rail.

If rails are provided for unrolling the means of transport, they can also serve, for example, a power supply by guiding an electrical supply voltage. It can as rails however Also gutters or tubes or openings with circular or oval diameter can be used. For example, an existing pneumatic tube system can be used with corresponding tubes, wherein the individual aviation drive elements can be used for driving the transport.

The greatest advantage of the invention in combined transport routes, which can be covered in sections by rolling on a base / rail, but are covered in other sections suitable by a flight movement. Thus, a low energy expenditure in rolling transport is combined with a fast transport on flight paths, which is not least independent of existing infrastructure facilities.

FIG. 6 shows by way of example a part of a rail system, the channel-shaped rail elements 35, 36, 37 being illustrated. The illustrated rail elements form a switch, so that for a means of transport, which moves on the rail member 35 in the direction of the arrow 38, in principle, a further movement in the direction of the arrow 39 on the

Rail member 36 or in the direction of arrow 40 on the rail member 37 is possible. To select the transport path to the switch blocking elements can be raised from the bottom gaps 41, 42, which block each one of the rail elements 36, 37 for the transport. For example, may be provided below the turnout drive for the locking elements, which is to be operated by means of a radio link from the transport itself. The means of transport has for this purpose a navigation device, which is explained in more detail below, and controls, after it has determined a transport path, the points drive, so that the corresponding blocking element is activated on the not to be selected transport path and in the transport path as a barrier is retracted. The transport then moves over the other, unobstructed

Rail element continues on the desired path.

Due to the fact that the navigation device is integrated into the means of transport, a means of transport can autonomously search for an optimized route to its destination. If several means of transport are used, however, a be provided, which stores the location of a plurality of means of transport and makes the data available for individual means of transport. Alternatively or additionally, a plurality of transport means can exchange information with each other about their whereabouts and planned further way in order to avoid collisions or double occupancy of transport routes in this way.

A self-control of the means of transport does not necessarily require the control of external switch elements, but by the steering ability, each means of transport at a fork can also automatically search the right turn and take the appropriate transport by steering the own rolling motion by means of available aviation drive elements or an electric motor drive. In Figure 7, a transport path is shown symbolically, which begins at point 43 in a tubular rail system and this passes through to point 44. After leaving the rail system at point 44, the means of transport, symbolized by the arrow 45, lifts off the base and traverses a flight path 46 to the destination 47 at which a landing takes place. At point 48, the means of transport enters again into a rail system and passes through this to the destination 49, where the end of the transport path is reached.

The rail elements, which are shown in the various figures, can at least partially extend with a slope, in order to allow the means of transport to overcome height differences in this way. If the means of transport moves downhill, energy can be recovered for the means of transport by means of a built-in device for converting mechanical into electrical energy, for example by using the electromotive drive, which is then operated as a generator.

FIG. 8 schematically illustrates the possible complexity of a transport path that starts at a start location 50 and leads to a rail system 52 after a first flight path 51. The rail system 52 has a plurality of

Intersection / fork points on which a decision is to be taken, which transport route the means of transport continues to choose. Such decisions may be made on the basis of an overall analysis of the possible transport path to the destination 53 in such a way that the sections 51, 54 to be covered in flight are minimized for energy efficiency reasons. However, other optimization criteria may be chosen, such as the shortness of the transport time or the accuracy or reliability of the predictability of the transport time.

FIG. 9 schematically shows a navigation device with peripheral elements, which can be integrated into the means of transport. For this purpose, a central computing device 55 is provided, which has an input device 56 for indicating a destination. The computing device is connected to a GPS system 57, which can determine an instantaneous position of the means of transport. A database 58 contains data on maps and, for example, on the available infrastructure in the form of rail systems. From the current location and the entered destination can thus be determined in the computing device 55 of the navigation device, a transport path. In addition, sensors 59 can be used to obtain status information about the transport environment, such as the occupancy of rail sections or important weather information for the flight sections.

The navigation device then provides information to a drive device 60 for the aeronautical drive elements as well as to a drive device 61, which drives electromotive drives. In addition, points in track system sections lying on the transport path can be controlled via a transmission device 62.

In addition, a system is also conceivable in which a means of transport when entering a free rail section automatically locks it and releases it again when leaving the section, for example by actuating a signal switch.

Figure 10 shows an example of the formation of a means of transport as a ball or ball-shaped transport, said outer element has a grid-like structure with struts 63, 64, which in relation to the total weight and the static and dynamic stability can be optimized. Within the outer contour of the outer element, shaft stubs of a first inner element 67 are rotatably mounted in two diametrically opposite bearings 65 (opposite bearing concealed). In the first inner element 67, a second inner element 70 is rotatably mounted in bearings 68, 69 in the first inner element 67, so that a gimbal bearing is formed. In this way, further inner elements can also be provided staggered one inside the other. The second inner member has at its periphery six aeronautical drive elements in the form of motors, each driving propellers. In addition, it should also be noted that it can also be provided that the inner element is not only rotatable relative to the outer element, but also displaceable and / or that the aeronautical drive elements are displaceable relative to the inner element. As a result, for example, the aeronautical drive elements can at least temporarily be advanced beyond the outer contour of the outer element, so that they can work with increased efficiency in flight operation. In addition, it can be provided that a holding device for a load inside the inner element also rotatably arranged relative to the inner member, for example, is mounted in rotary bearings, in order to stabilize the load independently of this in an inclined position or rotation of the inner element.

For this purpose, the holding device can be gimbal-mounted, for example, inside the inner element, as shown by way of example in the gimbal-bearing of the inner element on the outer element in FIG.

Claims

claims

Transport means having an outer element (1, 31, 32, 33, 34, 63) and an inner element (3, 67) arranged within its outer contour, wherein

the inner element has a drive device with at least one aeronautical drive element (6, 7),

- The inner element is at least temporarily mounted movably on the outer element and

- The outer element has at least one along a circumference circumferential rolling contour.

Transport means according to claim 1, characterized in that the aeronautical drive elements (6, 7) at least temporarily, exclusively within the outer contour of the outer element (1, 31, 32, 33, 34, 63) are arranged.

Transport means according to claim 1 or 2, characterized in that the aeronautical drive elements (6, 7) are arranged exclusively within the outer contour of the outer element (1, 31, 32, 33, 34, 63).

Transport means according to claim 2 or 3, characterized in that at least one, in particular several or all aeronautical drive elements (6, 7) wholly or partially beyond the outer contour of the outer element (1, 31, 32, 33, 34, 63) are extendable.

Transport means according to one of the preceding claims, characterized in that the outer element (1, 31, 32, 33, 34, 63) has a circular cross-section at least at one point.

6. Transport means according to one of the preceding claims, characterized in that the contour of the outer element (1, 31, 32, 33, 34, 63) is spherical, cylindrical, barrel-shaped or roller-shaped with a sidecut or constriction.

7. Transport means according to one of the preceding claims, characterized in that the outer element (1, 31, 32, 33, 34, 63) at least one opening (18, 19), in particular at least two openings, which extends from the outside of the Outer element (1, 31, 32, 33, 34, 63) extend to an inner space of the outer element, in which the inner element (3, 67) is arranged.

8. Transport means according to one of the preceding claims, characterized in that the inner element (3, 67) on the outer element (1, 31, 32, 33, 34, 63) is rotatably mounted about an axis fixed in relation to the outer member.

9. Transport means according to one of the preceding claims, characterized in that the inner element (3, 67) on the outer element (1, 31, 32, 33, 34, 63) by at least two with respect to the outer element and / or an intermediate element ( 21) fixed axes (22) is rotatably mounted.

10. Transport means according to claim 9, characterized in that the inner element (3, 67) in one or more on the outer element (1, 31, 32, 33, 34, 63) and / or an intermediate element (21) fixed bearing (s) (10, 11) is rotatably mounted.

11. Transport means according to one of the preceding claims, characterized in that the inner element (3, 67) on an inner surface of the outer element (1, 31, 32, 33, 34, 63) is displaceably mounted, in particular by means of a Wälzkörperelementes.

12. Transport means according to one of the preceding claims, characterized in that the inner element (3, 67) on a circumferential in a circumferential direction cylindrical or spherical Inner surface of the outer member (1, 31, 32, 33, 34, 63) is freely rotatable or rotatable about at least one axis.

13. Transport means according to one of the preceding claims, characterized in that the inner element (3, 67) and the outer element (1, 31, 32, 33, 34, 63) by means of a fastened to one of the elements

Stators (15) and one attached to the other element rotor (16) are directly relative to each other driven.

14. Transport means according to one of the preceding claims, characterized in that the inner element (3, 67) has an aviation drive with one or more aeronautical drive elements (6, 7), in particular with propellers, by means of which on the inner element a torque about an axis of rotation and / or a thrust force with a horizontal component (30) can be generated.

15. Transport means according to one of the preceding claims, characterized in that the inner element (3, 67) has a drive with one or more aeronautical drive elements (6, 7), in particular with propellers, by means of which on the inner element a force (29) in Vertical direction can be generated, which is greater than the force acting on the transporting gravity.

16. Transport means according to one of the preceding claims, characterized in that a holding device (4) for a load to be transported (5) with the inner element (3, 67) is fixedly connected.

17. Transport means according to one of the preceding claims, characterized in that a holding device (4) for a transporting load (5) relative to the inner element (3, 67) about at least one axis, in particular about two axes, is rotatable.

18. Transport means according to one of the preceding claims, characterized in that the / the aeronautical drive element (s) (6, 7) of the inner element is driven by electric motors exclusively / are.

19. Transport means according to one of the preceding claims, characterized in that the / the aeronautical drive element (s) (6, 7) of the inner element at least partially each have a control device for the angle of attack of rotor blades, wherein the aeronautical drive elements are driven in particular by internal combustion engines.

20. Transport means according to one of the preceding claims, characterized by a control device which is adapted to rotatably stabilize the inner member regardless of a rotational movement of the outer member, in particular by the aviation drive (6, 7) and / or an electric motor drive (15, 16 ), which has a stator (15) and a rotor (16), one element of which is connected to the outer element and the other element is connected to the inner element.

21. Transport system with at least one means of transport according to one of claims 1 to 20 and with a rail element (35, 36, 37, 54) for unrolling at least one rollable contour of the means of transport.

22. Transport system according to claim 21, characterized in that the rail element (35, 36, 37, 54) extends at least in sections with a slope.

23. Transport system according to claim 22, characterized in that an inductive device for recovering electrical energy is provided during the relative movement between the inner element and the outer element during rolling of the transport means along a slope.

24. Transport system according to claim 21, 22 or 23, characterized in that at least two parallel rail elements are provided, on which the transport means unrolls and which lead a supply voltage for an electric drive of the means of transport.

25. Transport system according to claim 21, 22 or 23, characterized in that one or more or all rail elements (35, 36, 37) formed by a closed or semi-open in cross-section channel, in particular within a pipe or a gutter or a half pipe are.

26. Transport system according to one of claims 21 to 25 with a rail fork with at least three interconnected at one point rail elements (35, 36, 37, 54, which lead to various other rail elements, characterized in that the transport means comprises a memory device in the

Data of a destination are stored, and that the transport means comprises a navigation device which operates on a rail crotch either an element of the means of transport or an element of the rail crotch to control a continuation of the movement over one of the interconnected rail elements.

27. A method for operating a means of transport according to one of claims 1 to 20, characterized in that in a first movement section, the transport means rolls by rotation about one of its axes and flies in a preceding or subsequent movement section by means of an aviation drive.

28. A method for operating a means of transport according to one of claims 1 to 20, characterized in that in a movement section in which the transport means moves by rolling, the inner member against rotation of the rolling motion is stabilized against rotation.

29. A method for operating a means of transport according to any one of claims 27 or 28, characterized in that the thrust of an aviation drive of the inner member (3, 67) relative to the vertical direction, which is defined by gravity, is tilted to drive a rolling movement of the outer member ,

30. The method according to claim 29, characterized in that at an inclination of the aviation drive of the inner element with a the inner element (3, 67) connected load holder (4) is rotatably stabilized.

31. The method according to claim 29, characterized in that at a tilt of the aviation drive of the inner element, a load holder is rotated with the aviation drive.

32. The method of claim 27 or one of the following, characterized

characterized in that during a rolling movement of the transport means, the inner element (3, 67) by means of an electromotive drive (15, 16) which drives the inner and the outer member relative to each other, is stabilized.

33. A method for operating a transport system according to one of claims 21 to 26 with a rail fork with at least three interconnected at one point rail elements (35, 36, 37) leading to various other rail elements, characterized in that a navigation device (55) the means of transport on a rail fork on the basis of data stored in a storage means of the transport means of a destination either one element of the means of transport or an element of the rail crotch operated to control a continuation of the movement over one of the interconnected rail elements (35, 36, 37) ,