Self-balancing one-wheeled vehicle

Abstract

The present invention relates to a self-balancing vehicle (1), the vehicle comprising a single wheel (4), a base (2) and a bearing (3), wherein the bearing is connected to the base and the base is connected one of the wheel or a central axle (CA). The vehicle is self-balancing due to properties of the base and bearing, wherein at least the bearing surrounds a section of the wheel, below the wheel's centre, thus allowing a wheel which is not enabled to balance, to balance due to the remaining features of the vehicle. The vehicle may further be adapted with robotic manipulators (RM), weapons (RM), batteries (BA), electric motors (EM), and a printed circuit board (PCB), the printed circuit board comprising wireless data transmission means, a processor or controller, the processor or controller adapted to receive or transmit instructions from the wireless transmission means and control the electric motors, weapons and robotic manipulators.

Description

[0001] SELF-BALANCING ONE-WHEELED VEHICLE

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to a passively self-balancing, one-wheeled vehicle, a carrier system, a method of manufacturing said vehicle and use of the vehicle.

[0004] BACKGROUND OF THE INVENTION

[0005] For a single wheel to passively balance without being held in position, requires a flat running surface of the wheel.

[0006] A flat running surface have drawbacks, such as a higher rolling resistance and a high resistance to turning, while in motion.

[0007] One-wheeled vehicles exist, e.g. unicycles or one-wheeled motorized scooters, but they are not enabled to self-balance, thus requiring a user to balance the vehicle. One-wheeled self-balancing wheels is further know, but to the inventors knowledge they utilize some sort of active balancing mechanism, requiring a power source.

[0008] OBJECT OF THE INVENTION

[0009] It is an object of the present invention to provide an alternative to the prior art.

[0010] In particular, it may be seen as an object of the present invention to provide a passively self-balancing one-wheeled vehicle that solves the above mentioned problems of the prior art.

[0011] SUMMARY OF THE INVENTION

[0012] Thus, the above described object and several other objects are intended to be obtained in a first aspect of the invention by providing a self-balancing vehicle comprising :

[0013] -a base, -a wheel, the wheel comprising an outer running surface and a central axle, around which central axle the wheel is adapted for rotation, the central axle connected to the base,

[0014] -a bearing, the bearing comprising a first and second race, the first race connected to the base, the second race adapted to rotate freely, relative to the base, the bearing and a portion of the base suspended between the central axle and the outer running surface of the wheel, surrounding a section of said wheel; and when the vehicle is positioned on a ground surface, a portion of the outer running surface in contact with said ground surface and the bearing adjacent to said ground surface: the vehicle is adapted to maintain balance on the portion of the outer running surface of the wheel.

[0015] The invention is particularly, but not exclusively, advantageous for obtaining a one wheeled vehicle, that is enabled for self-balancing. It is to be understood, that the wheels according to the invention is not suitable for balancing on their outer running surface, when positioned on a ground surface. Thus, the base, and bearing is adapted to enable said wheel to balance.

[0016] Further, the first and second races of the bearing enables the vehicle not only to balance, but, when motorized, to enable the vehicle to switch directions, by utilizing a change in rotational momentum.

[0017] It is to be understood, that the vehicle maintains balance in a passive way, i.e. not by continuously requiring power expenditure to maintain said balance. Thus, the present invention relates to a passively self-balancing one-wheeled vehicle.

[0018] The invention may be particularly advantageous as a vehicle for transportation, a toy, a remote controlled vehicle, possibly as an assistance or exploration vehicle or similar.

[0019] Further, the present invention is advantageous for reducing the number of wheels of a vehicle, as said vehicle requires only a single wheel to balance, be controlled and propelled. Within the field of engineering, it is commonly accepted, that a reduction in parts presents an advantage, as parts that is removed from a device, does not break.

[0020] Even further, the present invention is advantageous as an autonomous vehicle, as the self-balancing properties ensures that the one-wheeled vehicle has selfrestoring balance, thus reducing the need for assistance if toppled over.

[0021] Even further, the base or bearing may comprise compartments suitable for storing e.g. emergency kits, tools etc. Even further, the vehicle may be fitted with weapons for defence purposes.

[0022] In the context of the present invention, it is to be understood, that the bearing is substantially plane to a ground surface, when the vehicle is positioned on said ground surface.

[0023] In preferred embodiments of the invention, the outer running surface is curved. It is to be understood, that the outer running surface of the wheel is defined as the surface of the wheel extending between sidewalls of said wheels, i.e. the surface which may come in contact with the ground surface when the wheel is driving on or across said surface.

[0024] In other preferred embodiments of the invention, the outer running surface is substantially circular. It is to be understood, that the outer running surface does not define a full circle, but defines a semi-circular shape between sidewalls of the wheel.

[0025] In an embodiment of the invention, the wheel diameter is 80 mm, the width of the wheel is 25 mm and the radius of the arc of the outer running surface is between 0.5 mm and 150 mm.

[0026] In a preferred embodiment of the invention, the wheel diameter is 80 mm, the width of the wheel is 25 mm and the radius of the arc of the outer running surface is between 10 mm and 60 mm. In another preferred embodiment of the invention, the wheel diameter is 80 mm, the width of the wheel is 25 mm and the radius of the arc of the outer running surface is between 15 mm and 60 mm.

[0027] In yet another preferred embodiment of the invention, the wheel diameter is 80 mm, the width of the wheel is 25 mm and the radius of the arc of the outer running surface is between 20 mm and 40 mm. In this particular example, Rl is between 0.8 and 1.6, which provides a great compromise between balance, ease of direction change and rolling resistance.

[0028] In other preferred embodiments of the invention, a relationship R2, between the radius of the arc RA of the outer running surface and the width WW of the wheel is defined as R2 = RA / WW , R2 being between 0.02 and 6, preferably between 0.4 and 2.4, more preferably between 0.6 and 1.6, even more preferably between 0.6 and 1.5. In another preferred embodiment, R2 is between 1.2 and 3 such as between 1.4 and 2.5.

[0029] In other preferred embodiments of the invention, a relationship Rl, between the arc height AH of the outer running surface and the width WW of the wheel is defined as R=AH / WW, Rl being between 0.1 and 0.6, preferably between 0.15 and 0.4, more preferably between 0.17 and 0.29.

[0030] In the context of the present invention, arc height is to be understood as the height of the curvature of the outer running surface. In mathematics, the arc height is also known as sagitta.

[0031] It is to be understood, that a higher arc height relative to wheel width prevents the wheel from balancing on a plane ground surface, but reduces rolling resistance, thus reducing energy expenditure when the vehicle is at its travelling velocity.

[0032] Thus, the present invention provides for a vehicle with a reduced rolling resistance compared to a vehicle with two or more wheels in contact with a ground surface. In preferred embodiments of the invention, the outer running surface comprises a circular profile, the circular profile preferable having a radius relative to the wheel diameter WD between 0,375*WD and 10*WD.

[0033] It is to be understood, that the wheel diameter may be any reasonable diameter in between wheels for toys and larger wheels for vehicles, such as cars or large industry equipment. In other words, the wheel diameter may be anywhere between 50 mm and 5,000 mm. Preferred ratios between wheel width and wheel diameter is between 0.1 to 0.7 more preferably between 0.2 and 0.6 and even more preferably between 0.2 and 0.5 and most preferably between 0.2 and 0.4, such as 0.25 to 0.35.

[0034] In another preferred embodiment of the invention, the central axle of the wheel is offset relative to a central axis of the bearing, the base further comprising a counterweight.

[0035] This embodiment is particularly advantageous for providing a one-wheeled vehicle which is more stable at speed, as the wheel is not centred within a centre of the bearing, the bearing surrounding the wheel.

[0036] In yet another preferred embodiment, the central axle is hollow. This embodiment is particularly advantageous for enabling storing or carrying of objects within said hollow axle, thus enabling for a reduced foot-print of the vehicle. Furthermore, the hollow axle may be sealed at outer ends, thus protecting objects or components from damage.

[0037] It is to be understood, that a further bearing may be positioned around an outer circumference or periphery of the hollow axle, thus enabling the wheel to rotate, relative to said hollow axle.

[0038] In an advantageous embodiment of the invention, the vehicle further comprises a housing extending from the first race, surrounding a portion of the wheel and the base.

[0039] This embodiment is particularly advantageous for protecting the vehicle from an outside environment. In another advantageous embodiment of the invention, the vehicle further comprises a housing extending from the base, surrounding a portion of the wheel and at least a portion of the base.

[0040] This embodiment is particularly advantageous for protecting the vehicle from an outside environment.

[0041] In yet another advantageous embodiment, the housing extends to surround the bearing, or at least a portion of the bearing, thus protecting the bearing from an outside environment.

[0042] In preferred embodiments of the invention an outer surface of the second race comprises one or more protrusions or recesses adapted to engage with a corresponding docking system. This embodiment is advantageous for enabling the vehicle to dock with objects, such as other vehicles, a payload or a charging system.

[0043] In other preferred embodiments of the invention, an outer surface of the second race comprises one or more locking fixtures, adapted to interlock with an associated locking system. This embodiment is advantageous for enabling the vehicle to interlock with objects, such as other vehicles, a payload or a charging system.

[0044] In advantageous embodiments of the invention, the vehicle further comprises:

[0045] -a processor

[0046] -a wireless transmission device in data connection to said processor,

[0047] -a battery, and

[0048] -at least one electric motor, the vehicle adapted to move when a signal is received from an auxiliary device.

[0049] This embodiment is particularly advantageous for providing e.g. an autonomous vehicle, such as a search and rescue vehicle, a transportation vehicle or a remote controlled vehicle. In a preferred embodiment, at least one of the processor, wireless transmission device and battery is integrated within the base. This embodiment provides a compact and robust vehicle, wherein essential parts is protected from an outside environment.

[0050] In another preferred embodiment, at least one of the processor, wireless transmission device and battery is integrated within the wheel. This embodiment provides a compact vehicle, wherein essential parts is protected from an outside environment, while reducing a footprint of the vehicle.

[0051] In yet another preferred embodiment, at least one of the processor, wireless transmission device and battery is integrated within the second race. This embodiment provides a vehicle which may have a faster turn, if rotating the second race relative to the vehicle.

[0052] In an advantageous embodiment, the at least one electric motor is adapted to rotate the second race, relative to the base. This embodiment provides a vehicle which will turn, if rotating the second race relative to the vehicle.

[0053] In another advantageous embodiment, the at least one electric motor is adapted to rotate the wheel, relative to the base. This embodiment provides a self- propelled vehicle adapted to move forwards and backwards upon rotation of the wheel.

[0054] It is to be understood, that the at least one electric motor may be two separate motors, depending on the position of said motors, to increase weight distribution and thus balance of the self-balancing vehicle.

[0055] In preferred embodiments of the invention, the vehicle further comprises at least a second electric motor, the at least one electric motor is adapted to rotate the wheel, relative to the base; and the at least second electric motor is adapted to rotate the second race, relative to the base. This embodiment provides for a vehicle which is self-propelled by rotating the wheel and adapted to turn in an instance, upon rotation of the second race relative to the vehicle. In other preferred embodiments of the invention, the second race further comprises one or more robotic manipulators. The manipulators may provide the vehicle with the ability to move or handle objects, adapt the vehicle to climb vertical obstacles or stairs and to increase balance during operation. It is to be understood, that the manipulators may be fitted with e.g. tools.

[0056] In an advantageous embodiment of the invention, the second race comprises one or more enclosures, the enclosures adapted to enclose the robotic manipulators. This embodiment is particularly advantageous to protect the manipulators, when not in use; and further may enable for reduced wind resistance / streamlining, thus increasing the range of the vehicle.

[0057] In other advantageous embodiments of the invention, the second race comprises one or more counterweights. This embodiment is particularly advantageous for improving balance and reducing the turning circle of the vehicle.

[0058] It is to be understood that the inertia of said counterweights, when rotated, will provide an opposite rotational force to the vehicle, thus changing the direction of the vehicle and thus the wheel.

[0059] In preferred embodiments of the invention, the bearing comprises an induction ring adapted for wireless transfer of at least one of a signal and an electrical current between the first and second races. This embodiment is particularly advantageous for e.g. providing power and a signal, such as a data signal, to any parts positioned within the second race, which requires power or instructions to operate.

[0060] In preferred embodiments of the invention, the vehicle further comprises one or more sensors, such as temperature sensors, force sensors, strain gauges, accelerometers, odometers or speed sensors.

[0061] In preferred embodiments of the invention, the wheel has a radius RW defined between the central axle and the outer running surface and wherein the bearing is positioned at a distance from the central axle between 0.3*RW and 0.9*RW. It is to be understood, that at least the bearing is suspended between the central axle and the ground surface, thus providing increased balance of the vehicle.

[0062] In other preferred embodiments of the invention, the wheel defines a first plane and the bearing defines a second plane, the first and second plane being perpendicular to each other.

[0063] It is to be understood, that the vehicle, when operating, is in contact with a ground surface at the outer running surface, positioned vertically, and the bearing surrounds a periphery of the wheel and is positioned substantially horizontal, around a section of said wheel.

[0064] In yet other preferred embodiments of the invention, the vehicle further comprises an encoder ring adapted to monitor a position of at least one of the wheel, the first race or the second race.

[0065] It is to be understood, that the vehicle may comprise further encoder rings.

[0066] In advantageous embodiments of the invention, the bearing further comprises a stator and rotor. This embodiment is advantageous for enabling the first and second race to rotate, relative to each other.

[0067] In other advantageous embodiments of the invention, the wheel and central axle further comprises a stator and rotor arrangement. This embodiment is advantageous for enabling the central axle and the wheel to rotate, relative to each other.

[0068] It is to be understood, that the central axle and the wheel may be connected to each other through a bearing arrangement.

[0069] In a preferred embodiment, the vehicle further comprises a second bearing, positioned parallel to a plane of the first bearing of the vehicle, the second bearing comprising robotic manipulators. This embodiment is particularly advantageous for enabling the vehicle to utilize the manipulators while enabled to perform rapid turns, by rotating the first bearing relative to the vehicle. In another preferred embodiment, the vehicle further comprises a counterweight pendulum, preferably mounted within the hollow axle. This embodiment may be advantageous for increasing the balance of the vehicle, such as at speed, when accelerating or when decelerating.

[0070] In advantageous embodiments of the invention, the bearing comprises a bottom surface facing the ground surface, the bottom surface adapted to reduce friction between the ground surface and the bottom surface, the bottom surface preferably made from a metal such as steel, or PTFE. This embodiment is particularly advantageous for increasing durability and stability of the vehicle, when operating at speed.

[0071] It is to be understood, that the vehicle may utilize the bottom surface to slide along the grounds surface, such as when changing direction, if affected by an uneven surface or by an exterior force.

[0072] In preferred embodiments of the invention, the bearing comprises a slip ring adapted to provide at least one of power or signal between the first and second race. This embodiment is particularly advantageous for providing wire free data or power connection between the first and second race.

[0073] In other preferred embodiments of the invention, the wheel comprises a slip ring adapted to provide at least one of power or signal between the wheel and the central axle. This embodiment is particularly advantageous for providing wire free data or power connection between the wheel and central axle or the base.

[0074] In an advantageous embodiment of the invention, the base comprises an upper surface, the upper surface comprising one or more interlocking elements adapted to interlock with one or more aerial drones. This embodiment is particularly advantageous for enabling the vehicle to operate as e.g. a search and rescue vehicle.

[0075] In an embodiment of the invention, the vehicle is adapted with one or more weapons. The weapons may be selected from guns, rockets etc. The robustness of the vehicle may provide a suitable platform for defence purposes. The weapons may be fitted within the base or the bearing, such as within the second race, wherein rotation of the second race relative to the vehicle may provide a vehicle adapted to move in one direction while aiming in another direction.

[0076] In other embodiments, the vehicle is adapted as a toy and may further comprise a string fixated to a surface of the second race. The self-balancing properties of the vehicle is advantageous for providing a toy or e.g. marking tools for road construction, which wobbles around, without falling over. The string enables the vehicle to follow wobbly along a user and changing direction, while maintaining balance.

[0077] In further embodiments relating to e.g. toys or markings, a plurality of vehicles may be rowed up with strings, following a user around when pulling a first string. It is to be understood, that such vehicles may replace e.g. cones during road work, wherein the vehicles may be used to mark a closed-off area or the like.

[0078] In some embodiments, the vehicle may be adapted with brakes, adapted to be activated by e.g. a user, to maintain the vehicle at a certain position, such a if used as markers during road work or when used in combination with a platform, as described in other embodiments.

[0079] In yet other embodiments of the invention, the vehicle may further comprise a remote control device adapted to control the vehicle. This embodiment may be advantageous for providing a remote controlled vehicle for search and rescue, recreational use etc.

[0080] In other advantageous embodiments of the invention, the vehicle further comprises a platform extending from the second race, the platform connected to a second wheel. This embodiment is particularly advantageous for providing a vehicle, similar to a skateboard, wherein a user can be transported by standing on the platform. A further advantage of this embodiment is the ability of the vehicle to enable self-balancing properties, thus enabling the platform to not fall over, when not in use. In an advantageous embodiment, the second wheel is a further vehicle according to the first aspect of the invention.

[0081] In a preferred embodiment of the invention the platform is adapted to house one or more of an electric motor, a battery and a processor. It is to be understood, that the electric motor, the battery and the processor may be according to the first aspect of the invention or may be further elements in addition the elements according to the first aspect of the invention. This embodiment may be particularly advantageous, in that the vehicle may be operated e.g. as a toy, such as a remote controlled vehicle for recreational use, but may further be, in connection to the platform, be adapted to be used as a means of transportation, wherein at least a battery or secondary battery of the platform enables for increased range.

[0082] In other preferred embodiments of the invention the platform comprises a first and second section, the two sections connected by a pivotable link, such as a through-going axle.

[0083] This embodiment is to be understood as a waveboard. This embodiment is particularly advantageous for providing a reduced turning circle, and wherein a user may be provided with training of balance, agility and responsiveness, while using the vehicle.

[0084] In a second aspect, the invention relates to a carrier system, the system comprising a carrier platform and a plurality of vehicles according to the first aspect of the invention, the carrier platform adapted to interlock with each of the second races of the plurality of vehicles. This embodiment may be particularly advantageous for providing a system adapted to lift and transport heavy payloads, such as shipping containers, building materials or to operate in e.g. warehouses. Further, the individual vehicles may be adapted to transport smaller payloads in limited spaces; and wherein the carrier system, when facing larger payloads, enables the plurality of vehicles to transport said larger payloads. In the context of the present invention, smaller payloads is to be understood as e.g. 5 - 50 kg payloads or 100 - 200 kg payloads, whereas larger payloads may be understood as e.g. 500 - 1,000 kg payloads or 1,000 - 10,000 kg payloads.

[0085] In a preferred embodiment of the invention, the carrier platform is a further vehicle according the first aspect of the invention. This embodiment is particularly advantageous for transporting smaller vehicles according to the first aspect of the invention, by a larger vehicle according to the first aspect of the invention, such as to a remote area, wherein the smaller vehicles may be deployed to operate, such as transporting objects, search and rescue or for defence purposes.

[0086] In a third aspect, the invention relates to a kit of parts comprising the vehicle according to the first aspect of the invention, wherein the wheel is adapted for removal from the base, the kit of parts further comprising:

[0087] -a remote control device, the remote control device, by use of a user, adapted to control the vehicle when in data communication with the processor, through the wireless transmission device, and wherein the user is enabled to change the wheel to a second wheel.

[0088] This embodiment is particularly advantageous for e.g. recreational use, wherein different wheels, having different arc heights or arc radii will provide for different driving properties of the vehicle, thus continuously challenging a user, when using the vehicle and kit of parts.

[0089] In a fourth aspect, the invention relates to a method of manufacturing a vehicle according to the first aspect of the invention, the method comprising:

[0090] -providing at least a wheel, a base, a bearing and a central axle, and -assembling said wheel, base, bearing and central axle.

[0091] In a fifth aspect, the invention relates to use of the vehicle according to the first aspect of the invention, preferably for transportation of objects or a user, search and rescue, exploring or for recreational use.

[0092] The first, second, third, fourth and fifth aspect of the present invention may each be combined with any of the other aspects. These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.

[0093] BRIEF DESCRIPTION OF THE FIGURES

[0094] The vehicle, carrier system and kit of parts according to the invention will now be described in more detail with regard to the accompanying figures. The figures show one way of implementing the present invention and is not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.

[0095] FIG. 1 shows a trimetric view of the vehicle, according to an embodiment of the invention;

[0096] FIG. 2 shows a side view of the vehicle, according to an embodiment of the invention;

[0097] FIG. 3 shows a frontal view of the vehicle, according to an embodiment of the invention;

[0098] FIG. 4 shows a trimetric view of the vehicle, according to another embodiment of the invention;

[0099] FIG. 5 shown an exploded view of the vehicle, according to yet another embodiment of the invention;

[0100] FIG. 6 shows a trimetric view of the vehicle climbing stairs, according yet another embodiment of the invention;

[0101] FIG. 7 shows a trimetric view of the vehicle, according to yet another embodiment of the invention;

[0102] FIG. 8 shows a trimetric view of the vehicle, according to yet another embodiment of the invention;

[0103] FIG. 9 shows a trimetric view of a carrier system, according to an embodiment of the invention;

[0104] FIG. 10 shows a trimetric view of a vehicle according yet another embodiment of the invention;

[0105] FIG. 11 is a flow-chart of a method according to the invention;

[0106] Fig. 12A illustrates the centerplane of rotation of a caster wheel of the present invention, with a bearing in balance with the rotational axis of the wheel; Fig. 12B illustrates the centerplane of rotation of a caster wheel of the present invention, with an offset of balance between rotational axis of the bearing and the rotational axis of the wheel;

[0107] Fig. 13 illustrates a top view of an embodiment of the present invention with an exposed inner bearing;

[0108] Fig. 14A illustrates a side view of an embodiment of the present invention without axial offset and a divided outer bearing;

[0109] Fig. 14B illustrates a perspective view of an embodiment of the present invention without axial offset and a divided outer bearing body;

[0110] Fig. 15A illustrates a side view of an embodiment of the present invention with axial offset, counter balancing body and a divided outer bearing;

[0111] Fig. 15B illustrates a perspective view of an embodiment of the present invention with axial offset, counter balancing body and a divided outer bearing body;

[0112] Fig. 16A illustrates a perspective view of a drive wheel unit of the present invention with power supply and directional control;

[0113] Fig. 16B illustrates a perspective view from underneath of a drive wheel unit of the present invention with power supply and directional control;

[0114] Fig. 17 illustrates a perspective view of a system comprising of a single embodiment of the present invention;

[0115] Fig. 18A illustrates a perspective side view of a system comprising of two embodiments of the present invention;

[0116] Fig. 18B illustrates a perspective view of a system comprising of two embodiments of the present invention;

[0117] Fig. 19 illustrates a perspective view of a system comprising of three embodiments of the present invention.

[0118] DETAILED DESCRIPTION OF AN EMBODIMENT

[0119] FIG. 1 shows a trimetric view of the vehicle 1, according to an embodiment of the invention. FIG. 1 shows the vehicle 1 from a side and further shows the base 2, connected to the wheel 4. The wheel 4 has an outer running surface 5 adapted for rolling along a ground surface (not shown). From FIG. 1 it is shown, that the bearing 3 surrounds a section of the wheel 4, the bearing 3 connected to the base 2. In this embodiment, the wheel 4 is off-centre, from a central axis of the bearing 3, which is further depicted in FIG. 2 by dotted lines. Due to the off- centre position, the base 2 functions as a counter-balance, to prevent the bearing 3 from being slanted / tilted.

[0120] FIG. 2 shows a side view of the vehicle 1, according to an embodiment of the invention. FIG. 2 shows the base 2, connected to the wheel 4. The wheel 4 has an outer running surface 5 adapted for rolling along a ground surface (not shown). From FIG. 2 it is shown, that the bearing 3 surrounds a section of the wheel 4, below centre, the bearing 3 connected to the base 2. In FIG. 1 and FIG. 2, the wheel centre WC is off-centre, from the bearing central axis BC. Due to the off- centre position, the base 2 functions as a counter-balance, to prevent the bearing 3 from being slanted / tilted. Further, an illustrative cut-out of the second race SR of the bearing 3, shows ball bearings BB within the bearing 3, between the first race FR and the second race SR, allowing the second race SR to rotate freely, relative to the vehicle 1. It is to be understood, that FIG. 2 shows that the central axle of the wheel is offset relative to a central axis of the bearing BC, i.e. that the central axle of the wheel intersects with the wheel centre WC.

[0121] FIG. 3 shows a frontal view of the vehicle 1, according to an embodiment of the invention. FIG. 3 shows the base 2, connected to the wheel 4. The wheel 4 has an outer running surface 5 adapted for rolling along a ground surface (not shown). From FIG. 3 it is shown, that the bearing 3 surrounds a section of the wheel 4, below centre, the bearing 3 connected to the base 2. Further, FIG. 3 shows the arc height AH of the wheel. The arc height AH is defined as the distance between zenith of the curved outer running surface 5, and the point at which the wheel's 4 side walls SW transitions into the curved outer running surface 5. Even further, the wheel width WW is shown, defined as the distance between opposite sidewalls SW of the wheel 4.

[0122] FIG. 4 shows a trimetric view of the vehicle 1, according to another embodiment of the invention. FIG. 4 shows the wheel 4, the wheel 4 comprised of a hollow central axle CA, around which the outer running surface 5 extends around the periphery of the central axle CA. Between the central axle CA and the outer running surface 5, tapered roller bearings are positioned, enabling the outer running surface 5 to rotate, relative to the central axle CA. The central axle CA further comprises a stator ST arrangement comprised of a plurality of electromagnets; and an inner surface of the outer running surface 5 comprises a plurality of permanent magnets, also known as rotors RO. It is to be understood, that the stator ST and rotor RO arrangements enables the vehicle 1 to be propelled forwards or backwards. The central axle CA is connected to the base 2. The base comprises two electric motors EM connected to respective gears G. The gears G is adapted to engage with recesses R along an inside surface of the second race SR, allowing the second race SR to rotate relative to the first race FR, upon activation of the electric motor EM. Further, ball bearings BB is arranged between the first race FR and the second race SR. In some embodiments, the electric motor is positioned below the gear G, to provide a low centre of gravity of the vehicle 1, thus improving the self-balancing properties of the vehicle 1. In other embodiments, the electric motor may be positioned above the gear.

[0123] FIG. 5 shown an exploded view of the vehicle 1, according to yet another embodiment of the invention. FIG. 5 shows how to separate the wheel 4 from the base 2 of the vehicle 1. The wheel 4, as within FIG. 4, comprises a stator and rotor arrangement. A set of brackets BR is shown, adapted for fixating the central axle CA of the wheel 4, to the base 2. Further, the base 2 comprises a printed circuit board PCB, adapted for receiving a connector CO from the wheel. Even further, the base 2 comprises a set of batteries BA and an electric motor EM. The electric motor EM is connected to a gear (not shown) adapted to engage with teeth TE on the inner surface of the second race SR. Thus, it is to be understood, that the second race SR is adapted to rotate relative to the first race FR.

[0124] FIG. 6 shows a trimetric view of the vehicle 1 climbing stairs 10, according to yet another embodiment of the invention. The vehicle 1 is equipped with robotic manipulators RM, extending from the second race of the bearing, enabling the vehicle to climb vertical obstacles. It is to be understood, that the robotic manipulators RM is arranged to rotate freely around the vehicle 1, due to the second race.

[0125] FIG. 7 shows a trimetric view of the vehicle 1, according to yet another embodiment of the invention. FIG. 7 shows a weaponized embodiment of the vehicle 1, wherein rocket batteries RB are equipped to appear from within the housing HO. Further, enclosures EN is provided on an outer surface of the second race, for the robotic manipulators to reside within, as can be seen from FIG. 8.

[0126] FIG. 8 shows a trimetric view of the vehicle 1, according to yet another embodiment of the invention. In FIG. 8, the robotic manipulators RM resides within the enclosures (shown in FIG. 7) of the second race. Further, the rocket batteries RB is hidden within the housing HO. Further, ball joints BJ of the robotic manipulators RM is visible, allowing for a high degree of freedom for the robotic manipulators to operate.

[0127] FIG. 9 shows a trimetric view of a carrier system 20, according to an embodiment of the invention. The carrier system comprises a carrier platform CP, the carrier comprising a wheel 4, a housing HO, and wherein a second race SR of a bearing comprises a plurality of locking fixtures LF to interlock with a plurality of vehicles 1. It is to be understood, that the carrier platform CP is adapted to transport and recharge the plurality of vehicles 1, and to release or collect them.

[0128] FIG. 10 shows a trimetric view of the vehicle 1, according to yet another embodiment of the invention. The vehicle 1 comprises two vehicles 1', 1", wherein a platform P extends between the second races of said two vehicles 1', 1". The platform is made from two separate platforms Pl, P2, which are rotatably connected by a longitudinal axle LA. Thus, it is to be understood, that the two platforms P1,P2 and the two vehicles P', P" is enabled for twisting relative to each other, when rotating around the longitudinal axis. From FIG. 10, it can further be seen, that the two vehicles P', P" are tilted along a wheel axis WAX, the wheel axis not being parallel to the platform axis PAX, thus enabling the vehicle to propel in a direction towards the lower end of the wheel axis WAX, when exerting torsional force to the platform P.

[0129] FIG. 11 is a flow-chart of a method of manufacturing a vehicle, according to the invention, the method comprising the following steps:

[0130] 51 -providing at least a wheel 4, a base 2, a bearing 3 and a central axle CA, and

[0131] 52 -assembling said wheel, base, bearing and central axle. FIG. 12A - FIG. 19 shows alternative embodiments of the invention.

[0132] FIG. 12A shows the centerplane of the wheel 1 rotation of an embodiment of the present invention. The centerplane of each bearing row 3 is shown to be placed underneath the horizontal level of the rotational axis of the wheel 4. Even if each bearing ball 2 are shown to not be beneath the level of rotation of the wheel 4 the average mass of the bearing 2 is below the horizontal level of the rotational axis of the wheel 4 and will thereby be able to maintain selfstanding balance upon the drive surface 7. The bearings are in balance with the vertical level of rotation of the wheel 5.

[0133] FIG. 12B shows the centerplane of the wheel 1 rotation of an embodiment of the present invention. The centerplane of each bearing row 3 is shown to be placed underneath the horizontal level of the rotational axis of the wheel 4. The center plane of each bearing row 3 is shown to be beneath the horizontal level of rotation of the wheel 4, which insures the bearing to be hanging on the wheel hub insuring the self-balancing ability. FIG. 12B shows an offset between the vertical rotational axis of the bearing 6, which is also the balancing plane of the bearing, and the vertical level of rotation of the wheel. This said offset gives a shift in balance, which makes a single embodiment of the present invention unable to standing by its own physics. FIG. 13 shows a top view of an embodiment of the present invention with an exposed inner bearing, comprising of the inner bearing body 9 bearing balls 2 and a bearing cage 13. The fork assembly 12 connects the wheel 10 to the inner bearing body 9. Furthermore

[0134] FIG.13 shows an offset between the rotational axis of the wheel 14 and the balanceplane of the bearing 15. This said offset is a requirement for swirling effect however the offset results in an unbalance which causes the embodiment to loose the ability to be standing and running by its own passive physics. The pattern of the means of fastening 11 is contributing to the balancing of the bearing. FIG. 14A shows a side view of an embodiment of the present invention with a divided outer bearing body 8, which gives visual acces to the inner bearing body 9, the bearing balls 2 and the bearing cages 13. The embodiment has no axial offset and is thereby in balance and capable of standing and running upright by its own physics. The fork assembly 12 has an evenly balanced design which further contributes to the balance ability of the embodiment of the present invention.

[0135] FIG. 14B shows a perspective view of the embodiment of FIG. 14A. The visual symmetri of the fork assembly 12 contributes to the balancing ability of the embodiment. The embodiment of the present invention has no axial offset, which prevents a functional swirling mechanism, however the embodiment is able to function as an independent vehicle as a toy or similar, since the hanging weight of the balanced bearing assembly enables the embodiment maintain a standing and running function by its own passive physical means.

[0136] FIG. 15A shows a side view of an embodiment of the present invention with a divided outer bearing body 8, which gives visual acces to the inner bearing body 9, the bearing balls 2 and the bearing cages 13. The embodiment has a small horizontal axial offset between the rotational axises of the bearing assembly and the wheel , which enables a swirling mechanism. This said offset causes imbalance, which is compensated for by a counter balance body 16 incorporated into the fork assembly 12. The counter balance body 16 or otherwise counter weight is part of the assembly consisting of the inner bearing body 9 and the fork assembly 12. The said counter weight 16 is placed in the opposite to the excess bearing assembly caused to the offset from the balance plane of the bearing assembly (not shown). Due to the counter balance body 16 the embodiment is able to stand and run, as a single entity, by its own passive physics, even that the embodiment has a said axial offset. FIG. 15B shows a perspective view of the embodiment illustrated in FIG. 15A. FIG. 15B further emphasizes the axial offset and imbalance between the rotational axis of the bearing and the rotational axis of the wheel. The counter balance body seems to be quit large in comparisons to the small axial offset, this is due to the difference in mass between the counter balance body material and the bearing assembly materials. The illustration is based upon a functional prototype.

[0137] FIG. 16A shows a perspective view of a motorized drive wheel unit of the present invention. The outer bearing body 8 is divided to expose the bearing medium of bearing balls 2 evenly circular aligned in a bearing cage 13 and the inner bearing assembly comprising of the inner bearing body 9, an encoder ring 21, a gear ring 17 and conductive slip rings (not shown). The position of the encoder ring is detected by an encoder reader 22 mounted as part of the outer bearing body 8. There is free movement between the encoder ring 21 and the encoder reader 22. The gear ring 17 mounted as part of the inner bearing assembly is directionally controlled by a gear motor 19 though a transmission gear 18. The wheel is driven by a wheel motor 20, which is mounted 11 as a part of the fork assembly 12. The outer bearing body 8 is enclosing the bearing assembly as well as the the transmission gear 18, the gear motor 19 and the encoder reader 22, as a combining casing entity. Both the gear motor 19 and the encoder reader 22 are powered by electrical wires (not shown).

[0138] FIG. 16B shows a perspective view from underneath of the embodiment illustrated in FIG. 16A. This view further shows a second bearing row 2, 9, 13, electrically conductive slip rings 23 as part of the inner bearing assembly and conductive contacts 24 mounted upon the outer bearing body 9 delivering electrical power and signal to the wheel motor through electrical wires (not shown).

[0139] FIG. 17 shows a perspective view of a system comprising of a single embodiment of the present invention. The embodiment has an axial offset between the rotational axis of the bearing and the rotational axis of the wheel. Hereby the embodiment would be imbalanced if not for the counter balance body 16 which is part of the fork assembly 12. With a balanced design the embodiment is able to be its own functional system with the ability to stand upright and passively regain balance if effected by outside disturbance or if running on uneven terrain. An embodiment does not need to be in perfect balance in order to achieve standing and running abilities. In fact experiments have indicated an optimized stability when running, if the balance is slightly off, in favor of the counter balance body 16.

[0140] FIG. 18A shows a turned side view of a system comprising of two similar embodiments of the present invention equal to the embodiment of FIG. 17, as well as a combining body 25 and combining body brackets 26. Each of the caster wheels are balanced to function by them selves, however the balancing ability is efficient even when two embodiments are combined. The particular view enables to show each wheel capable of ground surface contact simultaneously with additional space for the combining bodies to be free off the ground.

[0141] FIG. 18B shows a perspective view of a system equal to the system illustrated in FIG. 18A. FIG. 18B further illustrates the combining body 25 and combining body brackets 26. The system is passively self-balancing with the ability to carry an also balanced load of any kind, which does not conflict with the balance. Any of the wheels of this system could be replaced by drive wheel units to enable self-drive functions, as long as each element is designed accordingly to achieve an even balance between the two wheels.

[0142] FIG. 19 shows a perspective view of a system comprising of three equal embodiments of the present invention. Since the system comprises of three wheels the system achieves a stability made by all three ground contact points, which deletes the need of having counter weight as part of the fork assembly 12. Counter balancing bodies could be added, but would not be necessary for achieving a system which can stand and drive by its own passive physical ability. Any of the wheels of this system could be replaced by drive wheel units to enable self-drive functions.

[0143] In short, the present invention relates to a self-balancing vehicle 1, the vehicle comprising a single wheel 4, a base 2 and a bearing 3, wherein the bearing is connected to the base and the base is connected one of the wheel or a central axle CA. The vehicle is self-balancing due to properties of the base and bearing, wherein at least the bearing surrounds a section of the wheel, below the wheel's centre, thus allowing a wheel which is not enabled to balance, to balance due to the remaining features of the vehicle. The vehicle may further be adapted with robotic manipulators RM, weapons RM, batteries BA, electric motors EM, and a printed circuit board PCB, the printed circuit board comprising wireless data transmission means, a processor or controller, the processor or controller adapted to receive or transmit instructions from the wireless transmission means and control the electric motors, weapons and robotic manipulators.

[0144] The following is other lists of embodiments, according to the present invention :

[0145] A system may comprise of only a single embodiment of the present invention. Since the invention is new it is unclear which solutions may benefit from a system with only one wheel, however experiments have shown that such a system a at least an interesting toy. Physical prototype testing experiments have shown, that if the bearing is spinning while the wheel is running, the wheel will turn in the same direction as the bearing is rotating. This effect can be used for deliberate directional change of a mono-wheel system of the present invention. Using spinning mass for forced turn. In such an embodiment it would be a benefit to have the mechanical transmission as part of the inner bearing assembly, to easier achieve an evenly balanced outer bearing body. A system comprising of precisely two embodiments of the present invention, will be able to maintain the same balancing ability with two wheel contact points, as long as the assembly body between, or part of, the outer bearing bodies is accordingly balanced across the plane between each of the two rotational axises of the two bearing assemblies. When a system comprises of at least one embodiment of the present invention and at least 2 other wheels placed in a pattern which has stability, the advantages of a balanced design is not as strong, but the mechanical princips are still useful regarding balance of the vehicle. Additionally a large wheel offers the vehicle a very high performance regarding uneven terrain, it might in present time be considered abnormal large wheels. In any system comprising of any number of many kinds of embodiments of the present invention will have a strong aerodynamic ability since the body of the vehicle is able to be placed as close to the ground as needed, with a positive impact on weight distribution and keeping close to the driving surface. This is a great bonus for vehicles with high speeds. Any number of additional turnable rings can be added to an embodiment of the present invention. Such additional rings could have mounted equipment and tools or other functional parts like robotic arms or lights for visibility and / or navigation. The additional rings can be electrically powered by conductive sliprings or inductive transmission, and directionally controlled by mechanical transmission and encoder. In any system comprising of any number of many kinds of embodiments of the present invention will have a strong aerodynamic ability since the body of the vehicle is able to be placed as close to the ground as needed, with a positive impact on weight distribution and keeping close to the driving surface. This is a great bonus for vehicles with high speeds. The balance can be achieved with the bearing above the rotational axis of the wheel and with a different design of fork assembly, however a pull from a line mounted on the outer bearing body may have the embodiment tilt and fall, if the bearing is rotating above the axis of the wheel. When the present invention is used in a system containing wheels of a different kind, the present invention will still be able to improving in regards of aerodynamics, more precisely with the main bodies very low in respect for the total hight of the vehicle. Any embodiment which comprise of the right clearance of the wheel top, may be the subject of being turned upside-down and remain functionally driving, even if is not intended to do so. Screens can be designed to be mechanically removable, to assist the turning up-side-down ability. A vehicle comprising of the present invention do not need to be able to function up-side-down. The present invention can be attached to any vehicle which in hight goes beyond the rotational axis of the wheel or even the wheel itself as long as the wheel is free to turn its direction indefinitely. A system can comprise of any given number of individual embodiments of the present invention, having their own individual balance and being chained together forming a flexible chain of wheels, which by a robe or similar can be dragged in any direction. Any useful functional parts can be attached to the present invention like having lights or moveable robotic functions.

[0146] Different embodiments of the present invention may comprise of additional functions which are required by especially the robotic industry. Such functions would be as follows. An embodiment of the present invention may comprise of an encoder, optimally an encoder ring surrounding the wheel being concentric to the bearing assembly and an encoder reader mounted on the opposite bearing body. This depending on which side of the bearing comprise of a microcontroller needing directional monitoring. The encoder will insure the ability to sensor the direction of the wheel, which is highly useable for a robot calculating its movements regardless of rather the embodiment is motorized or not. An embodiment of the present invention may comprise of turning ability generated by any known type of transmission. Said transmission may be mechanically powered from either the inner or outer bearing body. The transmission would optimally comprise of a gear ring surrounding the wheel concentric to the bearing assembly mounted on either bearing body.

[0147] Furthermore a transmission gear controlled by a motor or likewise to steer the turning of the wheel direction. If the gear transmission is conducted form the outer bearing body it would be beneficial to use a belt transmission of any kind to insure an even distribution of force. An embodiment of the present invention may comprise of means for electrical transmission of power. Such means may be electrically conductive slip rings for passive and constant supply of power, or an inductive transmission using the principles of electromagnetic power transmission though spooled conductive wire. An alternative to electrical transmission could be the use of a battery mounted as part of the fork assembly. Since the wheel is quit large in the wheel it-self can comprise of the battery. If needed the battery can be detachable and / or have charging pads. Digital signaling for communication between each bearing body may be conducted by a constant physical contact like slip rings or by a wireless data communication comprising of any known digital send-receive technology like radio, wifi or bluetooth. An embodiment of the present invention making use of electrically powered function would need a connection to a controlling device like a computer. Depending on the functions the requirements of the computer is adaptable. If the present invention is part of a larger system it would be optimal to have this computer as part of that system rather than integrated into the outer bearing body, however this would be possible. For control of the movement of the motored wheel, a motor driver board can be integrated on either side of the rotating bearing assembly. Further more, regarding control of the motored wheel, a second encoder can be integrated to the wheel hub, to sensor the rotational speed of the wheel. Any embodiment of the present invention could furthermore comprise of two or more coaxial wheels which can turn independently of each other hereby reducing the friction of turning direction. Additional wheels do not need to be coaxial.

[0148] The following is an itemized list of embodiments, according to the invention:

[0149] Item 1. A caster wheel assembly comprising of a wheel with any type of hub; a horizontal bearing assembly for vertical rotation which is enclosing around said wheel; and a fork assembly combining said bearing assembly and said wheel. Further characterized by: Said bearing assembly is placed beneath the horizontal level of the horizontal rotational axis of the wheel. Said bearing assembly comprising of at least one bearing of any known bearing technique. The bearing assembly can be arranged symmetrically around the wheel, or the vertical rotational axis of the bearing assembly can have a horizontal offset from the horizontal rotational axis of the wheel. The said horizontal offset must be along the centerplane of said wheel or wheels rotation. The said wheel can be a single wheel or multiple individually rotating wheels. Item 2. A caster wheel according to Item 1, wherein said bearing assembly comprises of at least one plain bearing, ball bearing, roller bearing and / or magnetic bearing. Said bearing assembly can comprise of any number of bearing rows. The said bearings placed in any configuration allowing the wheel to vertically rotate indefinitely in each direction.

[0150] Item 3. A caster wheel according to Items 1-2, wherein the distribution of mass within the inner bearing assembly and the fork assembly is giving approximately balance to the embodiment, for all other parts than said wheel to gain freedom from the driving surface.

[0151] Item 4. A caster wheel according to Items 1-3, wherein the said bearing assembly comprise of an encoder ring, and an encoder reader attached to the opposite bearing body enabling the encoder reader to sensor the position of the bearing assembly.

[0152] Item 5. A caster wheel according to Items 1-4, wherein the inner or outer part of the said bearing comprises of a gear ring for directional control. Said gear ring is connected by any known transmission technique to a motor mounted on the opposite outer or inner bearing body.

[0153] Item 6. A caster wheel according to any of the preceding Items, wherein the inner or outer part of the said bearing comprises of at least one slip ring mounted on said inner or outer bearing body, and means of conductive contact on opposite bearing body.

[0154] Item 7. A caster wheel according to Items 1-6, wherein the inner and outer part of the said bearing assembly each comprises of at least one electromagnetic induction ring for wireless transfer of current.

[0155] Item 8. A caster wheel according to Items 1-7, wherein the inner bearing body comprises a computer device. Item 9. A caster wheel according to Items 1-8, wherein the inner and / or outer said bearing body comprises of means for wireless data transfer.

[0156] Item 10. A caster wheel according to Items 1-9, wherein the said wheel is equipped with any type of motor.

[0157] Item 11. A caster wheel according to Items 1-10, wherein the said fork assembly is equipped with any type of battery.

[0158] Item 12. A system comprising of one caster wheel according to any of the preceding Items. Such a system with or without a string line for dragging.

[0159] Item 13. A system comprising of two caster wheels according to any of the Items 1-11.

[0160] Item 14. A system comprising of one caster wheel according to any of the Items 1-11 and at least one other wheel of any kind.

[0161] Item 15. A system comprising of at least two caster wheels according to any of the Items 1-3 connected with flexible means forming a combined selfbalancing chain.

[0162] Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is set out by the accompanying claim set. In the context of the claims, the terms "comprising" or "comprises" do not exclude other possible elements or steps. Also, the mentioning of references such as "a" or "an" etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous.

Claims

CLAIMS1. A self-balancing vehicle (1) comprising:-a base (2),-a wheel (4), the wheel comprising an outer running surface (5) and a central axle (CA), around which central axle the wheel is adapted for rotation, the central axle connected to the base,-a bearing (3), the bearing comprising a first and second race (FR, SR), the first race (FR) connected to the base, the second race (SR) adapted to rotate freely, relative to the base, the bearing and a portion of the base suspended between the central axle and the outer running surface of the wheel, surrounding a section of said wheel; and when the vehicle is positioned on a ground surface, a portion of the outer running surface in contact with said ground surface and the bearing adjacent to said ground surface: the vehicle is adapted to maintain balance on the portion of the outer running surface of the wheel.

2. The vehicle according to claim 1, wherein a relationship Rl, between the arc height (AH) of the outer running surface and the width (WW) of the wheel is defined as R=AH / WW, Rl being between 0.1 and 0.6.

3. The vehicle according to claim 1 or 2, wherein the central axle of the wheel is offset relative to a central axis (BC) of the bearing, the base further comprising a counterweight.

4. The vehicle according to any of the preceding claims wherein the central axle is hollow.

5. The vehicle according to any of the preceding claims further comprising a housing (HO) extending from the first race, surrounding a portion of the wheel and the base.

6. The vehicle according to any of claims 1 to 4 further comprising a housing extending from the base, surrounding a portion of the wheel and at least a portion of the base.

7. The vehicle according to any of claim 5 or 6, the housing extending to surround the bearing.

8. The vehicle according to any of the preceding claims, wherein an outer surface of the second race comprises one or more protrusions or recesses adapted to engage with a corresponding docking system.

9. The vehicle according to any of the preceding claims, wherein an outer surface of the second race comprises one or more locking fixtures (LF), adapted to interlock with an associated locking system.

10. The vehicle according to any of the preceding claims further comprising: -a processor-a wireless transmission device in data connection to said processor,-a battery (BA), and-at least one electric motor (EM), the vehicle adapted to move when a signal is received from an auxiliary device.

11. The vehicle according to claim 10 wherein at least one of the processor, wireless transmission device and battery is integrated within the base.

12. The vehicle according to claim 10 wherein at least one of the processor, wireless transmission device and battery is integrated within the wheel.

13. The vehicle according to claim 10 wherein at least one of the processor, wireless transmission device and battery is integrated within the second race.

14. The vehicle according to any of claims 10 to 13 wherein the at least one electric motor is adapted to rotate the second race, relative to the base.

15. The vehicle according to any of claims 10 to 13, wherein the at least one electric motor is adapted to rotate the wheel, relative to the base.

16. The vehicle according to any of claims 10 to 13 further comprising at least a second electric motor, the at least one electric motor is adapted to rotate the wheel, relative to the base; and the at least second electric motor is adapted to rotate the second race, relative to the base.

17. The vehicle according to any of the preceding claims, wherein the second race further comprises one or more robotic manipulators (RM).

18. The vehicle according to claim 17, wherein the second race comprises one or more enclosures (EN), the enclosures adapted to enclose the robotic manipulators.

19. The vehicle according to any of the preceding claims, wherein the second race comprises one or more counterweights.

20. The vehicle according to any of the preceding claims, wherein the bearing comprises an induction ring adapted for wireless transfer of at least one of a signal and an electrical current between the first and second races.

21. The vehicle according to any of the preceding claims further comprising one or more sensors.

22. The vehicle according to any of the preceding claims wherein the wheel has a radius RW defined between the central axle and the outer running surface and wherein the bearing is positioned at a distance from the central axle between 0.3*RW and 0.9*RW.

23. The vehicle according to any of the preceding claims, wherein the wheel defines a first plane and the bearing defines a second plane, the first and second plane being perpendicular to each other.

24. The vehicle according to any of the preceding claims further comprising an encoder ring adapted to monitor a position of at least one of the wheel, the first race or the second race.

25. The vehicle according to any of the preceding claims wherein the bearing further comprises a stator (ST) and rotor (RO).

26. The vehicle according to any of the preceding claims further comprising a second bearing, positioned parallel to a plane of the bearing according to claim 1, the second bearing comprising robotic manipulators.

27. The vehicle according to any of claims 4 to 26 further comprising a counterweight pendulum, preferably mounted within the hollow axle.

28. The vehicle according to any of the preceding claims, the bearing comprising a bottom surface facing the ground surface, the bottom surface adapted to reduce friction between the ground surface and the bottom surface, the bottom surface preferably made from a metal such as steel, or PTFE.

29. The vehicle according to any of the preceding claims, wherein the bearing comprises a slip ring adapted to provide at least one of power or signal between the first and second race.

30. The vehicle according to any of the preceding claims, the base comprising an upper surface, the upper surface comprises one or more interlocking elements adapted to interlock with one or more aerial drones.

31. The vehicle according to any of the preceding claims, the vehicle adapted with one or more weapons (RB).

32. The vehicle according to any of claims 1 to 30, the vehicle being adapted as a toy and further comprising a string fixated to a surface of the second race.

33. The vehicle according to any of claims 1 to 30 further comprising a platform extending from the second race, the platform connected to a second wheel.

34. The vehicle according to claim 33, wherein the second wheel is a further vehicle according to any of claims 1 to 30.

35. The vehicle according to any of claims 33 to 34 wherein the platform is adapted to house one or more of an electric motor, a battery and a processor.

36. The vehicle according to any of claims 33 to 35, wherein the platform comprises a first and second section, the two sections connected by a pivotable link, such as a through-going axle.

37. A carrier system (20), the system comprising a carrier platform (CP) and a plurality of vehicles (1) according to any of claims 1 to 31, the carrier platform adapted to interlock with each of the second races of the plurality of vehicles.

38. The carrier system according to claim 37, wherein the carrier platform is a further vehicle according to any of claims 1 to 31.

39. A kit of parts comprising the vehicle (1) according to any of claims 10 - 30, wherein the wheel (4) is adapted for removal from the base (2), the kit of parts further comprising:-a remote control device, the remote control device, by use of a user, adapted to control the vehicle when in data communication with the processor, through the wireless transmission device, and wherein the user is enabled to change the wheel to a second wheel.

40. A method of manufacturing a vehicle (1) according to any of claims 1 to 30, the method comprising:-providing at least a wheel (4), a base (2), a bearing (3) and a central axle (CA), and-assembling said wheel, base, bearing and central axle.

41. Use of the vehicle (1) according to any of claims 1 - 30, such as for transportation of objects or a user, search and rescue, exploring or for recreational use.

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