SELF-BALANCING POWERED UNICYCLE DEVICE

Abstract

A self-balancing powered unicycle (100) is disclosed. The unicycle comprises: a single primary wheel (120) adapted to rotate about a primary axis of rotation (125); a balance control system adapted to maintain fore-aft balance of the unicycle device by controlling rotation of the primary wheel; a foot platform (165) for supporting a user of the unicycle device; and at least one auxiliary support (195) adapted to rotate about an auxiliary axis of rotation, wherein the auxiliary axis of rotation is adapted to be angled with respect to the primary axis of rotation.

Claims

1. A self-balancing powered unicycle device, comprising: a single primary wheel configured to rotate about a primary axis of rotation; a balance control system configured to maintain fore-aft balance of the unicycle device by controlling rotation of the single primary wheel; a foot platform for supporting a user of the unicycle device; and at least one auxiliary support configured to rotate about an auxiliary axis of rotation, wherein the auxiliary axis of rotation is angled with respect to the primary axis of rotation.

2. The self-balancing powered unicycle device of claim 1, wherein the at least one auxiliary support is configured to only contact a ground supporting surface when the single primary wheel is tilted from vertical by more than 10 degrees.

3. The self-balancing powered unicycle device of claim 1, wherein the auxiliary axis of rotation is configured to be rotatable about a supplementary axis that is angled with respect to the auxiliary axis of rotation.

4. The self-balancing powered unicycle device of claim 2, wherein the auxiliary axis of rotation is configured to be rotatable about the supplementary axis by 360.

5. The self-balancing powered unicycle device of claim 3, wherein the supplementary axis is substantially perpendicular to the auxiliary axis of rotation.

6. The self-balancing powered unicycle device of claim 1, wherein the auxiliary axis of rotation is substantially perpendicular to the primary axis of rotation.

7. The self-balancing powered unicycle device of claim 1, wherein the at least one auxiliary support comprises a substantially spherical or circular wheel.

8. The self-balancing powered unicycle device of claim 1, wherein the at least one auxiliary support is configured to be movable between a stowed configuration and an active position.

9. The self-balancing powered unicycle device of claim 1, further comprising a retractable handle configured to be movable between a retracted configuration and an extended configuration.

10. The self-balancing powered unicycle device of claim 9 wherein the retractable handle is configured to be movable between a retracted configuration and an extended configuration so as to move the at least one auxiliary support between a stowed configuration and a active position.

11. The self-balancing powered unicycle device of claim 1, wherein the at least one auxiliary support is mounted on the foot platform.

12. The self-balancing powered unicycle device of claim 1, wherein the at least one auxiliary support comprises first and second rotatably mounted elements configured to rotate about first and second auxiliary axes of rotation, respectively, and the first and second auxiliary axes of rotation are angled with respect to the primary axis of rotation.

13. The self-balancing powered unicycle device of claim 1, wherein the balance control system configured to maintain pivotal balance of the unicycle device about an inclined axis that is titled from vertical by controlling rotation of the single primary wheel when the unicycle device is supported only by the at least one auxiliary support.

14. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] An example of the invention will now be described with reference to the accompanying diagrams, in which:

[0032] FIG. 1 is an isometric view of an embodiment of a powered unicycle device in a closed configuration;

[0033] FIG. 2 is an exploded diagram of components internal to the casing of FIG. 1,

[0034] FIGS. 3A & 3B are side and front elevations, respectively, of the embodiment of FIG. 1, wherein the casing is moving between a closed and open configuration;

[0035] FIGS. 4A & 4B are side and front elevations, respectively, of the embodiment of FIG. 1, wherein the casing is in an open configuration and the foot platforms are in a stowed configuration;

[0036] FIGS. 5A & 5B are side and front elevations, respectively, of the embodiment of FIG. 1, wherein the casing is in an open configuration and the foot platforms are in an active configuration;

[0037] FIG. 6 is a front elevation of a unicycle device according to another embodiment of the invention;

[0038] FIG. 7 depicts the embodiment of FIG. 6 titled sideways from vertical so that the first support wheel contacts the generally horizontal ground/supporting surface;

[0039] FIG. 8 depicts a modification to the embodiment of FIGS. 6-7, wherein the device is tilted sideways so that the first support wheel contacts the generally horizontal ground/supporting surface and so that the wheel is separated vertically from the generally horizontal ground/supporting surface 250; and

[0040] FIG. 9 is an isometric view of another embodiment of a powered unicycle device, wherein the auxiliary support is in an active position.

DETAILED DESCRIPTION

[0041] Proposed is self-balancing powered unicycle device having an auxiliary support that is adapted to rotate about an auxiliary axis of rotation which is in a different direction from the axis of rotation of the single primary wheel. The auxiliary support is therefore adapted to be able to rotate in a different direction from that of the main unicycle wheel, and as a result, the auxiliary support may provide a supplementary contact or support point upon which the unicycle may be supported when it is oriented in particular way (e.g. tilted or inclined from vertical by more than 10 for example). The auxiliary support may be used to provide a supporting pivot point for enabling the unicycle to turn about a small/tight turning circle.

[0042] The auxiliary support may also be used for conveying the unicycle in a direction that differs from the running direction of the primary wheel. For example, the unicycle may tilted on its side so as to be supported solely on the auxiliary support (e.g. without the primary wheel contacting the ground) and then pulled or pushed along on the auxiliary support (like a two-wheeled suitcase for example).

[0043] The term vertical, as used herein, means substantially orthogonal to the generally horizontal ground surface upon which a unicycle may be ridden. The term lateral, as used herein, means substantially parallel to the generally horizontal ground surface. Also, terms describing positioning or location (such as above, below, top, bottom, etc.) are to be construed in conjunction with the orientation of the structures illustrated in the diagrams.

[0044] The diagrams are purely schematic and it should therefore be understood that the dimensions of features are not drawn to scale. Accordingly, the illustrated thickness of any of the components or features should not be taken as limiting. For example, a first component drawn as being thicker than a second component may, in practice, be thinner than the second component.

[0045] FIGS. 1-5 show one embodiment of a powered unicycle device 100. FIG. 1 shows the powered unicycle device 100 with a casing 110 in a closed configuration so that it encases a single wheel 120. Here, the casing 110 is formed from a first, upper portion 110A that covers the top (uppermost) half of the wheel 120, and a second, lower portion 110B that covers the bottom (lowermost) half of the wheel 120. FIG. 2 illustrates an exploded view of components internal to the casing 110, namely a wheel 120 and drive arrangement 135.

[0046] Referring back to FIG. 1, the wheel 120 spins about a central axis 125. The first, upper portion 110A of the casing is retained in a fixed position relative to the central axis 125, whereas the second, lower portion 110B of the casing is adapted to rotate about the central axis 125. Rotation of the second lower portion 110B about the central axis 125 moves the casing between closed and open configurations (as illustrated by FIGS. 3-4). In the closed configuration (shown in FIG. 1), the casing 110 encloses the wheel 120 so that the outer rim 130 of the wheel 120 is not exposed. In the open configuration (shown in FIGS. 4-5), the outer rim 130 of the wheel 120 is exposed so that it can contact a ground surface.

[0047] Referring now to FIG. 2, rotation of the single wheel 120 is driven by a drive arrangement 135 according to an embodiment. The drive arrangement 135 includes guide wheels 140 attached to an outwardly facing side of respective batteries 145. In this embodiment, there are two pairs of angled guide wheels 140, wherein the two guide wheels in each pair share are tapered or conical such that they have a sloped surface which is not perpendicular to the radial plane of the single wheel 120. Put another way, the contact surface of each guide wheel is inclined with respect to the radial plane of the single wheel 120. The guide wheels 140 of each pair are also positioned spaced apart to provide a gap between the two guide wheels of a pair.

[0048] A rib 150 is provided around the inner rim of the wheel 120 and fits into the gap between the two guide wheels 140 in each pair. The guide wheels 140 are therefore adapted to contact with the inner rim of wheel 120 where they spin along with wheel 120 and hold wheel 120 in place by way of the rib 150. Of course, it will be appreciated that other arrangements, including those with only one guide wheel per battery 145, are possible.

[0049] The batteries 145 are mounted on a motor 155 which drives a pair of drive wheels 160 positioned at the lowermost point along the inner rim of the wheel 120. The batteries 145 supply power to motor 155 and, this embodiment, there are two batteries in order to create a balanced distribution of volume and weight. However, it is not necessary to employ two batteries 145. Also, alternative energy storage arrangements may be used, such as a flywheel, capacitors, and other known power storage devices, for example.

[0050] The drive arrangement 135 is adapted to be fitted inside the wheel. In other words, the drive arrangement is sized and shaped so that it can be positioned in the void define by the inner rim of the wheel 120. Further, the drive arrangement 135 is movable between a locked configuration and an unlocked configuration.

[0051] In the locked configuration, when fitted inside the wheel 120, the drive arrangement 135 engages with the rim of the wheel 120 to prevent its removal from the wheel. Here, in the embodiment shown, the guide wheels 140 contact the inner rim of wheel 120 and hold wheel 120 in place by way of the rib 150 when the drive arrangement is in the locked configuration.

[0052] In the unlocked configuration, when fitted inside the wheel 120, the drive arrangement 135 disengages with the rim of the wheel 120 to permit its removal from the wheel. Here, in the embodiment shown, the drive arrangement contracts in size when moved from the locked configuration to the unlocked configuration so that the guide wheels 140 no longer contact the inner rim of wheel 120 and no longer hold the wheel 120 in place by way of the rib 150. Such reduced size (e.g. diameter) of the drive arrangement 135 when in the unlocked configuration thus enables the drive arrangement 135 to be removed from the wheel 120.

[0053] It will therefore be understood that the drive arrangement 135 of the illustrated embodiment can be quickly and easily connected or removed to/from the wheel 120 for repair or replacement, for example. Arranging the drive arrangement 135 in the unlocked configuration permits its removal or fitting from/to the wheel 120 (because, for example, its dimensions when in the unlocked configuration permit its fitting inside the wheel). When fitted inside the wheel 120, the drive arrangement can be arranged in the locked configuration so that it engages with the rim of the wheel 120 to prevent its removal (because, for example, its dimensions when in the locked configuration prevent the drive arrangement from being removed from the wheel).

[0054] When the drive arrangement 135 is fitted inside the wheel and in the locked configuration, a pair of drive wheels (not visible in FIG. 2) is adapted to contact the inner rim of the wheel 120. Here, the pair of drive wheels comprises first and second rollers that are inclined with respect to the radial plane of the wheel. By way of contact with the inner rim of the wheel 120, the drive wheels transmit torque from the motor 155 to the wheel 120. It will be understood that this drive system operates by friction and it may be preferable to avoid slippage between the drive wheels and the inner rim of wheel 120. Positioning the drive wheels at the lowermost point enables the weight of a user to provide a force which presses the drive wheels against the inner rim of the wheel 120, thereby helping to reduce or avoid slippage.

[0055] Referring to FIGS. 4-5, two foot platforms 165 are coupled to the second, lower portion 110B of the casing 110, with one on each side of wheel 120. In the open configuration, the foot platforms 165 are movable between a stowed configuration, wherein the foot platforms are substantially parallel with the plane of the wheel (as shown in FIG. 4), and an active configuration, wherein the foot platforms are substantially perpendicular to the plane of the wheel (as shown in FIG. 5) so as to support a user's weight. Thus, in this embodiment, the foot platforms 165 are movable between: (i) a stowed configuration wherein they are flat against the side of the wheel and can be rotated (with the second, lower portion 110B of the casing) about the central axis 125 so as to be positioned inside (and covered by) the first, upper portion 110A of the casing; and (ii) an active configuration, wherein. Accordingly, the foot platforms 165 are upwardly foldable into a stowed configuration that narrows the profile of the unicycle 100 to aid in storage and carrying. In use, the foot platforms are moved to the active configuration, and the user stands with one foot on each platform 165.

[0056] The drive arrangement 135 includes a gyroscope or accelerometer system 170 which senses forward and backward tilt of the device in relation to the ground surface and regulates the motor 155 accordingly to keep the device upright. In this way, the user is provided a way of controlling the acceleration and deceleration of the unicycle by varying the pressure applied to various areas of the foot platforms 165. It also enables the unicycle to self-regulate its balance in the fore-and-aft plane.

[0057] When not in use, the foot platforms 165 are moved to the stowed configuration and then rotated (with the second, lower portion 110B of the casing) about the central axis 125 so as to move the casing to the closed configuration. Thus, in the closed configuration, the foot platforms 165 are stored inside the casing (covered by the first, upper portion 110A of the casing).

[0058] The embodiment of FIGS. 1-5 also comprises a lifting handle 180 coupled to the drive arrangement 135 via a plurality of rods 185. The lifting handle 180 is positioned at the top of the casing 110, above the wheel 120, and may be used to hold the unicycle 100 above the ground, for example to enable a user to lift, carry, convey or place the unicycle 100.

[0059] A retractable carrying strap 190 is also provided and attached to the top of the casing 100. The carrying strap 190 may be used to carry the unicycle 100, for example over the shoulder of user. A hook may be provided on the bottom of the case to create rucksack-like belts from the carrying strap 190. The carrying strap 190 may also be used to pull the unicycle 100, for example when the auxiliary supports (detailed below) are in contact with the ground/supporting surface).

[0060] The embodiment of FIGS. 1-5 further comprises an auxiliary support arrangement provided on the foot platforms 165. The actuator arrangement comprises first and second rotatably mounted elements 195 (in particular spherical balls) adapted to rotate freely in 3-dimensions. Thus the spherical balls 195 are each adapted to rotate about a respective auxiliary axis of rotation which is angled with respect to the (primary) central axis of rotation 125. Thus, the auxiliary support arrangement in this embodiment comprises two spherical wheels 195.

[0061] Each of the two spherical wheels 195 are adapted to rotate about an auxiliary axis of rotation which can freely pivot and rotate in 3-dimensions. The spherical wheels 195 are therefore adapted to be able to rotate in a different directions from that of the main unicycle wheel 120 (i.e. the central axis 125). The spherical wheels 195 are adapted to provide a supplementary contact or support point upon which the unicycle may be supported when it is oriented in particular way (e.g. tilted or inclined from vertical by more than a certain amount). By being rotatable, the spherical wheels 195 may be used to provide a supporting pivot point for enabling the unicycle to turn about a small/tight turning circle.

[0062] Also, the spherical wheels 195 can be used for conveying the unicycle in a direction that differs from the running direction of the primary wheel, for example in a lateral/sideways direction. By way of example, the unicycle may be tilted to the side so that it is supported solely on one of the spherical wheels 195 (e.g. without the wheel 120 contacting the ground) and then pulled or pushed along on the spherical wheels 195 (like a conventional trolley luggage arrangement for example).

[0063] Here, the spherical wheels 195 are arranged to only contact a ground supporting surface when the primary wheel is tilted from vertical by 45. Unlike a conventional stabilizer, each spherical wheel is arranged to only come into contact with the horizontal ground surface when the unicycle is titled significantly from vertical (e.g. by 45 in this example). This may, for example, occur when a user attempts to turn the unicycle sharply and thus intentionally leans the unicycle sideways by 45. In such a situation, the spherical wheel 195 can act as a support for preventing the unicycle from falling over in a sideways fashion and thus enable the unicycle to turn in a tighter fashion (e.g. with a smaller turning circle radius) than would otherwise be possible).

[0064] The embodiment of FIGS. 1-5 also comprises an entity presence detection system 200 adapted to detect the presence of a user. More specifically, in this embodiment, the entity presence detection system 200 comprise a proximity sensor 200 situated on each side of the first, upper portion 110A of the casing above the central axis 125. Each proximity sensor 200 is adapted to detect the existence of a user's leg in close proximity with the proximity sensor 200. In order to do this, the proximity sensors 200 may, for example, employ infrared reflection, ultrasonic sensing, and/or and light detection principles to detect if/when a user's leg is positioned in close proximity with the proximity sensor (e.g. contacting the first, upper portion 110A of the casing).

[0065] The proximity sensors 200 provide a signal indicating whether or not a user's presence it detected. This signal is provided to a control system (not shown) which is to control operation of the powered unicycle, by controlling the drive arrangement 135 for example. Based on an indication of detected user presence provided by the signal(s) from the proximity sensors 200, the control system controls operation of the powered unicycle.

[0066] Here, the entity presence detection system 200 is also adapted to trigger an activating system which moves the casing between the closed and open configurations. More specifically, the entity presence detection system 200 further comprises proximity sensors 210 incorporated into the handle 180 which are adapted to detect when a user's hand contacts the upper surface of the handle (e.g. when a user grips the handle 180). When one of the proximity sensors 210 incorporated into the handle 180 detects a user's hand contacting the upper surface of the handle 180, it provides an activation signal which triggers the activating system which, in turn, causes the second, lower portion 110B of the casing to rotate about the central axis to move from the closed configuration to the open configuration. This process of rotating the second, lower portion 110B of the casing from the closed configuration to the open configuration is depicted by FIGS. 3-4.

[0067] Furthermore, the entity presence detection system 200 is also adapted to trigger an actuator arrangement which moves the foot platforms between the stowed configuration and active configurations. More specifically, the entity presence detection system 200 provides an activation signal which triggers the actuator arrangement which, in turn, causes first and second telescoping actuators 197 to extend so as to pivotally move the foot platforms 165 from the stowed configuration to the active configuration. This process of outwardly folding the foot platforms 165 from the stowed configuration to the active configuration is depicted by FIGS. 4-5.

[0068] It will therefore be understood that, in this embodiment, the proximity sensors 210 in the lifting handle 180 may be used to initiate the activating system and move the casing from the closed configuration to the open configuration, and to subsequently initiate the actuator arrangement to move the foot platforms 165 from the stowed configuration to the active configuration. Thus, when a user holds the unicycle 100 by the handle, the proximity sensors 210 trigger the activating system and then the actuator arrangement. In response to this trigger, the activating system moves the casing to the open configuration (depicted in FIG. 4) so that the lowermost portion of the wheel is exposed and can be brought into contact with a ground surface, and then the actuator moves the foot platforms 165 to the active configuration (depicted in FIG. 5) so that they project outwardly from the side of the wheel to provide support surfaces for the feet of a user. In other words, when lifted by the lifting handle 180, the unicycle may be arranged in an open and active configuration ready for deployment (e.g. placement on a ground surface).

[0069] When the user no longer desires to use the unicycle, the user grips the lifting handle to lift the unicycle from the ground. This results in the proximity sensors 210 triggering the actuator arrangement once again which then causes the foot platforms to move from the active configuration (shown in FIG. 5) to the stowed configuration (shown in FIG. 4), and then subsequently causes the activating system to move the casing from the open configuration (depicted in FIG. 4) to the closed configuration (depicted in FIG. 1).

[0070] Although the above embodiment has been described above employing a telescoping actuators which are formed from a plurality of nesting, telescoping sections that are adapted to extend and retract like sleeves, it will be understood that other embodiments may employ other types of telescoping actuators. For example, other embodiments may employ telescoping actuators which use actuating members that act as rigid linear shafts when extended, but break that line by folding, separating into pieces and/or uncoiling when retracted. Examples of such an alternative telescoping actuator include: a helical band actuator; a rigid belt actuator; a rigid chain actuator; and a segmented spindle.

[0071] Turning now to FIGS. 6-7, there is depicted a unicycle device according to another embodiment of the invention. The embodiment of FIGS. 6-7 is similar to the embodiment of FIGS. 1-5. However, in the embodiment of FIGS. 6-7, the auxiliary support arrangement comprises first 200A and second 200B support wheels which are adapted to rotate about first 210A and second 210B auxiliary axes of rotation, respectively. The first support wheel 200A is coupled to the left 165A foot platform and the second support wheel 200B is coupled to the right 165B foot platform.

[0072] The first 210A and second 210B auxiliary axes of rotation are angled with respect to the central axis of rotation 125. More specifically, the first 210A and second 210B auxiliary axes of rotation are substantially perpendicular to the central axis of rotation 125. Also, each of the first 210A and second 210B auxiliary axes of rotation is rotatable about a supplementary axis 230A,230B which is angled with respect to the respective auxiliary axis 210A,210B of rotation. Here, each supplementary axis 230A,230B is perpendicular to its respective auxiliary axis of rotation 230A,230B. More specifically, the first 210A and second 210B auxiliary axes of rotation are rotatable about their respective supplementary axis 230A,230B by 360. Thus, each support wheel 200A, 200B is pivotable so that it can rotate in various directions (and not just forward and backwards in a single plane for example).

[0073] As depicted in FIG. 7, the first support wheel 200A is adapted to contact the generally horizontal ground/supporting surface 250 when the wheel 120 is tilted sideways from vertical by approximately 15-20. Thus, unlike a conventional stabilizer, the first support wheel 200A is arranged to contact the ground surface 250 only when the unicycle is titled significantly from vertical (e.g. by more than 15). This may, for example, occur when a user attempts to turn the unicycle sharply and thus intentionally leans the unicycle sideways by a significant amount. In such a situation, first support wheel 200A can act as a support for preventing the unicycle from falling over in a sideways fashion and also provide a pivot point for enabling the unicycle to turn in a tighter fashion (e.g. with a smaller turning circle radius) than would otherwise be possible).

[0074] A modification to the embodiment of FIGS. 6-7 is shown in FIG. 8. The embodiment of FIG. 8 is similar to that of FIGS. 6-7. However, the embodiment of FIG. 8 further comprises a telescopic retractable handle 260. The retractable handle is adapted to be movable between a retracted configuration (not illustrated) and an extended configuration (depicted in FIG. 8). In the retracted configuration, substantially all of the handle 260 is positioned within the body or housing 110 of the unicycle device. In this way, only a small portion may be grabable/gripable by user so that the handle 260 can then be moved to the extended configuration. This helps to minimise or reduced the size of the unicycle device when the handle is in the retracted configuration. By grabbing and puling on handle 260 when in its retracted configuration, a user can move the handle 260 to the extended configuration wherein it projects upwardly from the top of the housing 110 (as illustrated in FIG. 8). In the extended configuration, the handle 260 forms/provides an elongate element that extends upwardly from the casing 110 of the unicycle device so as to provide a user-holdable portion of the unicycle device that is positioned closer to a normal hand position of a user (when compared to the position of the handle in the retracted configuration).

[0075] Using the handle 260, and as depicted in FIG. 8, a user can tilt the unicycle device sideways so that the first support wheel 200A contacts the generally horizontal ground/supporting surface 250 and so that the wheel 120 is separated vertically from the generally horizontal ground/supporting surface 250. In this way, the unicycle device can be supported solely on the first support wheel 200A so that the main wheel 120 is raised upwards from the ground 250 and does not contact the ground 250. The first support wheel 200A can then be used to convey the unicycle in a direction that differs from the running direction of the primary wheel, for example in a lateral/sideways direction. Thus, the use can pull or push the unicycle along using the handle 260 (like two-wheeled luggage for example).

[0076] Also, when being conveyed on the first support wheel 200A as shown in FIG. 8, the gyroscope or accelerometer system 170 can be used to sense forward and backward tilt of the device (in the running direction of the wheel 120) and regulate the motor 155 to rotate the wheel about the central axis 125 accordingly to keep the device balanced on the first support wheel 200A. In other words, by controlling rotation of the wheel 120 when the device is being conveyed on the first support wheel 200A and the wheel is not in contact with the ground 250 (as shown in FIG. 8), a pendulum-like effect can be used to maintain or improve the balance of the device. In this way, the user is assisted in balancing the unicycle as it is pulled/pushed along using the handle 260. Thus, the embodiment may employ a pendulum-like effect to enable the unicycle to self-regulate its balance about the supplementary axis 230A when supported/conveyed solely by the first support wheel 200A (and not just in the upright fore-aft plane that the gyroscope or accelerometer system 170 is normally used for).

[0077] Thus, the balance control system can be adapted to maintain pivotal balance of the unicycle device about an inclined supplementary axis 230A that is titled from vertical by controlling rotation of the wheel 120 when the unicycle device is supported only by the at least one auxiliary support and the wheel 120 is not in contact with the ground surface 250.

[0078] A modification to the embodiment of FIGS. 1-5 is shown in FIG. 9. The embodiment of FIG. 9 is similar to that of FIGS. 1-5. However, in the embodiment of FIG. 9, the auxiliary support comprises first 300A and second 300A support wheels that are coupled to the lower portion of the casing 110B. The embodiment of FIG. 9 also comprises a telescopic retractable handle 260 (similar to that of FIG. 8)

[0079] The first 300A and second 300A support wheels are adapted to be movable between a stowed configuration (not illustrated) and an active position (shown in FIG. 9).

[0080] In the stowed configuration, the first 300A and second 300A support wheels are retracted into the casing 110B of the unicycle device (e.g. stowed away) so that they do not extend outwardly from the side of the lower portion of the casing 110B. In the active configuration (as shown in FIG. 9), the first 300A and second 300A support wheels are arranged so as to be positioned or project outside of the side of the lower portion of the casing 110B. Thus, in the active configuration, the first 300A and second 300A support wheels are adapted to contact the ground when the unicycle is tilted from vertical by a predetermined significant amount.

[0081] In other words, in the stowed configuration, the first 300A and second 300A support wheels are arranged so that they do not contact the ground when the unicycle is tilted from vertical by the amount at which the first 300A and second 300A support wheels would contact the ground when in the active configuration.

[0082] Thus, the first 300A and second 300A support wheels are movable between: (i) a stowed configuration wherein they are retracted inside the casing 110 of the unicycle device; and (ii) an active configuration, wherein they are positioned or project outwardly from/of the side of the casing 110. Accordingly, the first 300A and second 300A support wheels may be foldable into a stowed configuration that narrows the profile of the unicycle device. In use, the first 300A and second 300A support wheels may be moved to the active configuration.

[0083] The retractable handle is adapted to be movable between a retracted configuration (not illustrated) and an extended configuration (depicted in FIG. 9). In the retracted configuration, substantially all the handle 260 is positioned within the casing 110 of the unicycle device. In this way, only a small portion may be grabable/gripable by user so that the handle 260 can then be moved to the extended configuration. This helps to minimise or reduced the size of the unicycle device when the handle is in the retracted configuration. By grabbing and puling on handle 260 when in its retracted configuration, a user can move the handle 260 to the extended configuration wherein it projects upwardly from the top of the housing 110 (as illustrated in FIG. 9).

[0084] In this embodiment, the retractable handle 260 is adapted to move the first 300A and second 300A support wheels between the stowed configuration and the active position when it is moved between the retracted configuration and extended configuration. In other words, the handle 260 is adapted to move the first 300A and second 300A support wheels between the stowed configuration and the active position.

[0085] More specifically, a simple mechanical lever arrangement is used to move the first 300A and second 300A support wheels between the stowed configuration and the active position. When a user pulls the handle 260 to move it from the retracted configuration to the extended configuration, the handle moves a lever (not visible) which causes the first 300A and second 300A support wheels to pivot about an axis which moves them from the stowed configuration to the active position. Conversely, when a user pushes the handle 260 downwardly towards the casing 110 to move it from the extended configuration to the retracted configuration, the handle moves the lever (not visible) in the opposite direction which causes the first 300A and second 300A support wheels to pivot about an axis which moves them from active position to the stowed configuration.

[0086] In the extended configuration, the handle 260 forms/provides an elongate element that extends upwardly from the casing 110 of the unicycle device so as to provide a user-holdable portion of the unicycle device that is positioned closer to a normal hand position of a user (when compared to the position of the handle in the retracted configuration).

[0087] Using the handle 260, a user can move the first 300A and second 300A support wheels to the active position and then tilt the unicycle device sideways so that the first 300A and second 300A support wheels contact the generally horizontal ground/supporting surface 250. In this way, the unicycle device can be supported solely on the first 300A and second 300A support wheels. The first 300A and second 300A support wheels can then be used to convey the unicycle in a lateral/sideways direction. Thus, the user can pull or push the unicycle along using the handle 260 (like two-wheeled luggage for example).

[0088] It will be appreciated that other embodiments may employ other actuator arrangements and/or mechanisms for moving the auxiliary support between a stowed and active configuration. By way of example, a telescoping actuator arrangement may be employed to move the auxiliary support between a stowed configuration and an active position. Also, an actuator may comprise any suitable arrangement for affecting or driving movement of the auxiliary support(s). For example, embodiments may comprise one or more hydraulic, electric or mechanical actuators adapted to move the auxiliary support(s) between an extended and retracted configuration.

[0089] Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. 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. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measured cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.