Abstract
The present invention relates to an omni wheel (312, 312, 312) and an omni wheel arrangement allowing for easy movement of a medical device by using braking devices (307a, 307b, 307c, 307d).
Claims
1. A mobile surgery system comprising at least one omni-wheel for moving the mobile surgery system, the omni-wheel comprising: at least one wheel device having a wheel body; a wheel shaft arranged in the center of the wheel body; at least one roller device; at least one of a wheel braking device and/or a roller braking device; wherein the at least one roller device has a roller shaft and a roller body; wherein the at least one roller device is arranged on the wheel body such that at least a part of the circumferential surface of the roller device forms at least a part of a circumferential surface of the wheel body; wherein the wheel braking device is adapted for blocking a movement of the wheel body around the wheel shaft; and wherein the roller braking device is adapted for blocking a movement of the roller body around the roller shaft, and wherein the wheel braking device and the roller braking device are activatable independently.
2. The mobile surgery system of claim 1 wherein the at least one roller device is movable within the wheel device.
3. The mobile surgery system of claim 1 wherein a diameter of the roller device is smaller than the diameter of the wheel device.
4. The mobile surgery system of claim 3, wherein the at least one of a wheel braking device and a roller braking device comprises at least one of a braking plate, a motor and/or shaft blocking device.
5. The mobile surgery system of claim 4, further comprising: a further omni-wheel; a mounting plate; wherein the at least one omni-wheel and the further omni-wheel are mounted on the same side of the mounting plate.
6. The mobile surgery system of claim 5, wherein the at least one omni wheel and the further omni-wheel are mounted on the mounting plate such that the shaft of the wheel-device of the at least one omni-wheel lies on the same virtual axis as the shaft of the wheel-device of the further omni-wheel.
7. The mobile surgery system of claim 5, wherein the at least one omni wheel and the further omni-wheel are mounted on the mounting plate such that the shaft of the wheel-device of the at least one omni-wheel lies on a virtual axis perpendicular to the virtual axis of the shaft of the wheel-device of the further omni-wheel.
8. The mobile surgery system of claim 5, wherein the at least one omni-wheel and the further -omni-wheel are mounted in a common housing.
9. The mobile surgery system of claim 5, wherein the at least one omni-wheel and the further -omni-wheel are mounted on a pivot.
10. An omni-wheel comprising: a wheel device having a wheel body; a wheel shaft arranged in the center of the wheel body; at least one roller device; at least one of a wheel braking device and a roller braking device; wherein the at least one roller device has a roller shaft and a roller body; wherein the at least one roller device is arranged on the wheel body such that at least a part of the circumferential surface of the roller device forms at least a part of a circumferential surface of the wheel body; wherein the wheel braking device is adapted for blocking a movement of the wheel body around the wheel shaft; and wherein the roller braking device is adapted for blocking a movement of the roller body around the roller shaft, wherein the wheel braking device and the roller braking device are activatable independently.
11. An omni-wheel arrangement, comprising: a first omni-wheel of claim 10; a second omni-wheel of claim 10; a mounting plate; wherein the first omni-wheel and the second omni-wheel are mounted on the same side of the mounting plate.
12. A method for controlling an omni-wheel of claim 10, the method comprising: determining a direction of desired movement; if the direction of desired movement is parallel to the wheel shaft activating the wheel braking device; if the direction of desired movement is perpendicular to the wheel shaft activating roller braking device; if no movement is desired activating the wheel braking device and activating the roller braking device.
13. A method for controlling a mobile surgery system of claim 7, the method comprising: determining a direction of desired movement; if the direction of desired movement is parallel to the wheel shaft of the at least one omni wheel activating the wheel braking device of the wheel of the omni wheel and unlocking the wheel braking device of the further omni wheel perpendicular to the at least one omni wheel; if the direction of desired movement is perpendicular to the wheel shaft of the at least one omni wheel activating the roller braking device of the at least one omni wheel and/or activating the wheel braking device of the further omni wheel; if no movement is desired activating the wheel braking device of at least one omni wheel and/or the wheel braking device of the further omni wheel.
14. Program element for controlling an omni-wheel and/or a mobile surgery system, which, when being executed by a processor is adapted to carry out at least one of the method of claim 12.
15. Computer readable medium for controlling an omni-wheel and/or a mobile surgery system, comprising program code, which, when being executed by a processor is adapted to carry out at least one of the method of claim 12.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0050] Exemplary embodiments of the invention will be described in the following with reference to the following drawings:
[0051] FIG. 1 shows a mobile X-ray system with a front castor wheel for a better understanding of the present invention.
[0052] FIG. 2 shows a mobile surgery system according to an exemplary embodiment of the present invention.
[0053] FIG. 3 shows a cross sectional side view of an omni wheel arrangement according to an exemplary embodiment of the present invention.
[0054] FIG. 4 shows a bottom view of an omni wheel arrangement allowing for a multidirectional movement according to an exemplary embodiment of the present invention.
[0055] FIG. 5 shows the omni wheel configuration of FIG. 4 with locked rollers according to an exemplary embodiment of the present invention.
[0056] FIG. 6 shows the omni wheel arrangement of FIG. 4 with a locked wheel movement according to an exemplary embodiment of the present invention.
[0057] FIG. 7 shows the omni wheel arrangement of FIG. 4 where wheels and rollers of the omni wheel are blocked according to an exemplary embodiment of the present invention.
[0058] FIG. 8 shows an omni wheel arrangement with two parallel omni wheels mounted in a front part of a platform according to an exemplary embodiment of the present invention.
[0059] FIG. 9 shows a double omni wheel sideways rolling configuration according to an exemplary embodiment of the present invention.
[0060] FIG. 10 shows an omni wheel arrangement using a combination of forward and sideways oriented omni wheels according to an exemplary embodiment of the present invention.
[0061] FIG. 11 shows a pivot mounting configuration of two omni wheels according to an exemplary embodiment of the present invention.
[0062] FIG. 12 shows a bottom view of a perpendicular omni wheel arrangement according to an exemplary embodiment of the present invention.
[0063] FIG. 13 is a front view of omni wheel arrangement of FIG. 12 according to an exemplary embodiment of the present invention.
[0064] FIG. 14 shows a side view of omni wheel arrangement of FIG. 12 according to an exemplary embodiment of the present invention.
[0065] FIG. 15 shows different views of a support plate with an omni wheel arrangement according to an exemplary embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENTS
[0066] FIG. 1 shows a mobile X-ray system with a front castor wheel 112 for a better understanding of the present invention. The X-ray system 100 shows the C-arm 102 with the X-ray source 103 and the X-ray detector 104. The C-arm 102 is mounted on a support arm 105 which has a joint 106 to allow wig-wag movements 107 and longitudinal movements 108. In order to support the wig-wag movements and longitudinal movements 108, a large base plate 109 is used in order to provide a large footprint for different centers of gravity that may vary in a wide range in order to support the longitudinal and/or wig-wag movements of support arm 105. The large amount of counterweights which are installed to meet regulatory requirements leads to a bulky system body 110. The counterweights are necessary to put the center of gravity in the middle of back wheels 111 and the front castor wheel 112.
[0067] FIG. 2 shows a medical device 200, e.g. a mobile surgery imaging system 200 including a C-arm, according to an exemplary embodiment of the present invention. The mobile surgery system 200 has a system body 210 and a support arm 205 which holds the C-arm 202. Mounted on this C-arm are an X-ray source 103 and the X-ray detector 104. They are mounted in opposite directions facing another. In addition to the back wheels 111, a pair of omni wheels 212, 212 is used. As indicated by arrow 207, the omni wheels 212, 212, 212 can be used to support a wig-wag movement and a longitudinal movement of the medical system 200. The use of omni wheels 212 allows for a precise movement in the longitudinal direction. Also when a wig-wag movement is performed precise movement is possible. As indicated by the dashed lines, the size of the whole system body 210 can be reduced to a compact design, compared to the extension of the system 100 using support arm 105 for making wig-wag movements. Instead of a front castor wheel 112, the combination of omni wheels 212, 212, 212 with the integrated brake mechanism which are mounted on the wheel basis 209 allows for more precise movement. The use of the omni wheel 212 for a variety of movements allows for implementing a wig-wag mechanism and longitudinal motion mechanism with low complexity. Consequently, the volume of the system is small. The small system reduces the footprint of the whole system and makes the system less bulky. Since the small shape of the system 200 results in a minimal amount of counterweights, the system 200 may be built in a lightweight manner and therefore may be easily moved.
[0068] The mobile X-ray system 200 with the omni wheel 212 or a corresponding omni wheel arrangement helps to precisely position the X-ray C-arm 202. The omni wheels 212, 212, 212 can deliver the longitudinal and wig-wag movement and do not need a complex system for supporting these movements in the support arm 105. Thus, a light and compact X-ray system 200 can be provided. If the omni wheels 212 are used precise movements in predefined directions is possible. The high precision of movements may allow for a good repetition and/or recall of movements of the mobile surgery system. E.g. may only show low jerks when executing a back and forth motion since even for 180 movements substantially no alignment of the move direction is necessary. Furthermore, the omni wheels 212, 212, 212 can separate two motions and/or directions of motions. The separately selectable motion in different directions may contribute to precise motion, e.g. longitudinal or wig-wag motion. In other words, separating a motion in substantially two or less motions may help to provide a high precision for positioning. The omni wheel allows for controlling each motion separately in a single direction.
[0069] Consequently, the omni wheels 212 may allow for a precise movement of the mobile surgery system. Omni wheels are capable of conducting motions in all directions. These motions may be assembled by motions into predefined directions of the omni wheel. Using the brakes inside the omni wheels allows for individually blocking the wheels' motion in the primary two directions. The braking devices thus may individually lock each of the two orthogonal directions as required. A separation of two motions may be possible, e.g. wig-wag and longitudinal.
[0070] FIG. 3 shows a cross sectional side view of an omni wheel arrangement according to an exemplary embodiment of the present invention. The omni wheel arrangement 312 comprises two individual omni wheels 312, 312 which can be operated and controlled separately from another. In the configuration of omni wheel arrangement 312, both omni wheels 312, 312are mounted in the same orientation. Since both omni wheels 312, 312 are operated separately and independently from another, only omni wheel 312 is described in the following. The same description also applies for the other omni wheel 312 of the omni wheel arrangement 312.
[0071] Omni wheel 312 shows the wheel shaft 301 or wheel axle 301. Wheel shaft 301 and wheel body 302 form a corresponding wheel device. The wheel shaft 301 defines a longitudinal axis. The wheel body carries the rollers 303a, 303b, 303c, 303d. Rollers 303 have a roller body and are each mounted on roller shafts 304a, 304b, 304c, 304d.
[0072] The lower roller 303c can be in contact with the surface from a floor, for example a floor of an operation theatre, which is not shown in FIG. 3. The upper roller 303a, 303b are located inside the housing 305. Both omni wheels 312, 312 are placed within the housing 305. In order to align the circumferential surface of the wheel 321 with the circumferential surface of the rollers 303a, 303b, 303c, 303d elastic mounting devices may be used when roller shaft 304a, 304b, 304c, 304d are mounted inside wheel body 302.
[0073] A possible movement of rollers 303a, 303b, 303c, 303d about roller schaft 304a, 304b, 304c, 304d is indicated by arrows 306a, 306b, 306c, 306d. In order to block the movement of the roller 303a, 306b, 306c, 306d a braking device 307, 307a, 307b, 307c, 307d can lock the corresponding roller. The braking devices 307 comprise plates which in a blocking position can be pressed onto the rollers and in particular to the circumferential surface of a roller in order to stop a movement of the rollers around its roller shaft 304a, 304b, 304c, 304d. FIG. 3 shows a configuration, where all the braking devices 307 are released and the rollers 303a, 303b, 303c, 303d can turn around the shafts 304a, 304b, 304c, 304d.
[0074] Also wheel shaft 301 can have a braking device in order to block a wheel turning into direction indicated by arrow 309. Assumed that omni wheel 312, 312, 312 is mounted in such a way that a perpendicular movement to the shaft 301 and parallel to the shaft 304a is a longitudinal movement, it can be seen that the rollers 303c support a sideways movement or a wig-wag movement 310 if the omni wheels 312, 312 is placed on a surface. Also shaft 301 and each individual omni wheel 312, 312 can have a braking device for locking a wheel movement in the direction of arrow 309. An electromagnetic brake may be used as a braking device. An electromagnetic brake may comprise a rotatable inner part to be mounted on the rotating shaft of a wheel or roller and an outer part that is to be fixed on a mounting support, e.g. a housing. The electromagnetic brake is able to control the movement of the inner part compared to the outer part and thus control the movement and/or turning of the shaft 301. A spring inside the electromagnetic brake may hold the rotating inner part with friction and when the magnet is energized the shaft is free to rotate. Other designs of a brake device may also be applicable.
[0075] FIG. 4 shows a bottom view of an omni wheel arrangement allowing for a multidirectional movement according to an exemplary embodiment of the present invention. In FIG. 4 a base plate 409 is used having a substantially triangular shape. FIG. 4 also shows the balancing wheels 401, 401 which are used for stabilizing the medical system. The balancing wheels 401, 401 may be implemented as conventional unidirectional wheels. Omni wheel 312 is mounted in the middle of the balancing wheels 401, 401 in the direction of a longitudinal forward direction 402. The omni wheel 312 is positioned close to a pointed corner of the base plate 409. The pointed corner may indicate the forward direction 402. Omni wheel 312 is mounted on a longitudinal axis 410 or symmetry axis 410 of the base plate 409. The longitudinal axis is parallel to a longitudinal movement. Omni wheel 312 comprises the wheel body 302 and a plurality of rollers 303. As can be seen from FIG. 4 a movement in a plurality of directions 405 is possible. By controlling a movement of wheel 302 and/or rollers 303 e.g. by locking or unlocking a certain direction, individual directions can be separated and a precise movement may be generated. Rollers 303a, 303b, 303c, 303d can be used for transmitting force to a surface for both the movement in the wheels' direction and the movement in the rollers' direction.
[0076] The wheel body 302 is directed in the longitudinal direction 410, 403 so that a longitudinal movement involves a wheel movement instead or in addition to a roller movement. In the schematic view of FIG. 4, the rollers 303 are drawn as a plurality of parallel rollers 303 directed into the side direction 404. Any other configuration, however, is possible. The omni wheel 312 at the front position of plate 409 separates the longitudinal direction 403 and a side direction 404 and thus allows a precise movement in any direction. Jacks when changing a direction may be prevented. The possible omnidirectional movement is indicated by the different directions 405.
[0077] FIG. 5 shows the omni wheel configuration of FIG. 4 with locked rollers according to an exemplary embodiment of the present invention. A pure longitudinal motion of the mobile surgery system supported on the platform 409 may be achieved by blocking the rollers 303 with the brakes as indicated with symbol 501 . Thus, FIG. 5 shows a locked status of the rollers 303. The roller braking device can be used to stop the sideways direction movement 404 and to allow substantially only a movement in the longitudinal direction 403 by means of a wheel motion of wheel body 302. In this case, the roller braking device is activated while the wheel braking device is not activated.
[0078] FIG. 6 shows the omni wheel arrangement of FIG. 4 with a locked wheel movement according to an exemplary embodiment of the present invention. As indicated by symbols 601, the wheel motion of wheel body 302 is blocked. Rollers 303 are released and can freely move in the sideways direction 404. The arrangement of FIG. 6 with locked longitudinal movement allows for a wig-wag motion 602 of the whole mobile surgery system mounted on platform 409. Therefore, locking the wheel by means of wheel braking device and releasing or unlocking rollers 303 can enable a pure wig-wag motion 602. In this case, the wheel braking device is activated while the roller braking device is not activated.
[0079] FIG. 7 shows the omni wheel arrangement of FIG. 4 where wheels and rollers are blocked according to an exemplary embodiment of the present invention. Indicated in FIG. 7 is blocked wheel 601 and blocked rollers 501 resulting in a braking status where motion of platform 409 is prevented. If all wheels and all rollers 303, 302 are blocked, then all movements are arrested or locked.
[0080] Wheels with individual locks and/or individual brakes for rollers 303 and wheels 302 can be used to design out and omit the longitudinal and wig-wag mechanism inside mobile C-arms. The individual brakes are separate from another and may be controlled or activated independently from another.
[0081] In other words, the function of the longitudinal and the wig-wag mechanism is transferred from a complex mechanical move system into an omni wheel with accordingly lockable and/or releasable rollers and/or wheels. With this braking mechanism, low cost and un-motorized manual systems can be provided. Reducing the size of a longitudinal and wig-wag mechanism can lead to a compact and lightweight system which reduces the space consumption when storing such a system and when such a system is used.
[0082] FIG. 8 shows an omni wheel arrangement with two parallel omni wheels mounted in a front part of a platform according to an exemplary embodiment of the present invention. In FIG. 4, the omni wheel 312 is mounted on the longitudinal axis 410 of the triangular-shaped base plate 409. According to the configuration of FIG. 8, two omni wheels 312 are mounted symmetrically and parallel to the longitudinal axis 410. The double omni wheel configuration of FIG. 8 allows for carrying a heavy medical system mounted on the plate 409. The weight of the load is substantially equally distributed to both omni wheels.
[0083] For an omni wheel, the forward rolling diameter is used for substantially all longitudinal movements. This forward rolling diameter is formed by the wheel diameter. This forward rolling diameter is larger than the diameter of the rollers used for the sideways movement. For example, the wheel diameter of wheel 302 is 120 mm and the roller diameter is 25 mm. Smaller diameters of wheels result in high rolling friction and offer high resistance by climbing over floor irregularities or cables lying on the floor. Thus, according to FIGS. 1 to 8, the orientation of omni wheels 312 is such that a forward rolling omni wheel is used. For sideways movements rollers are used. In some cases, a cross/sideways wheel configuration may be used, where the wheel 302 is oriented in the sideways direction.
[0084] FIG. 9 shows a double omni wheel sideways rolling configuration according to an exemplary embodiment of the present invention. Single and multiple sideways rolling omni wheel configuration where the wheel body 302 is directed to the sideways direction may be used if a large rolling diameter is necessary for the sideways movement. The principles as described in FIG. 1 to FIG. 8 also apply for the double sideway rolling omni wheel.
[0085] The configurations shown in FIGS. 1 to 9 use the locking and/or braking mechanisms on corresponding wheels and rollers on all omni wheels in the same way. A braking device or locking device for a wheel may be implemented on the main omni wheel shaft 301.
[0086] As an alternative to an electromagnetic brake the braking device or locking device for a roller can be implemented by pressing a plate on the side of the omni wheel as indicated with plates 307a, 307b, 307c, 307d.
[0087] FIG. 10 shows an omni wheel arrangement using a combination of forward and sideways oriented omni wheels according to an exemplary embodiment of the present invention. Omni wheels 312, 312 are mounted in a T-shape configuration along the longitudinal axis. The T-shape is oriented symmetrically to longitudinal axis 410 pointing into the direction of a forward movement. Thus, the T-shaped arrangement results in the omni wheel 312, which is used for a longitudinal wheel movement, being mounted on the symmetry axis 410 or longitudinal axis 410 and the omni wheel 312, which is used for a sideway wheel movement, being mounted perpendicular to the longitudinal axis 410. As indicated with symbols 1001 and 1002, only a wheel part of the omni wheels 312, 312 is locked in order to guarantee the corresponding movement. Braking devices for rollers 303, 303 are not used in the configuration of FIG. 10. The two omni wheels 312, 312 are positioned one behind the other. Each of the omni wheels is lockable on the wheel in order to allow for the desired movement. For example, for a sideways movement, wheel 312 is blocked and for a longitudinal movement, wheel 312 is blocked. In particular, corresponding wheels 302, 302 or wheel bodies 302, 302 are blocked by the braking devices. The rollers 303, 303 are not blocked since blocking of the wheel may be easier than blocking of the rollers. In another configuration the wheel is unblocked but rollers may be blocked if present. However, in order to reduce complexity blocking of rollers may not be provided.
[0088] FIG. 11 shows a pivot mounting configuration of two omni wheels according to an exemplary embodiment of the present invention. Even if by using the round shape for both wheels 312, 312 in FIG. 11 a configuration with two similarly oriented wheels is indicated it is to be noted that the wheel configuration of FIG. 11 may also be the configuration as shown in FIG. 10, i.e. T-shaped. In that case one straight 312 and one perpendicular oriented 312 omni wheel is used. Omni wheels 312, 312 can be mounted on a wing 1101 which has a pivot mounting 1102 to the plate 409. Mounting on a pivot can be used for both, the parallel wheel mounting and the T-shaped wheel mounting and in both cases help sharing the load.
[0089] In the following description it is assumed that the trailing wheel 312 is perpendicular to the leading wheel 312. By using pivot 1101 and pivot joint 1102, the load from the plate 409 is equally distributed to the leading omni wheel 312 and the trailing omni wheel 312. This equal load balancing helps for an equal distribution of braking traction in both directions. The virtual diameter as indicated by arrow 1103. The virtual diameter 1103 is larger than the individual wheel diameter of wheels 312, 312. With such a configuration, climbing over small steps, floor variations and/or cables is easy due to the rocking action of a pivot 1102 as indicated by arrow 1104.
[0090] The single wheel configuration of FIG. 4 may work for small loads. So this solution with one single omni wheel may be used for light systems. The configuration with the wheel portion of omni wheel directed into the sideways direction may rarely be used. The configuration with the double omni wheel directed in the forward direction according to FIG. 8 with laterally spaced rollers may only be used for complex designs since the roller is an over constraint for wig-wag. If a double wheel configuration as of FIG. 8 is used and a wig-wag movement is desired it is to be considered that an instantaneous motion direction of wheels 312 lies on a circle. However, in the double wheel configuration of FIG. 8 the orientations of wheels 312 differ from the orientation of a radial direction directed from the center of the wig-wag motion to the center of the corresponding wheel. The center of the wig-wag motion is assumed to be in the middle of wheels 401, 401. Thus, the actual instantaneous motion direction of wheels 312 when making a wig-wag movement is in a tangential direction of that circle. Therefore, the instantaneous movement may slightly differ from the circle direction. Consequently, it may be necessary for the wheels in order to follow the wig-wag movement to slightly slip. In order to prevent an uncontrollable slip that may result in a high rolling resistance and an inaccurate motion a configuration as of FIG. 10 may be employed.
[0091] The configuration according to FIG. 9 where wheel portion 302 of a double omni wheel is directed sideways may exhibit a high resistance for a forward motion due to the small roller radius directed in the forward direction.
[0092] The T-shape arrangement of FIG. 10 provides a broad range of application scenarios. This configuration according to FIG. 10 with omni wheels mounted in perpendicular directions is a good solution with regard to load bearing capacity and movability into all directions.
[0093] FIG. 12 shows a bottom view of a T-shape omni wheel arrangement for a configuration according to FIG. 10 according to an exemplary embodiment of the present invention. Housing 1201 is used to mount the omni wheels 312 and 312. Longitudinal axis 410 is parallel to wheel shaft 301 of wheel 312. Wheel body 302 is perpendicular to longitudinal axis 410. Rollers 303a, 303b and 303c are mounted in such a way that they support a movement in the direction of the longitudinal axis 410, e.g. a longitudinal movement.
[0094] The omni wheel 312 is mounted on a wheel shaft 301 which is perpendicular to the longitudinal axis 410. Rollers 303a, 303b, 303c, 303d are mounted in such a way to support a movement perpendicular to the longitudinal axis 410 or a sideways movement. Wheel body 302 is substantially directed in the direction of the longitudinal axis 410 in order to support the longitudinal movement. For controlling the movement of wheels 312, 312 braking devices 1220, 1220, such as electromagnetic brakes 1220, 1220, are mounted on corresponding wheel shafts 301. 301. In order to reduce the complexity rollers 303a, 303b, 303c, 303d, 303a, 303b, 303c, 303d have no brakes installed or are brakeless. Another example may also comprise rollers having brakes.
[0095] FIG. 13 is a front view of omni wheel assembly of FIG. 12 according to an exemplary embodiment of the present invention. FIG. 12 shows housing 1201 to which the omni wheel 312 is mounted using wheel shaft 301 or wheel axle 301. Omni wheel 312 comprises the wheel body 302 and rollers 303a, 303b. As can be seen in FIG. 13, the circumference of wheel body in combination with the circumference of rollers can be used for contacting a surface. Both circumference surfaces supplement another to form a common circumference.
[0096] FIG. 14 shows a side view of the omni wheel arrangement of FIG. 12 according to an exemplary embodiment of the present invention. Omni wheel arrangement 1300 or omni wheel assembly 1300 is mounted on platform 409 of a medical device not shown in FIG. 14. The housing 1201 is used to mount omni wheels 312 and 312 in a perpendicular orientation to another. The orientation or direction of an omni wheel may be substantially defined by the direction of the wheel device and/or of the wheel body. Wheel shaft 301 is used to mount omni wheel 312 and wheel shaft 301 is used to mount wheel 312. The breakthrough view 1301 through the housing 1201 shows that wheel body 302 is arranged perpendicular to the longitudinal axis 410. Furthermore, pivot 1302 is shown which allows a pivot mounting of the omni wheel arrangement 1300 on platform 409 similar to the pivot mounting of FIG. 11.
[0097] FIG. 15 shows a side view 1401, a bottom view 1402 and a front view 1403 of support plate 409 with an omni wheel arrangement according to an exemplary embodiment of the present invention. As can be seen in side view 1401 the support plate 409 and balancing wheels 401 are combined with the omni wheel arrangement 1300. Bottom view 1402 shows the bottom side of base plate 409 to which balancing wheels 401, 401 and arrangement 1300 are mounted. The front view 1403 shows support plate 409, balancing wheels 401, 401 and omni wheel arrangement 1300.
[0098] It has to be noted that embodiments of the invention are described with reference to different subject matters. In particular, some embodiments are described with reference to method type claims whereas other embodiments are described with reference to the device type claims. However, a person skilled in the art will gather from the above and the following description that, unless otherwise notified, in addition to any combination of features belonging to one type of subject matter also any combination between features relating to different subject matters is considered to be disclosed with this application. However, all features can be combined providing synergetic effects that are more than the simple summation of the features.
[0099] While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. The invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing a claimed invention, from a study of the drawings, the disclosure, and the dependent claims.
[0100] In the claims, the word comprising does not exclude other elements or steps, and the indefinite article a or an does not exclude a plurality. A single processor or other unit may fulfil the functions of several items re-cited in the claims. The mere fact that certain measures are re-cited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.
