Self-stabilising two-wheeled vehicle, in particular an amphibious vehicle

A vehicle (1), comprising:

• only two parallel wheels (2), both said two parallel wheels (2) being drive wheels,
• said two parallel wheels (2) constituting internally hollow bodies, each one of said two parallel wheels (2) having two lateral faces (7, 8) and a rolling surface (9) that extends therebetween and is convex towards an outside of the wheel (2),
• said parallel wheels (2) being connected to each other by a longitudinal central element (3) that is formed by a central axle (4), which extends through a space between said wheels (2), and first and second secondary axles (5), each one of said first and second secondary axles (5) being inside a respective one of said parallel wheels (2),
• wherein first and second decouplers are disposed at respective first and second points of transition between opposing ends of the central axle (4) and respective ones of the first and second secondary axles (5), each one of said first and second decouplers (6) configured to render a rotation motion of the central axle (4) independent from a corresponding one of the first and second secondary axles (5), as well as render a rotation motion of any one of the two secondary axles (5) independent with respect to the other one of the first and second secondary axles (5),
• wherein each secondary axle (5) is rigidly connected to a respective wheel of the two parallel wheels (2), each of the first and second secondary axles (5) having an independent drive system (11) thereof in order to rotate only one of the two parallel wheels (2) independent of the other of the two parallel wheels (2), and each of said drive systems (11) being housed inside a respective one of the two parallel wheels (2),
• wherein inside each one of the two parallel wheels (2) there is included means for lowering a centre of gravity of the wheel (2) with respect to a rotation axis thereof coinciding with a geometric axis of the secondary axle (5) of the wheel (2), said means configured such that during travel of the vehicle, said centre of gravity (2) is constantly situated at a lower height than said rotation axis, and
• wherein each one of said two parallel wheels (2) comprise blades (10) on the rolling surface (9) thereof having a shape convex towards the exterior, said blades (10) being arranged on sides of said rolling surface (9) in proximity to the lateral faces (7, 8) of the wheels (2), in a manner so as to leave free a central rolling zone of said rolling surface (9) with a convex shape, such central rolling zone being adapted to come into contact with a solid or semi-solid surface.