JP2012224260A - Inverted pendulum type uni-cycle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inverted pendulum type uni-cycle to be freely turned by a driver with simple operation without requiring skills and experiences.SOLUTION: The inverted pendulum type uni-cycle is configured to be turned without requiring the movement of the weight into a direction, which the driver desires, by operating a right and a left footrest pedals 26 provided in a driver frame 12 of the inverted pendulum type uni-cycle so as to tilt a wheel support frame 34 and a wheel unit 42 around a front-rear directional axis X relative to the driver frame 12 to generate the steering operation in the tilting direction.

Description

  The present invention relates to an inverted pendulum type unicycle, and more particularly to an inverted pendulum type unicycle that performs inverted pendulum control in the front-rear direction.

  As a vehicle, a powered unicycle whose wheels are driven to rotate by a prime mover and an inverted pendulum type unicycle that performs inverted pendulum control in the front-rear direction are known (for example, Patent Documents 1, 2, and 3).

JP-A-6-156352 Special table 2003-502002 gazette JP 2005-335678 A

  Powered unicycles and inverted pendulum unicycles are difficult to stand by being balanced in the left-right direction when stationary. In addition, the turn of the vehicle is similar to that of a pedal-riding unicycle, and the occupant sitting on the saddle or standing on the board moves the weight to the side where he wants to turn, and tilts the wheel with respect to the ground plane. Is done. However, training and familiarization are required to perform the desired turn without losing balance by shifting weight, which makes it difficult to operate a powered unicycle or an inverted pendulum unicycle.

  The problem to be solved by the present invention is to make it easier for the inverted pendulum type unicycle to balance in the left and right directions at rest and to turn as desired by the occupant by simple operation without requiring training and familiarity. is there.

  An inverted pendulum type single wheel according to the present invention is an inverted pendulum type unicycle that performs an inverted pendulum control in the front-rear direction, and includes a passenger frame (12, 102) on which a driver rides, and the passenger frame (12, 102). And a wheel support frame (34, 124) rotatably attached to an axis extending in the front-rear direction, and a wheel support frame (34, 124) attached to the wheel support frame (34, 124) so as to be rotatable around an axis extending in the lateral direction. Wheels (46, 134), a drive unit (48, 136) for rotating the wheels (46, 134) for the inverted pendulum control in the front-rear direction and the forward-reverse travel, and the passenger frame (12, 102), the steering member (26, 114) operated by the driver, and the wheel support frame (34, 124) by the operation of the steering member (26, 114). A tilt drive unit for tilting about a longitudinal axis relative to the frame (12 and 102) and (50,52,54,58,138,140).

  According to this configuration, when the passenger operates the steering member (26, 114), the wheel support frame (34, 124) tilts around the longitudinal axis, and the wheel (46, 134) contacts in the left-right direction. Since the point can be moved, it is easy to balance in the left and right direction when stationary, and a steer action occurs in the tilting direction, so that the body turns without requiring weight movement in the direction of turning.

  In one preferred embodiment of the inverted pendulum type wheel according to the present invention, the steering member is a left and right pedal (26) individually attached to the occupant frame, and the tilt drive unit (50, 52, 54). 58) converts the displacement of the left and right pedals (26) into rotation about the longitudinal axis of the wheel support frame (34) with respect to the passenger frame (12).

  According to this configuration, the inverted pendulum type single wheel (10) turns by a simple operation of depressing the left and right pedals (26).

  In another preferred embodiment of the inverted pendulum type wheel according to the present invention, the steering member is a handle (114) rotatably attached to the passenger frame (102), and the tilt drive unit (138). 140) converts the rotation of the handle (114) into rotation about the longitudinal axis of the wheel support frame (124) with respect to the passenger frame (102).

  According to this configuration, the inverted pendulum type single wheel (100) turns by the operation of the handle (114) equivalent to the handle operation of the bicycle.

  The inverted pendulum type single wheel according to the present invention preferably further includes an urging member that urges the wheel support frame against the passenger frame at a neutral position where the wheel stands upright with respect to the ground plane.

  According to this configuration, when the turning operation is not performed, the wheels (46, 134) are stable at the neutral position where the wheels (46, 134) stand upright with respect to the ground contact surface, so that the straight traveling is facilitated.

  In one preferred embodiment of the inverted pendulum type wheel according to the present invention, the ground contact surface of the wheels (46, 134) is curved in a barrel shape.

  According to this configuration, the wheels (46, 134) are smoothly tilted, and good turning performance is obtained.

  Another preferred embodiment of the inverted pendulum type wheel according to the present invention is a curved surface in which the ground contact surface of the wheel (142) is continuous on both lateral sides of the flat surface (142A) and the flat surface (124A). (142B).

  According to this configuration, the uprightness of the wheel (142) is enhanced.

  According to the inverted pendulum type unicycle of the present invention, when the rider operates the steering member, the wheel support frame tilts around the longitudinal axis, and when stationary, the wheel contact point can be moved in the left-right direction. Because it can, it makes it easier to balance left and right. In addition, when the vehicle is running, a steering action occurs in the direction of tilting of the wheels, so the vehicle turns without requiring weight movement in the direction of turning. Thus, the inverted pendulum type unicycle can be easily balanced while left and right, and can be turned as required by the passenger (occupant) without training and habituation.

1 is an overall perspective view showing one embodiment of an inverted pendulum type unicycle according to the present invention. The disassembled perspective view of the inverted pendulum type unicycle by this embodiment. The front view of the inverted pendulum type unicycle by this embodiment. The side view of the inverted pendulum type unicycle by this embodiment. The enlarged plan view of the inverted pendulum type unicycle by this embodiment. The enlarged side view of the principal part of the inverted pendulum type unicycle by this embodiment. The enlarged front view at the time of the rectilinear advance of the principal part of the inverted pendulum type unicycle by this embodiment. The enlarged front view at the time of the left turn of the principal part of the inverted pendulum type unicycle by this embodiment. The whole perspective view which shows other embodiment of the inverted pendulum type unicycle by this invention. The disassembled perspective view of the principal part of the inverted pendulum type unicycle by other embodiment. The side view of the inverted pendulum type unicycle by other embodiment. The front view of the inverted pendulum type unicycle by other embodiment. The front view which shows other embodiment of the wheel used for the inverted pendulum type unicycle by this invention.

  Hereinafter, an embodiment of an inverted pendulum type unicycle according to the present invention will be described with reference to FIGS. In the following description, the left side and the right side are the passenger's own left and right directions, the left hand side is the left side and the right hand side is the right side, and the clockwise direction and the counterclockwise direction are rotation directions viewed from the rear of the vehicle body. .

  The inverted pendulum type unicycle 10 according to the present embodiment has a passenger frame (vehicle body) 12. The passenger frame 12 includes a lower frame 14 made of a steel pipe having a square frame shape in plan view, a single pole 16 fixed to the lower frame 14 and extending in a vertical direction, and fixed to an upper end of the pole 16. And a handle bar 18 extending in the horizontal direction. Grips 20 that are held by the passenger are attached to the left and right ends of the handlebar 18.

  Pedal support plates 22 are fixed to the left and right portions of the lower frame 14, respectively. A pedal support shaft 24 that protrudes in the horizontal direction is fixed to the left and right pedal support plates 22. The left and right pedal support shafts 24 are each mounted with a plate-like pedal member 26 so as to be rotatable around the central axis of the pedal support shaft 24. The pedal member 26 is separate on the left and right, and the support position from the lower frame 14 by the pedal support shaft 24 is on the rear side of the vehicle body with respect to the 1/2 position of the pedal member 26 in the front-rear direction. A long stepping portion 26 </ b> A is provided on the front side of the vehicle body by the rotation support position.

  A tension coil spring 28 is attached between the pedal member 26 and the lower frame 14. The tension coil spring 28 urges the pedal member 26 around the central axis of the pedal support shaft 24 in the counterclockwise direction as viewed in FIG. Thereby, as shown in FIG. 4, the pedal member 26 is in a substantially horizontal state by the lower bottom surface coming into contact with the upper edge surface of the pedal support plate 22 when the stepped portion 26 </ b> A is not depressed. maintain.

  A front shaft support recess 30 and a rear shaft support recess 32 are formed on one axis X extending horizontally in the front-rear direction at the front portion and the rear portion of the lower frame 14.

  The inverted pendulum type unicycle 10 has a wheel support frame 34 in addition to the passenger frame 12. The wheel support frame 34 has a square frame shape that is slightly smaller than the lower frame 14 in a plan view, and a front shaft support projection 36 and a rear shaft support projection 38 formed on the front portion and the rear portion are formed. By being fitted to the front pivot support recess 30 and the rear pivot support recess 32 so as to be rotatable, the front pivot support recess 30 is connected to the passenger frame 12 so as to be rotatable about the horizontal axis X.

  A wheel support plate 40 is fixed to each of the left and right portions of the wheel support frame 34. The left and right wheel support plates 40 both support one wheel unit 42. The wheel unit 42 is disposed in the wheel 44, a rubber tire 46 attached to the outer periphery of the wheel 44, and is fixedly connected to the wheel support plate 40 on the fixed side and fixedly connected to the wheel 44 on the rotation output side. An electric motor 48 called a wheel motor is included. The electric motor 48 is arranged such that the rotation center axis extends in the horizontal direction (left and right direction), and the wheel 44 and the rubber tire 46 are rotated forward and backward around the axis Y extending in the horizontal direction (left and right direction). To do. The outer peripheral surface of the rubber tire 46 is a ground contact surface, and is curved into a barrel shape that is raised at the center in the width direction when viewed from the front in the longitudinal direction of the vehicle body.

  The wheel support frame 34 has a key-shaped protrusion 50 that is long in the vertical direction at a central position (1/2 position) in the front width direction (axis Y direction). The protrusion 50 is slidably fitted in a long hole 54 that is formed at the center position (1/2 position) of the lateral link member 52 extending in the left-right direction (axis Y direction). Yes. The upper and lower ends of the vertical link member 58 are rotatably connected to the left and right ends of the horizontal link member 52 by pins 56, respectively. The lower end portions of the left and right vertical link members 58 are rotatably connected to the front end portions of the left and right pedal members 26 by pins 60.

  In a state where neither the left or right pedal member 26 is depressed, the spring force of the left and right tension coil springs 28 acts evenly on the lateral link member 52 by the above-described link mechanism, so that the protrusion 50 and the elongated hole 54 are separated. Under the fitting, as shown in FIG. 7, the wheel support frame 34 is urged against the passenger frame 12 in a neutral position where the rubber tire 46 stands upright with respect to the ground contact surface. Maintained.

  As shown in FIG. 6, when the front side of the left pedal member 26 is depressed against the spring force of the tension coil spring 28, the left vertical link member 58 is lowered according to the depression amount, and the vehicle body When viewed from the rear, the lateral link member 52 rotates counterclockwise around the fitting portion between the elongated hole 54 and the protrusion 50 as a rotation center. Due to the rotation of the lateral link member 52, as shown in FIG. 8, the wheel support frame 34 and the rubber tire 46 rotate in the counterclockwise direction around the X axis as viewed from the rear of the vehicle body with respect to the passenger frame 12. And moves to the left according to the amount of depression of the left pedal member 26.

  On the other hand, when the front side of the right pedal member 26 is depressed against the spring force of the tension coil spring 28, the right vertical link member 58 is pulled down according to the amount of depression, and viewed from the rear of the vehicle body. The horizontal link member 52 rotates in the clockwise direction with the fitting portion between the elongated hole 54 and the protrusion 50 as the rotation center. By the rotation of the lateral link member 52, the wheel support frame 34 rotates around the X axis in the clockwise direction as viewed from the rear of the vehicle body with respect to the passenger frame 12, and according to the amount of depression of the right pedal member 26 Tilt to the right.

  In this manner, the left and right pedal members 26 form steering members, and the lateral link member 52 and the left and right vertical link members 58 engaged with the protrusions 50 of the wheel support frame 34 through the long holes 54 are the left and right pedal members. The tilting drive unit converts the stepping amount (displacement) 26 into rotation around the longitudinal axis (axis X) of the wheel support frame 34 with respect to the passenger frame 12.

  A power supply unit 62 and a control device 64 of an electric motor 48 are attached to the pole 16 of the passenger frame 12. The power supply unit 62 includes a rechargeable secondary battery and also supplies power to the control device 64. The control device 64 includes a gyro sensor, an inclination angle sensor, an acceleration sensor, and the like, and controls the inverted pendulum control in the front-rear direction and the rotational drive of the electric motor 48 for the forward-reverse travel based on the detection of the center of gravity movement of the passenger in the front-rear direction. Control.

  The inverted pendulum type unicycle 10 maintains a posture in the front-rear direction in which the pole 16 does not tilt in the front-rear direction by the inverted pendulum control in the front-rear direction. Under this inverted pendulum control, the occupant gets on the inverted pendulum type unicycle 10 upright by gripping the left and right grips 20 with the left and right hands and placing the left and right feet on the left and right pedal members 26.

  In this boarding state, when the occupant moves the weight forward (moving the center of gravity), the inverted pendulum type unicycle 10 moves forward at a speed proportional to the magnitude of the forward weight shift under the inverted pendulum control. Run. On the other hand, when the passenger moves the weight to the rear side, the inverted pendulum type unicycle 10 travels backward at a speed proportional to the magnitude of the weight movement to the rear side under the inverted pendulum control.

  When traveling straight, the weight is applied to both the left and right pedal members 26 directly above or behind the pedal support shaft 24. In this case, as shown in FIG. 7, the lateral link member 52 maintains a substantially horizontal posture, the wheel support frame 34 is not inclined to the left or right with respect to the passenger frame 12, and the rubber tire 46 has a width. Ground with a ground point A at the center of the direction and stand upright with respect to the ground plane. In this state, the inverted pendulum type unicycle 10 travels straight without being steered in either direction.

  When it is desired to make a left turn, as shown in FIG. 6, the stepped portion 26 </ b> A of the left pedal member 26 is depressed downward against the spring force of the tension coil spring 28. By depressing the left pedal member 26, the left vertical link member 58 is pulled down in accordance with the amount of depression, and the horizontal link member 52 rotates the fitting portion between the long hole 54 and the protrusion 50 when viewed from the rear of the vehicle body. It turns in the counterclockwise direction when viewed from the rear of the vehicle body as the center. As the horizontal link member 52 rotates, the wheel support frame 34 is tilted to the left side according to the amount of depression of the left pedal member 26 with respect to the passenger frame 12 as shown in FIG. Inclination to the left with respect to the ground, and comes to ground at the ground contact point B moved to the left shoulder. In this state, the inverted pendulum type unicycle 10 is steered in the left direction according to the depression amount of the left pedal member 26, and the left depression amount is increased as the depression amount is increased.

  When turning rightward, the stepping portion 26A of the right pedal member 26 is depressed downward against the spring force of the tension coil spring 28. By depressing the right pedal member 26, the right vertical link member 58 is pulled down according to the amount of depression, and the horizontal link member 52 rotates the fitting portion between the elongated hole 54 and the protrusion 50 when viewed from the rear of the vehicle body. It turns clockwise as seen from the rear of the car. By the rotation of the lateral link member 52, the wheel support frame 34 is tilted to the right with respect to the passenger frame 12 in accordance with the depression amount of the right pedal member 26, and the rubber tire 46 is tilted to the right with respect to the ground contact surface. It comes to be grounded at the grounding point moved closer to the part. In this state, the inverted pendulum type unicycle 10 is steered in the left direction in accordance with the amount of depression of the right pedal member 26, and the larger the amount of depression, the more right turns with a smaller turning radius.

  As a result, the passenger can turn without having to move the weight in the direction in which he wants to turn by simply stepping on the left and right pedal members 26 while keeping his upright posture. Thus, the inverted pendulum type unicycle 10 can be turned as desired by the passenger (occupant) by a simple operation such as stepping on the left and right pedal members 26 without requiring training and familiarity.

  Further, when the center of gravity moves to the right side when stationary, the rubber tire 46 can be tilted to the right side by depressing the right pedal member 26, and the contact point of the rubber tire 46 can be moved to the right side. As a result, the grounding point can be positioned vertically downward from the moved center of gravity, so that it is possible to easily balance.

  Hereinafter, another embodiment of the inverted pendulum type unicycle according to the present invention will be described with reference to FIGS.

  The inverted pendulum type unicycle 100 according to the present embodiment has a passenger frame (vehicle body) 102. The passenger frame 102 includes a base portion 104 having a yoke shape (staple shape) in the front-rear direction, a saddle 108 fixed to a saddle support pipe 106 erected on the base portion 104, and a bearing sleeve 110 fixed to the base portion 104. A handle column 112 that is rotatably supported by the base 104, a handle bar 114 that is a steering member that is fixed to the upper end of the handle column 112 and extends in the horizontal direction, and the left and right sides of the base 104. It has a step support arm 116 fixed to both sides, and a step plate 118 attached to the tip of the step support arm 116. Grips 120 held by the passenger are attached to the left and right ends of the handle bar 114.

  The base 104 supports both ends of a support shaft 122 that extends horizontally in the front-rear direction. The support shaft 122 supports the upper sleeve 126 of the wheel support frame 124 so as to be rotatable about its own central axis (around the axis X). Wheel support arms 128 are fixed to the left and right sides of the upper sleeve 126. The left and right wheel support arms 128 have a bifurcated shape in cooperation with the upper sleeve 126 and support one wheel unit 130 at both ends.

  The wheel unit 130 includes a wheel 132, a rubber tire 134 attached to the outer periphery of the wheel 132, and is disposed in the wheel 132. The fixed side is fixedly connected to the tip of the wheel support arm 128, and the rotation output side is fixedly connected to the wheel 132. And an electric motor 136 called a wheel motor. The electric motor 136 is arranged such that the rotation center axis extends in the horizontal direction (left and right direction), and the wheel 132 and the rubber tire 134 are driven to rotate forward and backward around the axis Y extending in the horizontal direction (left and right direction). To do. The outer peripheral surface of the rubber tire 134 is a contact surface, and is curved in a barrel shape with a raised center in the width direction.

  A lower end portion of the handle column 112 passes through the bearing sleeve 110 and is below the base portion 104, and a bevel gear 138 is fixed to the lower end portion. A bevel gear 140 that meshes with the bevel gear 138 is fixed to the outer peripheral portion of the upper sleeve 126. The bevel gears 138 and 140 form a tilt drive unit that converts the rotation of the handle bar 114 into the rotation around the longitudinal axis (axis X) of the wheel support frame 124 with respect to the passenger frame 102.

  Thus, when the handle bar 114 is turned to the left with the handle column 112 as the center of rotation, the upper sleeve 126 rotates about the axis X in the counterclockwise direction when viewed from the rear of the vehicle body by meshing with the bevel gears 138 and 140. . By this rotation, the wheel support frame 124 is tilted to the left with respect to the passenger frame 102 in accordance with the operation amount of the handle bar 114.

  On the other hand, when the handle bar 114 is rotated to the right with the handle column 112 as the center of rotation, the upper sleeve 126 rotates about the axis X in the clockwise direction as viewed from the rear of the vehicle body by meshing with the bevel gears 138 and 140. Move. By this rotation, the wheel support frame 124 is tilted to the right according to the operation amount of the handle bar 114 with respect to the passenger frame 102.

  A power supply unit 142 and a control device 144 of the electric motor 136 are attached to the saddle support pipe 106 of the passenger frame 102. The power supply unit 142 includes a rechargeable secondary battery and also supplies power to the control device 144. The control device 144 includes a gyro sensor, an inclination angle sensor, an acceleration sensor, and the like, and controls the rotation of the electric motor 136 for forward / reverse running based on the inverted pendulum control in the front-rear direction and the detection of the center of gravity movement of the passenger in the front-rear direction. Control.

  The inverted pendulum type unicycle 100 maintains the front-rear posture in which the handle column 112 and the saddle support pipe 106 do not tilt in the front-rear direction by the inverted pendulum control in the front-rear direction. Under this inverted pendulum control, the occupant sits on the inverted pendulum type unicycle 100 by holding the left and right grips 120 with the left and right hands, sitting on the saddle 108, and placing the left and right feet on the left and right step plates 118. It will be in the state.

  In this boarding state, when the occupant moves the weight forward (movement of the center of gravity), the inverted pendulum type unicycle 100 moves forward at a speed proportional to the magnitude of the forward weight movement under the inverted pendulum control. Run. On the other hand, when the passenger moves the weight backward, under the inverted pendulum control, the inverted pendulum unicycle 100 travels backward at a speed proportional to the magnitude of the weight shift to the rear side.

  When it is desired to travel straight, the handle bar 114 is positioned at a neutral position where the extending direction of the handle bar 114 is parallel to the axis Y. In this case, the wheel support frame 124 is not inclined to the left or right with respect to the passenger frame 102, and the rubber tire 134 is grounded at the center in the width direction and stands upright with respect to the ground plane. In this state, the inverted pendulum type unicycle 100 goes straight without being steered in either direction.

  When it is desired to turn to the left, the handle bar 114 is turned to the left. By this rotation, the handle column 112 and the bevel gears 138 and 140 are rotated, the wheel support frame 124 is tilted to the left with respect to the passenger frame 102 according to the operation amount of the handle bar 114, and the rubber tire 134 is on the left with respect to the grounding surface. Tilt to ground and come to ground with the left shoulder. In this state, the inverted pendulum type unicycle 100 is steered in the left direction according to the amount of operation to the left side of the handlebar 114, and the larger the amount of operation, the left turns with a smaller turning radius.

  If it is desired to turn to the right, the handle bar 114 is turned to the right. By this rotation, the handle 112 and the bevel gears 138 and 140 are rotated, the wheel support frame 124 is tilted to the right with respect to the passenger frame 102 according to the operation amount of the handle bar 114, and the rubber tire 134 is moved to the right with respect to the ground plane. Tilt and come to ground on the right shoulder. In this state, the inverted pendulum type unicycle 100 exerts a leftward steering operation in accordance with the amount of operation to the right side of the handlebar 114, and the larger the amount of operation, the more right turns with a smaller turning radius.

  As a result, the passenger can turn without having to move his / her weight in the direction in which he / she wants to turn by only operating the handle bar 114 equivalent to the handle operation of the bicycle while in the sitting position. As a result, the inverted pendulum type unicycle 100 can be turned as desired by the occupant (occupant) by a simple operation such as a handle operation without requiring training and familiarity.

  In any of the above-described embodiments, the rubber tires 46 and 134 have a ground contact surface that is curved in a barrel shape when viewed from the front in the front-rear direction of the vehicle body. As shown in FIG. 13, the rubber tires 46 and 134 are rubber tires 142 each having a flat surface 142A and R-shaped curved surfaces 142B that are continuous on both lateral sides of the flat surface 142A. May be. In the case of the rubber tire 142, the uprightness of the rubber tire 142 is enhanced by the presence of the flat surface 142A than that of the barrel shape.

DESCRIPTION OF SYMBOLS 10 Inverted pendulum type unicycle 12 Passenger frame 26 Pedal member 28 Tension coil spring 34 Wheel support frame 42 Wheel unit 46 Rubber tire 48 Electric motor 50 Protrusion 52 Lateral link member 54 Long hole 58 Vertical link member 100 Inverted pendulum type unicycle 102 Passenger Frame 108 Saddle 112 Handle column 114 Handle bar 118 Step plate 122 Support shaft 124 Wheel support frame 130 Wheel unit 134 Rubber tire 136 Electric motor 138, 140 Bevel gear

Claims (6)

An inverted pendulum type unicycle that performs inverted pendulum control in the front-rear direction,
A passenger frame on which the driver is boarded;
A wheel support frame attached to the passenger frame so as to be rotatable about an axis extending in the front-rear direction;
A wheel rotatably mounted about an axis extending laterally to the wheel support frame;
A drive unit that rotationally drives the wheels for front and rear inverted pendulum control and fore-and-aft travel; and
A steering member provided on the passenger frame and operated by a driver;
A tilt drive unit that tilts the wheel support frame about a front-rear axis with respect to the passenger frame by operating the steering member;
An inverted pendulum unicycle with   The steering member is a left and right pedal individually attached to the occupant frame, and the tilt drive unit rotates the left and right pedals around the longitudinal axis of the wheel support frame with respect to the occupant frame. The inverted pendulum type unicycle according to claim 1, wherein the inverted pendulum type unicycle is converted into the following. The steering member is a handle rotatably attached to the passenger frame;
2. The inverted pendulum type unicycle according to claim 1, wherein the tilt drive unit converts rotation of the handle into rotation about a longitudinal axis of the wheel support frame with respect to the passenger frame.   4. The biasing member according to claim 1, further comprising a biasing member that biases the wheel support frame with respect to the occupant frame such that the wheel returns to a neutral position where the wheel stands upright with respect to the ground surface. Inverted pendulum type unicycle.   The inverted pendulum type unicycle according to any one of claims 1 to 4, wherein a ground contact surface of the wheel is curved in a barrel shape.   The inverted pendulum type unicycle according to any one of claims 1 to 4, wherein the ground contact surface of the wheel includes a flat surface and curved surfaces that are continuous on both sides of the flat surface in the lateral direction.

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