Abstract:
A two-wheel battery-powered vehicle having a platform, two wheels connected to the platform, a battery-powered wheel drive driving the two wheels, an attachment connected to the platform, and a sensor device arranged in the platform. A person standing on the platform and engaging the attachment moves the platform into an angle position corresponding to a body position of the person. Based on the angle position of the platform relative to a horizontal position, the sensor device controls the wheel drive such that the wheel drive, by acceleration or deceleration, keeps the vehicle and the person standing on the platform in a balanced position. The attachment has a leg support device for at least one leg of the person standing on the platform in order to keep the platform at a desired angle position. The leg support device is adjustable.

Description:
The present application is a 371 of International application PCT/EP2012/056339, filed Apr. 5, 2012, which claims priority of EP 121 57 980.9, filed Mar. 2, 2012, and U.S. 61/471,888 filed Apr. 5, 2011, the priority of these applications is hereby claimed and these applications are incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     The invention generally relates to a two-wheel battery-powered vehicle comprising a platform, two wheels connected to the platform, a battery-powered wheel drive driving the two wheels, an attachment connected to the platform, a sensor device arranged in the platform, wherein a person standing on the platform and engaging the attachment moves the platform into an angle position corresponding to a body position of the person, wherein, based on the angle position of the platform relative to a horizontal position, the sensor device controls the wheel drive such that the wheel drive, by acceleration or deceleration, keeps the vehicle and the person standing on the platform in a balanced position. 
     Such a vehicle is in use and known under the name “Segway®”. The platform of this known vehicle comprises a flat box in which the battery, the sensors, and the control equipment are arranged. The standing surface is positioned at the comfortable height of a usual stair step. The person steps from the rear onto the platform and reaches for two handles that, similar to a bicycle handlebar, are arranged on a column arranged on the platform. In one embodiment of the vehicle, one side of the handlebar contains a rotary handle with which the control right/left steering is achieved. In another, right/left steering is achieved by leaning the entire handlebar to right and left. Speed control is achieved by a special type of balance control: The more the person and the column supporting the handles leans forward, the faster the vehicle moves forward. When leaning to the rear, the vehicle moves backwards, or decelerates. When the vehicle stands still and the person is not moving, the balance is maintained by acceleration and counter acceleration in which the vehicle moves continuously back and forth within small fractions of a second. 
     The “Segway®” vehicle is subject to U.S. Pat. Nos. 5,701,965; 5,971,091; 6,302,230; 6,367,817; 6,408,240; 6,561,294; 6,575,539; 6,581,714; 6,598,941; 6,651,766; 6,779,621; 6,789,640; 6,796396; 6,799,649; 6,815,919; and 6,827,163 which are incorporated herein by reference. While the “Segway®” vehicle provided simple transportation, controlling such a vehicle while carrying objects, especially while operating a camera, is not well supported. 
     EP 1695896 and U.S. Pat. No. 7,303,132 describe a further development of the two-wheel battery-powered vehicle. Instead of the handles of the “Segway®” vehicle, an attachment that has a leg support device for at least one leg of the person standing on the platform for keeping the platform at a desired angle position is connected to the platform. To drive the vehicle, the person standing on the platform leans his body forwards or backwards, thereby engaging the attachment and inclining the platform. Based on the angle of inclination of the platform, the sensor device controls the wheel drive such that, by acceleration or deceleration, the vehicle and the person standing on it are kept in a balanced position. A right/left control equipment providing foot pedals controls turning of the vehicle in a traveling direction by driving the wheels at different speeds. The vehicle requires that the person leans, tilts or otherwise compromises the body in order to maneuver the transport. 
     Furthermore the above mentioned patents disclose a bow-shaped support, which is provided for an object to be carried on the vehicle; the support is arranged to be pivotable to the front and to the rear of the vehicle, preferably on or near the wheel axle, and can be connected to the body, preferably by a bracket laterally engaging the body. The support that extends approximately to the waist of the person is provided as a hard mount of a camera. 
     While the developments disclosed in EP 1695896 and U.S. Pat. No. 7,303,132 improve the possibilities to use the two-wheel battery-powered vehicle, several shortfalls when operating remain. For example, the vehicle shows a leg-saddle comprising two concave control shells placed between a user&#39;s legs at a height above the knees. With this vehicle braking requires a person to incline the body rearwards from above the knees, in particular from above the hips, which leads to unnatural body positions. 
     Furthermore the vehicle is vulnerable to accidents and mishaps. A common accident occurs when one or both wheels of the vehicle run into an object too high for the vehicle to negotiate, e.g. a wall, kerb, leg, or any other obstacle. This often results in the vehicle attempting to climb the object, thus throwing the person off the machine, and causing the vehicle to perform an emergency shut down, whereby it looses power and falls over. A person that does not carry or operate any equipment may be injured, but a person who does may also be forced to abandon the equipment, causing damage to it or to people or objects in the vicinity. 
     SUMMARY OF THE INVENTION 
     Thus it is an object of the invention to facilitate the operation of the vehicle and to make the use of the vehicle safer. 
     This object is achieved in that the attachment has a leg support device for at least one leg of the person standing on the platform in order to keep the platform at a desired angle position. 
     In a particularly preferred embodiment of the invention, the leg support device is provided to lie on the lower leg of the person. Advantageously the person is able to bend his knees when operating the vehicle. For accelerating, the person can engage the machine by pushing forward with the leg. When decelerating, stopping, or going backwards, the person can transfer his weight back without bending his torso backwards, but by making a movement which is similar to a movement sequence that one conducts when sitting down on a chair. This allows the centre of gravity of the person to be moved backwards by a greater degree, causing greater deceleration. 
     Thus it is created a more ergonomic, versatile and safe control system to make possible a better body control and as a result better control of supported loads or tools. 
     In a particularly preferred embodiment of the invention the leg support device is provided to lie on the leg upon an area of a calf of the person. It rests comfortably on the bulk of the calf muscle, avoiding contact with the hamstring tendons. This position allows maximal braking potential, while optimizing comfort. 
     Expediently the leg support device provides separate shells for its front and its rear side and the front and the rear shell are arrangeable in differing heights. 
     In a further embodiment of the invention the shell of the front side is provided to sit on or above the knee of the person. Advantageously the person gains exact control of the acceleration or forward movement. Furthermore the person feels safe when accelerating by pushing his knees against the front shells. 
     In a further embodiment of the invention the, preferably cushioned, shells are curved or angled and preferably provide essentially the form of a quadrant so that they can comfortably sit on the persons leg. Preferably, the shells contact the leg laterally, preferably at an inner side of the leg. 
     Expediently the positions of the shells are adjustable independently of one other, preferably adjustable in a vertical and/or horizontal direction and/or pivotable about a vertical and/or a horizontal axis. The shells may be individually adjusted left and right along the coronal plane to accommodate differing distances between persons&#39; legs, and may be rotated about the sagittal plane to accommodate differing musculature. Furthermore, the person can vary the distance between the front and rear shells. Tightening brings an increased contact with the shells necessary for negotiating uneven terrain, and has the benefit of encouraging the person into a slight crouching position, analogous to skiing, that allows the legs to function as natural shock absorbers and to adjust to changing levels of left and right wheels that might pitch an erect operator sideways from the vehicle. 
     Furthermore the leg support device may provide an equipment to adjust the position of the shells, so that equilibrium may be obtained even when supporting a heavy load supported to the front of the machine. Expediently the adjusting equipment comprises a spindle drive which preferably comprises a spindle whose threaded rod is provided with a rotating means, preferably a crank handle or a rotary knob. 
     In a particularly advantageous embodiment of the invention the leg support device is provided for swiveling around a vertical axis. When the person rotates his or her body to face into the direction of a turn, he may turn his hips and naturally rotate his knees to effect a tight swivel turn, the body initiating the movement from the ankle joints up. This natural way to control the vehicle enables new turning movements and encourages the person to move ergonomically on the vehicle. In contrast, when using the prior art leg-saddle which is rigid about the horizontal plane, the body rotates from the knee joint up only. This results in additional strain being placed on the knee joint, and a decrease in the person&#39;s ability to face into the direction of the turn. 
     Expediently the leg support device is provided with a spring which is arranged such that it is loaded when the leg support device is swiveled. Due to the force of the spring, the leg support device is placed in its centred position when the rotational force of the legs is taken off. Accordingly the leg support device is of a self-centering nature. Furthermore the shells provide a counterpressure for the swivel movement to the persons leg and thereby provide better control of the swiveling movement. Preferably the spring is arranged on a support rod of the leg support device which is connected to the platform. 
     An expedient embodiment of the invention is characterized by a replacement part comprising the leg support device. The replacement part is connectable to the base column of a commercially available vehicle of the aforementioned kind in place of the usual commercially provided height-adjustable column having handles. 
     The replacement part enables retrofitting of the vehicle but also an economic variation within the production. 
     In particular for retrofitting, for the right/left control of the vehicle it is proposed to provide two foot pedals; furthermore, the replacement part is provided with a rocker device that is provided with the foot pedals; by means of at least one arm projecting upwardly from the rocker device, an electric control member mounted on the replacement part is actuated for the control right/left. Preferably, the electric control member is a control member that is removed from the rotary handle of a commercially available attachment of the vehicle. 
     Moreover, the control member can be provided with a drive means cooperating with the arm, preferably a pin that is mounted on a rotary disk that engages a slotted hole or a bifurcation of the arm. 
     When the vehicle is produced from the start in accordance with the present invention, the control right/left will be realized preferably in a different way, for example, by pressure switches or by means of sensors in the platform that react to weight shifting from one foot to the other. 
     In a further embodiment of the invention which may be used as alternative or additionally to the described right/left control the mentioned sensor device is provided for determining the swiveling angle of the leg support device in relation to the platform, wherein the sensor device controls the driving direction of the vehicle by turning the wheels at different speeds based on the determined swiveling angle. The person can control steering of the machine by rotating his body towards the intended direction to initiate steering. 
     Alternatively or additionally the leg support device, preferably the attachment as a whole, may be tiltable in relation to the platform and the sensor device controls the driving direction of the vehicle by turning the wheels at different speeds based on the determined tilting angle. Driving direction of the vehicle can be controlled by leaning the body towards the intended direction to initiate steering. 
     In a further embodiment of the invention, the vehicle comprises a for each wheel a fender which partially encloses the wheel, wherein it preferably fully encloses at least the upper half of the wheel. The fender protects the person and the transported equipment against dirt which may be swirled up by the wheels. Furthermore it secures against unintended contact with environmental surroundings. In particular it prevents that clothes, e.g. long skirts or costumes that may be worn by actors using the vehicle in entertainment shows, from getting caught up in the wheels or the gears of the vehicle. 
     In a preferred embodiment of the invention the fender encloses the wheels to a height off the ground which corresponds to the height that the vehicle can climb. This height normally corresponds to approximately ¼ of the wheel diameter but a climb up to ⅓ of the wheel diameter, as the case may be up to 4/9, may be possible. When the vehicle comes into frontal contact with an object exceeding this height, the vehicle pushes it aside, or if the object is immovable, comes to rest against it. When the vehicle comes into glancing contact with an object, the blow deflects either the vehicle or the object. All these outcomes are preferable to the behavior of the known vehicle that attempts to climb any object it comes into contact with if it can obtain traction. This generally results in the vehicle performing an immediate emergency shut down and/or energetically ejecting the rider. 
     Expediently the fender comes down to different heights on the front and on its rear side. As the vehicle may safely descend a greater height that it may climb the fender systems may have a higher cut-off to the rear than to the front, allowing the vehicle to descend kerbs and drops. A rounded form of the rear cut-off helps to prevent the fender from hanging-up on a surface the vehicle is descending from. 
     In a further embodiment of the invention the fender is provided for being directly connected to the chassis, in particular to a gear box, of the vehicle. Preferably it comprises an attachment flange that is provided for being fixed onto fixing means of the gear box of the commercially available vehicle. 
     Thereto the flange comprises mounting holes that fit with tapped holes of the chassis or gear box so that the flange can be bolted down onto it. 
     Furthermore the fender may solely present rounded contours at its outside so that it presents less danger to people and objects in the vicinity of the vehicle than sharp edges of the known vehicle. 
     In a particularly preferred embodiment of the invention the fender is provided for carrying a support for an object to be transported, in particular a “hard-mount” to support any tool, load, or supported equipment, e.g. a camera. In the art, the term “hard-mount” refers to a system of supporting equipment that does not use the physical strength of a person operating the equipment. Expediently the support comprises an articulated bracket and preferably is provided to be pivotable to the front and the rear of the vehicle. 
     Though the fenders may be made of a single piece, in a preferred embodiment of the invention it is made of two half-shells, wherein preferably an inner half-shell is connected to the gear box and an outer half-shell encloses the wheel&#39;s outer side. 
     The inner half-shell may be provided to solely carry the mentioned object support. Preferably it is made of a material, e.g. steel or aluminium, providing sufficient strength to bear the object support carrying the object. 
     Expediently the outer half-shell can be manufactured in a variety of sizes to fit different wheels. It may be made of a less heavy material, e.g. a plastic material that is malleable and therefore less like to cause damage to people or surroundings. 
     In a further development of the invention the vehicle comprises means for automatically stabilizing the vehicle against falling over forward or backward in case of a vehicle cut-off in order to maintain the vehicle in its erect orientation when it has shut down. During any instance of the vehicle&#39;s loosing power, either by malfunction or initiated by the person, these supports may be rapidly deployed to prevent the transporter from falling over. 
     Preferably the stabilizing means comprises at least one extendible support wheel on the front side and at least one on the rear side of the vehicle. It descends to project below and away from the chassis of the vehicle to make contact with the ground at angles suitable to stabilizing the transporter when it is not under power. 
     In a preferred embodiment of the invention the support wheels are arranged on a telescopic rod which is provided with a spring, in particular a gas spring or a helical spring, by force of which the telescopic rod can be extended. 
     In a further development of the invention the vehicle comprises a means to manually shut down the power supply of the vehicle when the person is aboard. When carrying or operating equipment it may be desirable to shut off power to the vehicle in conjunction with the above-mentioned stabilizers. The shut down means operates by directly cutting power between the power supply and the motor and control systems of the vehicle by means of an electrical switch. 
     In a preferred embodiment the shut down means comprises power supply connector plug which is extensible out of a connector holder that preferably is arranged on the upper side of the vehicle so that the vehicle can be shut down by pulling the connector plug upwards out of the connector holder and thereby to operate the electrical switch. 
     Expediently the connector plug and the connector holder are provided such that the connector plug is extensible out of the connector holder in a vertical direction and in angles up to at least 15°, preferably up to at least 30°, to the vertical axis of the vehicle. For easy use during driving the vehicle, the connector plug may comprise a control rope which is provided to be hold in a hand of the person. 
     It is a matter of course that the leg support device, the fender, the stabilizers and the shut down means may be provided independently of each other and each in itself beneficial for the vehicle. 
     Furthermore the fender, the stabilizers and/or the shut down means may also be applied to any known embodiment of prior art vehicles, e.g. “Segway®”, which may comprise the above mentioned two handles instead of the leg support device, or other two-wheel battery-powered vehicles. 
     These and other objects and advantages will be made apparent when considering the following detailed specification when taken in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWING 
         FIG. 1  shows a front view of a vehicle according to the invention, 
         FIG. 2  shows a side view of the vehicle according to  FIG. 1 , 
         FIG. 3  shows a perspective view of the vehicle according to  FIG. 1 , 
         FIG. 4  shows a top view of the vehicle according to  FIG. 1 , 
         FIG. 5  shows a perspective view of a detail of the vehicle according to  FIG. 1 , 
         FIG. 6  shows another perspective view of a detail of the vehicle according to  FIG. 1 , 
         FIG. 7  shows a side view of a detail the vehicle according to  FIG. 1 , 
         FIG. 8  shows a top view of a detail the vehicle according to  FIG. 1 , 
         FIG. 9  shows a perspective view of a detail of the vehicle according to  FIG. 1 , 
         FIG. 10  shows another perspective view of a detail of the vehicle according to  FIG. 1 , 
         FIG. 11  shows an exploded perspective view of a detail of the vehicle according to  FIG. 1 , 
         FIG. 12  shows an exploded perspective view of a detail of the vehicle according to  FIG. 1 , 
         FIG. 13  shows a perspective view of the vehicle according to  FIG. 1  when used by a person, 
         FIG. 14  shows a perspective view of a detail of the vehicle according to  FIG. 1  when used by a person, 
         FIG. 15  shows a part of a fender according to the invention in different views, 
         FIG. 16  shows another part of a fender according to the invention in different views, 
         FIG. 17  shows another part of a fender according to the invention in different views, 
         FIG. 18  shows an arm of an object support according to the invention in different views, 
         FIG. 19  shows a front view of another vehicle according to the invention, 
         FIG. 20  shows a side view of the vehicle according to  FIG. 19 , 
         FIG. 21  shows a perspective view of the vehicle according to  FIG. 19 , 
         FIG. 22  shows a perspective view of another vehicle according to the invention when used by a person, 
         FIG. 23  shows a perspective view of a component part of the vehicle according to  FIG. 19 , 
         FIG. 24  shows the component part according to  FIG. 23  in a lateral view, 
         FIG. 25  shows a perspective view of the component part according to  FIG. 23  in another functional position, 
         FIG. 26  shows a lateral view of the component part according to  FIG. 23  in another functional position, 
         FIG. 27  shows a lateral view of a detail of the component part according to  FIGS. 23-26 , 
         FIG. 28  shows a lateral view of the component part according to  FIG. 23  in different functional positions, 
         FIG. 29  shows another perspective view of a component part of the vehicle according to  FIG. 19 , 
         FIG. 30  shows a perspective and a lateral view of an element of the vehicle according to  FIG. 19 , 
         FIG. 31  shows lateral views of the component part according to  FIGS. 23-29  and the element of the vehicle according to  FIG. 30 , and 
         FIG. 32  shows a part of another fender according to the invention in different views, 
         FIG. 33  schematically shows different functional positions of a vehicle according to the invention in top views, 
         FIG. 34  shows different functional positions of a vehicle according to the invention in front views, and 
         FIG. 35  shows schematically details of the vehicle according to  FIGS. 19-22 . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The following detailed description is directed to certain specific embodiments of the invention. However, the invention can be embodied in a multitude of different ways as defined and covered by the claims and their equivalents. In this description, reference is made to the drawings wherein like parts are designated with like numerals throughout. 
     Unless otherwise noted in this specification or in the claims, all of the terms used in the specification and the claims will have the meanings normally ascribed to these terms by workers in the art. 
     Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,” “comprising” and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in a sense of “including, but not limited to.” Words using the singular or plural number also include the plural or singular number, respectively. Additionally, the words “herein,” “above,” “below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. 
     The above detailed description of embodiments of the invention is not intended to be exhaustive or to limit the invention to the precise form disclosed above. While specific embodiments of, and examples for, the invention are described above for illustrative purposes, various equivalent modifications are possible within the scope of the invention, as those skilled in the relevant art will recognize. For example, while steps are presented in a given order, alternative embodiments may perform routines having steps in a different order. The teachings of the invention provided herein can be applied to other systems, not only the systems described herein. The various embodiments described herein can be combined to provide further embodiments. These and other changes can be made to the invention in light of the detailed description. 
     Any and all the above references and U.S. patents and applications are incorporated herein by reference. Aspects of the invention can be modified, if necessary, to employ the systems, functions and concepts of the various patents and applications described above to provide yet further embodiments of the invention. 
       FIGS. 1-4  show a vehicle  1  according to the present invention which provides a platform  2  configured as a flat box, two wheels  3  connected to the platform  2  and enfolded by fenders  200 , a battery-powered wheel drive  8  driving the two wheels  3 , an attachment  100  connected to the platform  2  and a sensor device arranged in the platform  2 . On one of the fenders  200  is mounted a support  300  for an object to be transported. 
     The attachment  100  at the front end of the vehicle  1  extends upwardly from the platform  2 . It is comprised of a rigid base support  101  fixedly connected to the platform  2  and a support column  102  which is positioned with a socket  103  to the base support  101 . The support column  102  extends at a slant upwardly and is connected to a support rod  104  of a leg support device  110  comprising front shells  111 , 112  and rear shells  113 , 114 . The front and rear shells  111 - 114  are provided with lay-on surfaces  115 - 118  for the legs of a person which provide approximately the form of a quadrant. As it can be seen in  FIGS. 1 and 3  the front shells  111 , 112  are arranged in a higher position than the rear shells  113 , 114 . 
     As presented in  FIGS. 5-10 , the leg support device  110  comprises an adjustable rod system  120  carrying the shells  111 - 114 .  FIGS. 9 and 10  show the rod system  120  with the front and rear shells  111 - 114  removed. 
     The rod system  120  comprises a middle support rod  124  which is connected to the support rod  104 , a front support member  133  carrying the front shells  111 , 112 , a further middle support rod  129  connected to the rear shells  113 , 114 , and a rear adjustment member  137 . The middle support rod  124 , the front support member  133 , the middle support rod  129 , and the rear adjustment member  137  are connected with each other by sliding rods  160 , 161 . 
     The leg support  110  as a whole is height-adjustable by moving and subsequently fixing the rod system  120  along the rigid base column  104 . The rear shells  113 , 114  are mounted on a rear support member  131  which is arranged slidable on a support bar  132  in order to adjust the height of the rear shells  113 , 114  in respect to the front shells  111 , 112 . 
     The front shells  111 , 112  are mounted on the front support member  133  which comprises a horizontal bar  134  and a support block  135 . Together with the further middle support block  129  and the rear adjustment member  137  the front support member  133  is horizontally adjustable by means of a spindle drive  121  comprising a threaded rod  122 . The threaded rod  122  is fed through a tapped bore  123  of middle support rod  124  and provided with a crank handle  125 . 
     Analogously a spindle drive  126  with a threaded rod  127 , a tapped bore  128  of the further middle support rod  129  and a crank handle  130  is provided for the rear support member  131  in order to adjust the rear support member&#39;s horizontal position in respect to the front support member  133 . 
     While the transverse horizontal space between the respective left and right shells  111 - 114  is adjustable to comport to variations in space between different person&#39;s legs, the position of the leg support device  110  as a whole is adjustable to move the person&#39;s  400  center of gravity which may include camera gear forwards and backwards to achieve equilibrium in the stopped position. The position may be adjusted by use of the spindle drives  121 , 126  and the handle  125 , 130  which may be adjusted while in use. 
     The front shells  111 , 112  are fixed on the horizontal bar  134  which is arranged pivotable around a horizontal axis in a support bore of a carrier block  135 . The position of the horizontal bar  134  can be fixed with bolts  136  which are arranged in threaded bores that lead to the support bore. 
     The position of the front shells  111 , 112  can individually be adjusted against each other by loosening bolts  136 , pivoting the front shells  111 , 112  around the horizontal bar  133  and/or move them along it and fixing the bolts  136  again. 
     In the same manner the position of the rear shells  113 , 114  can be adjusted by loosening and bolts  139 , pivoting/moving the rear shells  113 , 114  around/along a horizontal bar  138  of the rear support member  131 , and subsequently fixing the bolts  139  again. 
     The front and rear shells  111 - 114  may be rotated about the transverse horizontal axis of the horizontal bars  133 , 138  to accommodate persons of varying bone structure and muscular development. Thus the disclosed leg support device  110  can accommodate persons presenting differing leg angles in both the vertical and horizontal axis. 
     As  FIGS. 11 and 12  show detailed in exploded perspective views, the leg support device  110  is mounted on a swivel assembly  140  which connects the support rod  104  and the leg support device  110 . The leg support  110  device can be pivoted around the longitudinal axis of the support rod  104  by means of the swivel assembly  140 . 
     The swivel assembly  140  comprises a spring compartment which is made of a base plate  142  firmly fixed on the support rod  104 , an U-shaped sidewall member  143  and a clamp  149  that sits on the sidewall member  143 . The base plate  142  is connected to the support rod  104  by means of plug connection comprising a connecting bar  141  which fits into the support rod  104  and a cut-out of the base plate  142 . While a superior part of a rotary bar  148  is arranged within the middle carrier rod  124  of the leg support device  110 , a lower part sits in the spring compartment. A wedge  150  with two perpendicularly protruding pins  145  is arranged on the lower part of the rotary bar  148 . On each lateral side of the pins  145 , i.e. between the pins  145  and even parts  151  of the U-shaped sidewall member  143 , a resilient silicone pad  146  acting like a spring is arranged. On the front side of the spring compartment, a spring load adjusting plate  144  that is provided with a recess is arranged. The closing plate  144  is fastened to rotary bar  148  by an adjusting bolt  147  that presses the adjusting plate  144  against the silicone pads  146 . 
     The leg support device  110  can be swiveled against the force that is necessary to deform the silicone pads  146 . When the force is taken off, the silicone pads  146  push the leg support device  110  back in a centred position. 
     The spring load provided by the silicone pads  146  can be adjusted with the aid of the adjusting bolt  147 . If the adjusting bolt  147  is tightened strongly the adjusting plate  144  presses on the silicone pads  146 . As a result the silicone pads  146  are compacted in the spring compartment and a greater force is necessary to deform them. Accordingly the leg support device  110  exerts more counterpressure against the legs of the person when his legs abut against the front or the rear shells  111 - 114 . Correspondingly, if the adjusting bolt  147  sits only loosely on the closing plate  144 , swiveling the leg support device  110  is easier. 
     Referring to  FIG. 13 , the vehicle  1  is shown when used by a person  400 . The person  400  stands with his feet  404  on the platform  2  and his legs  401  lay on the lay-on surfaces  115 - 118  of the shells  111 - 114 . 
     As it is shown more detailed in  FIG. 14  which shows a section of the leg support device  110  and one of the legs  401  of the person  400  when standing on the vehicle  1  the front shells  111 , 112  lay above and on the knees  402  on the fore side of the legs  401  and the rear shells  113 , 114  lay on the person&#39;s  400  calfs  403 . 
     As it is illustrated in  FIG. 14 , when accelerating the vehicle  1  the person  400  can lean forward and thereby abut his knees  402  and/or his upper legs  401  against the front shells  111 , 112  (see arrow F). To decelerate or tho reverse he can lean backwards by bending his knees  402  (see arrow K) and moving into a sitting position wherein calfs  403  back against the rear shells  113 , 114  (see arrow R). When the person  400  wants to turn the vehicle and thereto twists his upper body in the turning direction the leg support device  110  follows the corresponding movement of person&#39;s legs and swivels by means of the swivel assembly  140  (see arrow S on  FIG. 13 ).  FIG. 33  shows in a top view the positions of the leg support device  110  in relation to the platform when it is swiveled to the right ( FIG. 33  ( a )) or to the left side ( FIG. 33  ( b )). When swiveling the leg support device  110 , the rotary bar  148  pivots about its longitudinal axis and the pins  145  are pressed against the resilient silicone pads  146 . Once no swiveling force acts on the leg support device  110 , the silicone pads  146  push it back into a centred position. 
     The swivel assembly  140  may comprise sensor equipment  160  for detecting the swivel angle of the leg support device  110  in relation to the support rod  104  or/and the platform  2 . The sensor equipment  160  is arranged in the support rod  104  and measures the degree of rotation of the rotary bar  148  in relation to the support rod  104  or the spring compartment. It is connected to the sensor device so that the determined degree of rotation can be used as steering information for the right/left control of the vehicle. The driving direction of the vehicle  1  can be controlled in function of the swivel angle by driving the wheels at different speeds so that the person  400  can steer the vehicle by pivoting the leg support device  110 . 
     Another possibility is to arrange the attachment  100  as a whole such that it is tiltable on the platform wherein the attachment is self-centering by force of a spring. If the vehicle comprises a sensor equipment for detecting tilting angle of the attachment  100  in relation to the platform  2 , the person  400  can control the driving direction of the vehicle by leaning his body to the left or to the right and thereby pushing the attachment in the corresponding direction. Right/left tilting positions of the attachment  100  are shown in  FIG. 34  ( a ) and ( b ). 
     Furthermore the sensor equipment for detecting the swivel angle of the leg support device and the sensor equipment for detecting tilting angle of the attachment  100  can be combined so that the person can steer the vehicle by tilting as well as by swiveling. 
     As it can be seen in  FIGS. 1 to 4 , the fenders  200  are made of two half-shells  201 , 202 .  FIG. 15  shows in different views the inner half shell  201  which may be made of steel in order to be able to withstand heavy loads. On its closed side  203  it has a rectangular cut-out  204  with which it overlaps the platform  2 . A semi-toroidal flange  205  is connected to the inner side of the half shell  201 . As presented in  FIG. 15  ( e ) the flange  205  is provided to sit over and partially enclose a part of the gear box  4  connecting the wheels  3  and is fixed on the gear  4  box by means of bolts that are led through bores  206 . The bores  206  are arranged such that they fit with threaded bores that are provided on the gear box  4  of a commercially available vehicle (“Segway®”). The gear box  4  is part of the battery-powered wheel drive  8 . 
       FIGS. 16 and 17  show slimmer and broader embodiments of the outer fender half-shells  202  which may be chosen in function of the wheel&#39;s  3  size. 
     The outside of the fenders  200  present solely rounded contours with no sharp edges, so that it offers less possibility of injuring or causing damage to any person or object the vehicle  1  may come into collision with. 
     As shown in  FIG. 32  fender half shells  211 , 212  can be provided such that they enclose the wheels  3  to a smaller degree than the fenders  200  shown in  FIGS. 1-4 . 
     On the front side  213  the fenders  210  fully enclose the wheels  3  to a height off the ground that is consistent with the vehicles  1  climbing and descending capabilities. At their front ends, the fenders  210  descend to a height above the ground approximately equal to that of the height above the ground of the lower casing of a battery enclosure. This corresponds to the height that the vehicle  1  can safely climb. When the vehicle  1  comes into frontal contact with an object exceeding this height, the vehicle pushes it aside, or if the object is immovable, comes to rest against it. 
     On their rear side  214  the fenders  210  fully enclose the wheels  3  to a height off the ground such that it can descend a greater height that it may climb, allowing the vehicle to descend kerbs and drops. Furthermore a rounded nature of the fenders  210  helps to prevent them from hanging-up on a surface the vehicle  1  is descending from. 
       FIGS. 1 to 4  show how a hard-mount assembly  300  that may be attached to the fenders  200 . The hard-mount assembly  300  comprises an articulated arm  301  which is fixed onto the fender  200  by means of a metal mount  302 . As it is shown more detailed in  FIG. 18  the hard-mount assembly  300  has three rotary joints  303 - 306  which allow exact adjustment of the arm  301 . 
     Though the metal mount  302  of the vehicle  1  as shown in  FIGS. 1 to 4  sits on the inner  201  as well as on the outer fender half shell  202 , in particular for supporting heavy payloads it may be advantageous to mount it only on the inner half shell  201  that is made of steel, is connected directly to the gear box and is provided to carry heavy payloads. 
     A further embodiment of the inventive vehicle is shown in  FIGS. 19-21 . The vehicle  10  differs form the vehicle  1  outlined above in that it is provided with stabilizers  501 ,  502  on its front and its rear side. Each stabilizer  501 , 502  comprises a telescopic rod  503 , 504  which is mounted to a chassis  505  that vertically protrudes form the platform  20  of the vehicle  10 . Support wheels  505 ,  506  are arranged on ends of each of the telescopic rods  503 , 504 . The telescopic rods  503 , 504  are provided with a gas spring  510 . As presented in  FIG. 35  one part  511  of gas spring  510  is connected to an upper rod  507  of the telescopic rods  503 , 504  and a movable part  512  of the gas spring  510  is fixed to a lower rod  508  of the telescopic rods  503 , 504 . When activated the gas spring  510  extends the telescopic rods  503 , 504  to make contact with the ground at angles suitable to stabilizing the vehicle  10 . The gas spring is automatically activated when the vehicle&#39;s  10  power supply is shut down. Then the stabilizers  501 , 502  maintain it in its erect position. 
     It is a matter of course that, alternatively, the telescopic rods  503 , 504  could be provided with helical springs for pulling them out. 
     As it is shown in  FIG. 22  the inventive vehicle  10  can be provided with a shut down means to manually shut down the power supply of the vehicle  10  when the person  400  is aboard. The shut down means comprises power supply connector plug  601  which can be extended out of a connector holder  602  that is arranged on the upper side of the chassis  505 . Thereto the connector plug  601  is provided with a rope  603  which the person  400  driving the vehicle  10  holds in one of its hands. 
     When the person  400  pulls the connector plug  601  out of the connector plug  601  the power supply of the vehicle  10  is interrupted, the stabilizers  501 , 502  extend and the vehicle  10  stops. 
     Component parts of the connector holder  602  are shown more detailed in  FIGS. 23-29  and in  FIG. 31 .  FIGS. 30 and 31  show the connector plug  601 . 
     As presented in  FIGS. 23-26  a casing of the connector holder  602  is provided with a reception recess  604  for the connector plug  601 . The connector holder  602  comprises a rotary switch element  610  ( FIG. 27 ) that is provided with an outer recess  611 , a central aperture  612 , a connecting tab  613  and a contacting tab  614 . The central aperture  612  of the switch element  610  is arranged on an axle pin which forms the axis of rotation of the switch element  610 . The axle pin is provided with a pin head  606  which can be engaged with a corresponding tool. The connecting tab  613  is connected to a spring  607  that is fixed to the casing. 
     Using the tool the switch element  610  can be rotated against the force of the spring  607  such that the outer recess  611  is aligned with the reception recess  604  as shown in  FIGS. 23 and 24  and the connector plug  601  can be put into the reception recess  604 . As presented in  FIG. 28  ( a ), in this position the contacting tab  614  holds a button  621  of an electrical switch  620  of the power supply of the vehicle in a switch-on position in which the vehicle is supplied with electrical energy. As soon as the connector plug  602  is pulled out of the reception recess  604 , the spring  607  contracts and thereby turns the switch element  610  so that the contacting tab  614  turns in the position shown in  FIGS. 25 and 26 . The contacting tab  614  releases the button  621  and the electrical switch  620  gets in a switch-off position in which the power supply of the vehicle is interrupted. 
     Moreover, as it is presented in  FIGS. 29 and 35 , the connector holder  602  comprises a bracket  620  for a hydraulic cylinder  621 . The hydraulic cylinder  621  is hydraulically connected to another hydraulic cylinder  622  a flexible tube  623 . The hydraulic cylinder  622  can release an actuator  624  of the gas springs  510  of the telescopic rods  503 , 504 . When the switch element  610  turns in the switch-off position which is shown in  FIG. 35  ( b ) it impinges on the hydraulic cylinder  621  and as a result the hydraulic cylinder  622  releases the actuator  624  so that the gas springs  510  are released and the telescopic rods  503 , 504  pull out as described above. Alternatively instead of the hydraulic connection, a electrical connection between the shut down device could be provided so that the gas springs  510  could be released electronically as well. 
     As shown in  FIG. 30  ( a ) a plug-in-side of the connector plug  601  is bevelled on its ends  631 , 632  in order to fit in a complementary form of the reception recess  604  as shown in  FIG. 23  ( b ). Furthermore the connector plug  601  is provided with a connecting recess  633  for fixing the rope  603 . Due to the bevelled ends the connector plug  601  can easily pulled out of the reception recess  604  in directions which are parallel to the longitudinal axis of the reception recess  604  and which are inclined to the perpendicular of the top of the casing (see arrows t in  FIG. 31  ( a )). 
     Moreover the connector plug  601  is thinner than the width of the reception recess  604  so that the connector plug  601  can easily pulled out of the reception recess  604  in directions which are perpendicular to the longitudinal axis of the reception recess  604  and are inclined to the perpendicular of the top of the casing (see arrows p in  FIG. 31  ( b )).