WO2005004082A2

WO2005004082A2 - Simulation and training sphere for receiving persons

Info

Publication number: WO2005004082A2
Application number: PCT/IB2004/051108
Authority: WO
Inventors: Adrián Carlos GONZÀLEZ DE MENDOZA Y KÄDING
Original assignee: Gonzalez De Mendoza Y Kaeding
Priority date: 2003-07-02
Filing date: 2004-07-02
Publication date: 2005-01-13
Also published as: WO2005004082A3; DE10330994A1

Abstract

The present invention addressed the problem of developing a basic concept for a simulation and training sphere driven by an electric motor on swivelling friction rollers and receiving one or more persons. The basic concept should ensure the high rigidity and indeformability required of such spheres. The application also seeks to satisfy requirements of ease of accessibility, high acceleration values, low noise output, high user safety, optimum ventilation, good transportability, universal utilisation and ease of maintenance. The basic concept should also provide an optimum basis for use of the simulation and training sphere as a sports or therapy device. The present invention solves this problem in that the spherical interior to be enclosed is surrounded by a high-precision and at the same time highly resistant, honeycomb-shaped supporting framework, preferably made of a metallic material. The honeycomb-shaped supporting framework is externally covered by shell elements. The shell elements are detachably secured to the supporting framework and form the surface of the sphere upon which the friction rollers roll.

Description

Description SIMULATION AND TRAINING BALL TO ACCEPT PEOPLE Technical environment

The present invention relates to pivotable friction rollers, electromotively driven, hollow hollow balls which are accessible to one or more users and whose drives are controlled by an electronic control.

Such balls are able to rotate around any axis intersecting their center point by 360 °. In the following, they are referred to as simulation and training balls.

Simulation and training balls are mainly used as flight simulators and amusement devices, with a user usually sitting in a kind of pulpit inside the ball and controlling the movements of the ball by means of control wheels, joysticks and the like. (e.g. US 2,344,454). More recent publications describe simulation and training spheres that enable a user to move through virtual rooms with the help of modern computer-controlled display devices. (e.g. EP 0839 559 AI; US 6,563,489; US 5,980,256; NL 9000722; GB 2 312 273).

The documents EP 0839 559 AI, US 6,563,489 and GB 2 312 273 describe simulation and training balls whose inside surfaces are accessible. They can therefore be used as omnidirectional cages, which can be used to walk through virtual rooms. From these publications, as well as the information available on the Internet at the time of registration, solutions for the construction of the spherical shell are shown that allow the inside to be walked on. Although both approaches speak of the possibility of driving the ball, the aim in both cases is a passive system reminiscent of a hamster wheel, in which the internal user rotates the ball, which is as low-friction as possible, by climbing up the inside wall of the ball. The requirements placed on the spherical shell in this system are, in particular, the smallest possible moving mass and - for various reasons - transparency of the spherical shell.

[005] The authors of GB 2 312 273 describe a sphere on the Internet at http://www.vr-systems.ndtilda.co.uk/indexl.htm which achieves these goals by means of a sandwich construction. Two layers of puzzle-like interlocking, thin-walled and transparent shell elements form two balls in which the outer diameter of the inner ball corresponds to the inner diameter of the outer ball. The surfaces lying against each other are screwed or glued together. The builders complain about the fact that a lightweight Ball cover is already deformed under its own weight, but a heavy ball cover can only be moved with difficulty by the user. In addition, the integration of an entry opening seems to have caused problems.

The authors of EP 0839 559 AI and US 6,563,489 describe on the Internet at http://www.virtusphere.com/ a likewise passive ball whose spherical shell consists of thick-walled and yet light and stable shell elements due to its lattice-like structure, which are attached to its Seams are directly connected to each other. The division of the spherical surface into individual shell elements is based on the division that is formed by the projection of the edges of a dodecahedron onto the spherical surface. At the center of each of the 12 pentagonal surfaces that are formed in this way is a small entry opening through which a user can get into the inside of the sphere in a relatively uncomfortable manner. This access hatch must be closed from the outside by an assistant. Disclosure of the Invention Technical Problem

The resulting from the publications mentioned solutions for the construction of the spherical shell for a walk-in simulation and training ball have in common that they were not originally designed for a drive. However, special requirements with regard to stiffness and dimensional accuracy are placed on an optionally transparent spherical shell that accommodates a user and that is actively set in motion by means of swiveling friction rollers and exposed to high loads.

In this application, demands are also made for easy accessibility, high acceleration values, low noise, great user safety, optimal ventilation, good transportability, universal usability and high maintenance friendliness.

In addition, the spherical shell, if it is accessible from the inside, between the inner and outer spherical shell provide an easily accessible inside and outside storage space for different additional units. The heavily loaded inner and outer transparent spherical surfaces should be easy to replace.

The object of the present invention was therefore to develop a basic concept for a simulation and training ball, which is driven by means of pivotable friction wheels and is electromotively driven, for accommodating one or more people, and which is able to meet the stated requirements in corresponding expansion stages. The concept is also intended to create an optimal basis for using the simulation and training ball as a sports and therapy device. Technical solution

[011] The present invention achieves the object described by covering the spherical interior to be enclosed with a highly precise and at the same time high-strength honeycomb-like structure, which preferably consists of a metallic material. The honeycomb structure is covered on the outside by shell elements. These shell elements are releasably attached to this structure and form the spherical surface on which the friction rollers roll. They are preferably made of a transparent plastic, for example PMMA, or are lattice-shaped. According to an advantageous embodiment, the shell elements do not lie directly on the supporting structure, but are separated from it by an intermediate elastic component. This has the task of inhibiting the development of noise, reducing the requirements for the fit of the shell elements and compensating for the different thermal expansion of a metal structure and the plastic shell elements.

Such a honeycomb-like structure advantageously consists of flat rib-like struts (hereinafter referred to as ribs) which are connected to one another at the nodes by star-shaped node elements.

According to an advantageous embodiment, a breakthrough passes through the center of individual or all node elements, which can serve to accommodate the node element in various manufacturing steps and later to introduce threaded sleeves or the like, and thus a uniform, universal network of adapter points distributed inside the ball results for internal installations. These breakthroughs can be used to accommodate e.g. Emergency switches are used or are used to attach external hooks.

A further requirement was to enable a safe exit from the ball in the event of a fault and in particular a power failure. The actual access opening can be so unfavorable that it cannot be opened. In this case, it makes sense to provide the ball cover with a sufficient number of emergency openings evenly distributed on the ball cover.

The requirements placed on the structure of the ball cover in this way can be met particularly advantageously by segmentation of the ball surface which corresponds to that of a classic football. As is well known, this consists of 12 pentagonal (black) and 20 hexagonal (white) areas. This is also suggested in US 6,563,489.

Since these segments are still very large and for manufacturing and stability reasons a further segmentation of the structure and the shell elements seems desirable, such an advantageous embodiment of the invention, such a small-scale segmentation is achieved by the hexagons in six and the pentagons in five triangles of equal size can be divided. The spherical surface is thus divided into 60 and 120 segments, each of which is uniform.

This division enables a favorable door-like shape for the access opening, which is approximately man-height with an outer diameter of the ball of three meters. If one looks at the football model, the access opening is formed with the inclusion of two adjacent pentagonal surfaces and the inner one Half of the adjacent hexagons that touch both pentagons. The remaining 10 pentagonal areas can be designed as emergency openings. This division also allows the ball surface to be divided into 20 hexagonal and 12 pentagonal assembly units according to the football segmentation, which can be joined together at their seams by means of fitting elements. This means that the ball can be largely prefabricated at the production site, but can still be delivered in parts that fit comfortably through conventional doors. These parts are then assembled at the installation site to form the finished spherical shell.

According to another advantageous embodiment, the 20 hexagonal and 12 pentagonal surfaces of the segmentation described above are divided into six and five uniform rhombuses, respectively. This division offers the advantage that 12 significantly larger assembly units can be formed, which correspond to the projection of the edges of a dodecahedron on the spherical surface. There is an emergency opening in the center of each assembly unit. The shape of the access opening advantageously corresponds to the shape of the assembly units. This offers the advantage that an emergency opening can also be accommodated in the center of the access opening, so that a total of 12 emergency openings are evenly distributed over the spherical surface. However, not only is the shape of the access opening less favorable than in the variant described above, it is also significantly heavier and requires more massive suspension.

According to an advantageous embodiment of the invention, the ribs and node elements that make up the supporting structure are detachably and positively connected to one another in such a way that their spatial position relative to one another is clearly determined. This is achieved through a suitable shape of the connecting surfaces or through the additional use of fitting elements (e.g. pins, sliding blocks, etc.). In this way it can be achieved that a sufficiently precise spherical shape of the supporting structure inevitably results during assembly, provided that the individual elements are manufactured precisely enough. This eliminates the need for shape corrections on the finished structure. Highly precise assembly gauges are also not required.

Seams are formed on the outer edges of assembly units, emergency openings and access openings, which must be designed to be separable according to the function. According to an advantageous embodiment, the ribs are double at these points and the node elements are made in two parts, so that a stable, closed honeycomb structure results on both edges of the elements involved, even when disassembled or opened.

In order to connect two adjacent assembly units with one another in an exact position, the adjacent ribs are aligned with one another by means of fitting elements and joined to one another by means of releasable connecting elements. On seams, Interlocks are used, which must be easily separable at the emergency and access openings.

According to a further advantageous embodiment, the ball is additionally provided with an inner casing in addition to the outer casing. This serves the internal accessibility of the ball and the accident protection. According to an advantageous embodiment, it is connected to the outer shell by means of elastic intermediate elements, so that if the occupant falls against the inner formwork, the latter can cushion the fall.

If the ball is only supported on bearings below its equatorial plane, there is potentially a risk of the moving ball jumping out, for example due to an imbalance or a malfunction of the drives. In order to avoid this danger, it was proposed in previous publications to arrange an additional bearing point above the equatorial plane in the form of a further swivel roller or an air bearing.

According to an advantageous embodiment of the invention, to avoid this danger, the ball is surrounded by a frame which carries a securing ring which is arranged above the equatorial plane and surrounds the ball and prevents the ball from jumping out. There is an air gap between this ring and the surface of the ball, so that the ball actually only exits this ring. touched case. In order to avoid damage to the ball surface due to the collision with the ring, the inside of the ring is provided with a friction lining.

[025] According to an advantageous embodiment of the invention, electrically driven fans are located inside the ball to support the air circulation. These are preferably arranged between the outer and inner formwork in the part of the ball which is normally at the bottom, where they suck in the cool soil air and conduct it into the inside of the ball. The used air can escape through outlet openings in the upper part of the ball.

[026] Depending on the application of the ball, different interior fittings of the ball are conceivable. If the ball is used as an omnidirectional barrel cage, the inner casing must cover the entire inner surface of the ball and be sufficiently stable to withstand the tread load, but also to withstand a possible fall of the user without damage.

[027] For other applications of the ball, a wide variety of internals can be fastened with the aid of the adapter points mentioned above and, if appropriate, also quickly removed again. In the following, some application cases with their internals and controls are described as examples. The classic field of application of the training and simulation spheres are vehicle simulations (jet, helicopter, speed boat, etc.). The user usually sits in a seat that is modeled on the respective vehicle seat and controls his virtual vehicle by means of Steering wheels, joysticks, control levers, pedals and the like.

Another class of device which also allows a person to rotate freely around his three degrees of freedom in a spatially fixed coordinate system are the human gyroscopes already mentioned at the beginning. The areas of application for these devices are primarily in the sports and leisure sector, but they are also used for therapy and training purposes. Human gyroscopes are used in pilots' training centers to train their sense of balance and orientation. In the medical field they are used to treat back ailments. These fields of application can also be served by a simulation and training ball in the form shown here. A simulation and training ball according to the invention offers the advantage over the human gyroscope of active drives, which are very difficult to implement in the axes of the human gyroscope and involve considerable technical problems. With the help of active drives and a controller, programmed motion sequences can be executed. According to an advantageous embodiment, the therapist or trainer has an external operating device (joystick, trackball, etc.) with which he can control or influence the movements of the ball directly and in interaction with the user. In these applications, the internals generally consist of frames that fix the user in a certain posture - sitting, standing or lying.

[029] Sports-oriented simulations form a new field of application, in which whole-body movements and in particular weight shifts are used for ball control. An example are the sports equipment simulations, in which the user environment typical for the respective sports equipment is simulated in the sphere, e.g. the rung ring of a wheel or the handles and the height-adjustable standing platform of a human. The ball control offers the possibility to adapt the simulated properties of the sports equipment very flexibly to the skills and needs of the user. Also e.g. when simulating a human gyroscope, a significantly higher safety standard with increased freedom of movement compared to the original device can be achieved.

[030] Many applications only make sense if the user can use it to move through a virtual reality. Suitable display devices are an essential prerequisite for this. In addition to the display devices already described in previous publications (data glasses, internal screens and displays), the transparency of the spherical shell allows at least two other display options. On the one hand, the ball can be more or less completely surrounded by external fixed displays, as is the case, for example, with the well-known CAVE Displays that completely surround the user when needed. to Generating a three-dimensional impression of his surroundings, the user can additionally wear glasses, the glasses of which are mutually darkened in rapid succession. Depending on which glass is currently darkened, the image for the right or left eye appears on the displays. Through an additional detection of the user's viewing direction by sensors that determine the head position, the display can be restricted to the user's current field of vision. to save computing power and energy. Determining the head position and viewing direction may also be important for image generation.

The lining of the inner surface of the sphere with displays offers the user an even higher degree of realism than is possible with data glasses. A higher resolution than the data glasses is achieved and the user also maintains self-vision. The transmission of the video signals via cable or radio link to the data glasses is eliminated, the user has to carry less heavy and cumbersome technology with him.

In order to make the virtual environments acoustically perceptible to a user, the use of headphones has been proposed in other applications. However, these have the disadvantage that directional listening is limited to the right and left location. In addition, they are a hindrance in the ball during sports activities. Therefore, according to an advantageous embodiment of the invention, a multi-channel sound system is built into the spherical envelope, which enables the user to have a three-dimensional sound experience. This preferably consists of at least six loudspeakers, which are distributed on the inside of the sphere in such a way that the sound directions above, below, front, back, right and left can be distinguished. This arrangement is advantageously supplemented by a sound control which allows a directional impression which is independent of the ball position and stable in relation to the actual or a virtual environment. This requires a coupling of the drive control and the sound control, in which the drive control continuously informs the sound control about the current position of the ball and, if applicable, the virtual reference environment.

In some applications, such as vehicle simulations and sport-oriented simulations, it is obvious to network several balls with one another in order to enable the users to hold competitions with one another. In order to network spheres that are far apart, it is advisable to use the Internet for networking. Networking of several spheres via the Internet also makes sense for applications involving the joint inspection of virtual rooms. For example, an architect could walk through a planned building with a building owner and discuss details of the plan, even if the two participants are thousands of kilometers apart. An Internet connection also offers the advantage of establishing a connection between the ball and a service point, which is the basis for remote maintenance could perform.

According to another advantageous embodiment of the invention, one or more cameras directed at the user are installed inside the sphere. The image supplied by the cameras can serve different purposes. The image can be forwarded to the outside via a wireless connection to allow an outsider (e.g. the trainer) to observe the user.

[035] The images captured by the camera can also be made available to a computer with image analysis capabilities. This records and analyzes the movements and gestures of the user and can use the information obtained to control the ball drives. To simplify this task, the user carries reference markings that are easy to recognize on the body by the software.

From the foregoing considerations, it is clear that the ball must have a considerable energy reserve with it in order to supply the internal electrical consumers.

[037] The energy supply is advantageously carried out by at least one rechargeable battery.

In accordance with an advantageous embodiment, this is supplemented by at least one second battery which, in the event of a fault or during a battery change, supplies the consumers located inside the sphere and here in particular the safety-relevant components with energy.

According to a further advantageous embodiment of the invention, the rechargeable batteries can be supplied with the charging voltage via a contact point on the outer spherical shell. The contact point can be connected to the energy source manually via a plug connection or by an automated mechanism.

According to a further advantageous embodiment of the invention, the batteries feed an emergency lighting system located inside the ball, which ensures visibility in the ball in the event of a power failure, and thus makes it easier to find and open the emergency openings. Brief description of drawings

[041] Fig. 1 ball structure variant 1

[042] Fig. 2 assembly units variant 1

[043] Fig. 3 ball structure variant 2

Fig. 4 assembly units variant 2

Fig. 5 connecting elements between ribs and node elements

[046] Fig. 6 Pentagonal assembly unit (emergency opening)

[047] Fig. 7 Hexagonal assembly unit

8 ball complete with opened door and blown off emergency opening

9 cutout door (without casing) Fig. 10 suspension of the shell elements

11 Ball in the frame. FIG. 12 Electrical components

Fig. 13 users in the ball

1 shows the first variant according to the invention for segmenting the spherical surface. The spherical shell is formed from a total of 120 larger triangular shell elements 2 and 60 smaller triangular shell elements 1 (can be put together) each of the same shape and size. The pentagonal emergency openings 4 are shown with simple hatching, the preferred form of the access opening 3 is shown with cross hatching.

[053] FIG. 2 shows the division of the spherical envelope into assembly units according to the segmentation variant 1 shown in FIG. 1. The division of the two hexagons belonging to the access opening is shown in dashed lines.

[054] FIG. 3 shows the second variant according to the invention for segmenting the spherical surface. The spherical shell is formed from a total of 120 larger rhombic-shaped shell elements 2 and 60 smaller rhomboid-shaped shell elements 1 (can be put together) each of the same shape and size. The pentagonal emergency openings 8 are shown with simple hatching, the preferred form of the access opening 7 is shown with cross hatching.

[055] FIG. 4 shows the division of the spherical envelope according to the invention into assembly units based on the segmentation variant 2 shown in FIG. 3.

5 shows the main components of an embodiment of the honeycomb structure according to the invention. A star-shaped node element 9 is positively connected to the outgoing ribs 10. The form fit is achieved by a cylindrical fitting element 11. The ribs 10 are additionally screwed to the node element 9. In the center of the node element there is an opening 12 which can be used to hold the node element in various manufacturing steps and later to insert threaded sleeves or the like, thus resulting in a uniform, universal network of adapter points for internal installations distributed inside the ball. These openings 12 can be used to accommodate e.g. Emergency switches are used or are used to attach external hooks.

6 and 7 show the pentagonal and hexagonal separate assembly units of the first segmentation variant according to the invention. The knot element 9 known from FIG. 5 with the connected ribs 10 is shown. The frame of the pentagon is formed by divided knot elements 14 and ribs 13 which bear directly against the ribs 19 and divided knot elements 14 of the hexagonal assembly unit shown in FIG. The connection between the ribs 13 and 19 takes place via the mechanical latches 16, which are connected via Bowden cables 17 to the release mechanism located in the center of the node element 9. The to the pentagonal assembly units adjacent ribs 19 of the hexagonal assembly unit alternate within the framework of the hexagon with the ribs 20, which adjoin other hexagonal assembly units and are positively connected to these by fitting screws 21. The outer shell elements 15 and 18, which form the rolling surface for the drives, are also visible.

8 shows a complete spherical shell of the first segmentation variant according to the invention with a blown off emergency opening 22 and the opened access opening 23.

[059] FIG. 9 shows the structure of the access opening shown in FIG. 8. In the area of the access opening, the structure differs from the structure shown in FIGS. 6 and 7 in several respects. The central hexagons are divided in the middle and carry the door hinges 24 on one side and the elements of the electro-hydraulic and manual locking on the other side. The pentagons differ from the pentagons of the emergency openings in that they are firmly connected to the central hexagons of the access opening by fitting screws 21.

Also shown in section X are the externally and internally operable mini hydraulic unit 27 for the main locking which is driven by the electric motor 28 and which can be actuated via the buttons 29 and 30. The pair of buttons is created twice. The button pair visible in FIG. 9 can be operated from the inside, a second button pair located on the rear of the mini hydraulic unit can be operated from the outside. The mini hydraulic unit supplies the hydraulically operated locking mechanisms evenly distributed over the door frame via the pressure line 25.

[061] Also shown in section X is the manual locking. This includes from an outside and inside door handle. While the outside door handle 31 actuates the latch 34 directly, the inside door handle 32 only serves to pull the door closed, while the latch 34 remains in the snap position. The latch bolt 34 can be unlocked from the inside by a separate unlocking lever 33 for opening the door.

[062] FIG. 10 shows a section through the spherical shell at a separable seam. In particular, an example of the fastening of the inner and outer shell elements is shown. The cast outer shell element 53 has a co-molded undercut area on which a divided holding element 56 engages and is separated from it by an elastic intermediate element. The elastic intermediate element is used for acoustic damping and the compensation of shape tolerances as well as uneven length expansion under the influence of heat. The split holding elements are screwed to one of the ribs 19 and 20. Also shown is a molded-in ribbing 55 of the outer shell element, which gives it additional dimensional stability. In this example, the holding elements for the inner formwork, which are also screwed to the ribs, carry elastic damping elements. fifth elements that perform the same tasks as the elastic intermediate elements of the outer casing, but additionally allow the inner shell elements 54 to deflect. This serves to reduce the risk of injury if the user falls onto the inner formwork. In this example, the inner shell elements 54 are plugged on from the inside; the connection is made via the snap hooks 59 which are cast together.

[063] FIG. 11 shows a simulation and training ball in a frame according to the invention. The base frame consisting of the base ring 61 and the lower frame ring 64 stands on height-adjustable rubber feet 62. The base frame carries the drive units on which the ball sleeve 63 rests. This is encircled by three arch spars 65 projecting from the underframe, which bear a locking ring 66 arranged above the equatorial plane, which prevents the ball from jumping out of its mounting. This is provided with a friction lining 67 on its side facing the ball surface. If the ball sleeve 63 collides with the locking ring 66 due to a malfunction of the drives or excessive ball imbalance, the friction lining 67 prevents damage to the ball surface.

[064] FIG. 12 shows an exemplary arrangement of electrical components in the ball cover and their connection to the ball control. In the lower part of the ball, a plurality of fans 69 draw fresh air from the outside through the air inlet openings 68 into the interior. The used air exits through the air outlet openings 70 in the upper part of the ball. The fans, like all other electrical components inside the sphere, are powered by rechargeable batteries 74. The three-dimensional sound of the interior of the sphere is served by the 6 loudspeakers 71, which are evenly distributed over the sphere. These are fed by the central electronics 75, in the housing of which there is a computer located, which provides the sound information depending on the ball position and the requirements of the virtual environment. If the ball position is determined externally, the position information of the ball can be transmitted to the computer wirelessly from the outside via the transmitting and receiving unit 76. Cameras 72 and microphones 73 directed towards the user are also located in the spherical shell. The images and sounds supplied by the cameras and the microphones are also forwarded to the central electronics, in which they are either interpreted or directly using the internal transmitting and receiving unit 76 can be transmitted to the external transmitting and receiving unit 79 connected to an external computer 78. The external computer is connected to the power section of the drive control so that control commands from inside the ball can influence the drives. The external computer 78 is connected to the Internet and serves as a web server, so that operating state parameters, video data, audio signals and others can be distributed over the Internet. So remote maintenance and possibly even remote control of the Bullet possible. The internet connection also serves to network users of different spheres with each other so that they can interact with each other in a common virtual environment. A display 77 located inside the sphere and connected to the central electronics 75 can be used to display data of interest to the user, for example about the operating state of the sphere.

Fig. 13 shows an example of an interior of the ball for a sport-oriented application in which the user controls the ball via his body movements. The interior design shown is based on the user environment of a human gyroscope. The required height-adjustable standing platform 88 with the foot fixation 89 and the handle bars 81 are evenly distributed in the interior of the ball above. Anchored adapter points. In order to prevent the user from falling, he wears a holding harness 84, which is connected to the spherical shell by a plurality of holding ropes 85. The tether limits the user's freedom of movement to an area where injuries are unlikely. If one of the tethers is loaded, this is registered by a sensor near the tether. This information can be forwarded to the drive control, which evaluates the information and, if necessary, compares it with information that is supplied with information by other sensors. This enables the controller to detect a fall or loss of consciousness by the user and to stop the ball.

The user represented is equipped with data glasses (HMD) 82 which allows him to surround himself with a virtual reality. The video data are generated by an external computer 78 connected to the drive controller and transmitted to the data glasses (HMD) 82 via the radio link between the external transmission and reception unit 79 and a mobile transmission and reception unit 83 which the user carries with him. The best way to take advantage of the invention

The best way to carry out the invention results from a combination of the features specified in claims 1-5, and 7, and 9 and 10, and 12 to 16, and 18 to 27, and 29 to 33 and 36. These are explained in more detail in the exemplary embodiments and in the description of the figures. The features specified in claims 6, 8, 11, 17, 28, 34, 35, 37, 38 and 39 are to be understood as alternatives or, depending on the application, any supplements that may be unnecessary.

Claims

Expectations

By means of pivotable friction rollers electromotively driven, fixed-mounted simulation and training ball which is accessible to one or more users and whose drives are controlled by a common control and whose spherical shell is formed from several shell elements with a spherically curved outer surface and a self-supporting structure is on which the shell elements are releasably attached.

Simulation and training ball according to the preceding claim 1, characterized in that this structure is honeycomb-shaped and is essentially formed from node elements (9) and ribs (10), the ribs (10) forming flat ring sections whose ring centers be in or at least close to the center of the sphere.

Simulation and training ball according to the preceding claim 2, characterized in that in each case a node element (9) with a rib (10) is positively connected to one another in such a way that their position relative to one another in space is clearly determined.

Simulation and training ball according to claim 3, characterized in that the dimensional accuracy of the composite honeycomb structure is based solely on the shape and fit of the individual elements, so that these together form the overall shape in the required tolerances without corrective measures being required ,

Simulation and training ball according to claim 1 and 2, characterized in that the honeycomb structure of the spherical shell is derived from a division into 20 and 12 respectively uniform and equally large honeycomb structures, each of the 12 respectively uniform and equally large honeycomb structures from 5 of the 20 each uniform and uniform honeycomb structures is enclosed.

Simulation and training ball according to claim 1 and 2, characterized in that the honeycomb structure of the spherical shell is derived from a division into 12 respectively uniform and equally large honeycomb structures.

Simulation and training ball according to claim 1, 2 and 5, characterized in that the 20 uniform and equal size honeycomb structures form equilateral hexagons, which in turn are divided into 6 equal sized triangular honeycombs and that the 12 uniform and equal size structures form equilateral pentagons in turn are divided into 5 triangular honeycombs.

Simulation and training ball according to claim 1, 2 and 5, characterized in that the 20 uniform and equal size honeycomb structures form equilateral hexagons, which in turn are divided into 6 equal square honeycombs and that the 12 uniform and equal size structures form equilateral pentagons in turn are divided into 5 square honeycombs. Simulation and training ball according spoke 1, characterized in that the structure has a flush lockable access opening.

Simulation and training ball according to claim 1, 2, 5 and 9, characterized in that the access opening is formed from approximately equal proportions of two of the 20, as well as partially or completely from two of the 12 respectively uniform and equal honeycomb structures.

[011] Simulation and training ball according to claim 1, 2, 6 and 9, characterized in that the access opening is formed from one of the 12 uniform and equally large honeycomb structures.

Simulation and training ball according to claim 9, characterized in that this access opening can be locked and unlocked from the inside.

[013] Simulation and training ball according to claim 9, characterized in that this access opening can be unlocked from the outside.

[014] Simulation and training ball according to one of claims 12 or 13, characterized in that the locking mechanism is driven by an electric motor, and thus can be opened or closed via a mechanically or electrically operated switch.

Simulation and training ball according to claim 1, characterized in that the ball cover can be disassembled for the purpose of better portability in assembly units, each carrying a plurality of shell elements.

Simulation and training ball according to claim 1, 2 and 15, characterized in that the ball cover is divided into 20 and 12 respectively uniform and the same size assembly units.

Simulation and training ball according to claim 1, 2 and 15, characterized in that the ball cover is divided into 12 uniform and the same size assembly units.

Simulation and training ball according to claim 1, characterized in that the ball receives several evenly arranged on the surface of the ball from the inside opening emergency openings.

[019] Simulation and training ball according to one of claims 9 or 18, characterized in that access and emergency openings are provided with sensors (39) which check the state of the opening - ie open or closed - and this information by means of additional components Provide users and / or the controller.

Simulation and training ball according to claim 1 and 2 and one of claims 10, 16 or 19, characterized in that two ribs are used at the seams of the latticework, which arise at the access opening, the emergency openings and between the assembly units, which lie next to each other so that the honeycombs adjoining these seams remain completely on the seam when separated. Simulation and training ball according spoke 1, characterized in that the shell elements are not directly connected to the adjacent shell element or the structure but are separated from them by intermediate elements made of an elastic material (57).

Simulation and training ball according to claim 1, characterized in that the spherical shell has outer (53) and at least partially inner shell elements (54) which generate a space which is necessary to accommodate different mechanical and electrical for the intended use of the ball Components can be used.

Simulation and training ball according to spoke 1, characterized in that the inner ball wall has a plurality of threads or other universally usable adapter points that are used for fastening internal fittings, handles, etc. can be used.

Simulation and training ball according to claim 2 and 23, characterized in that these adapter points are arranged in openings (12) in the center of the node elements (10) of the latticework.

[025] Simulation and training ball according to the preceding claim 24, characterized in that at least one fan (69) is installed in the interior of the ball, which supports the gas exchange with the environment.

Simulation and training ball according to claim 1, characterized in that it has a computer located inside the ball, which can communicate via a wireless connection with the drive control, other computers or the Internet, this computer from outside or inside evaluates incoming signals and is the central link in the communication chain between the inside of the ball and the outside of the ball and thus also between the user and the drive control.

[027] Simulation and training ball according to the preceding claim 26, characterized in that this computer provides the occupant with information about the operating state and / or the virtual environment via at least one optical or acoustic output device.

Simulation and training ball according to claim 1, characterized in that the occupant or the occupants are connected by means of tether (85) or straps to certain points on the inside of the spherical shell, these tethers (85) on arms, legs or suitable harnesses are attached to the chest and back of the occupant and are suitable to limit the occupant's freedom of movement and thus reduce the risk of injury in the event of a fall.

[029] Simulation and training ball according to claim 1, characterized in that there is at least one rechargeable battery (74) inside the ball for supplying electrical components. Simulation and training ball according to claim 1, characterized in that the ball has an emergency lighting system that allows the user to orientate himself after a malfunction or in the event of a power failure.

Simulation and training ball according to the preceding claim 30, characterized in that this emergency lighting system is based on self-illuminating materials and thus works without current.

Simulation and training ball according to claim 1, characterized in that the frame which carries the drives and the ball, the ball so far that in the event of a malfunction or due to a strong imbalance, the ball pops out of the through the friction rollers ( Drive rollers) formed base bearings and in extreme cases rolling the ball out of the frame becomes impossible.

Simulation and training ball according to the preceding spoke 32, characterized in that attached to this frame to the ball surface facing friction linings (67), which reduce the risk of damage to the ball surface, these friction linings are attached at a short distance from the ball surface or even touch them.

Simulation and training ball according to claim 1, characterized in that one or more displays facing the user are attached to this structure.

Simulation and training ball according to the preceding speech 34, characterized in that the ball cover is largely completely lined with such displays, so that the user looks at one of these displays in every viewing direction.

Simulation and training ball according spoke 1, characterized in that the shell elements consist of a transparent material.

[037] Simulation and training ball according to spoke 1, characterized in that the shell elements themselves have a lattice-like structure.

Simulation and training ball according spoke 1, characterized in that a multi-channel sound system is installed in the movable part of the ball that enables a three-dimensional sound experience.

Simulation and training ball according to claim 1, characterized in that at least one microphone is installed in the movable part of the ball that allows sound transmissions from the ball and, if necessary, forwards spoken user commands to the drive control.