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1. (WO2018109462) VÉHICULE SOUS-MARIN AUTONOME
Note: Texte fondé sur des processus automatiques de reconnaissance optique de caractères. Seule la version PDF a une valeur juridique

Claims

1. An autonomous underwater vehicle for sensing at a seabed,

the vehicle being configured to be grounded in a stationary condition on the seabed, and comprising:

a body,

a sensing module configured to acquire data when the vehicle is grounded on the seabed, and

a multiplane wing configuration extending from the body.

2. The autonomous underwater vehicle according to claim 1, wherein the sensing module is configured to couple with the seabed.

3. The autonomous underwater vehicle according to claim 2, wherein the sensing module comprises a coupling plate configured to couple with the seabed and a sensor.

4. The autonomous underwater vehicle according to claim 3, further comprising a base of the body, wherein the coupling plate is at the base.

5. The autonomous underwater vehicle according to claim 4, wherein the coupling plate and multiplane wing are configured to form a stable platform on the seabed.

6. The autonomous underwater vehicle according to claim 5, wherein the multiplane wing comprises a starboard wing seabed coupling part proximate a starboard end of the multiplane wing, and a port wing seabed coupling part proximate a port end of the multiplane wing.

7. The autonomous underwater vehicle according to any preceding claim, wherein the multiplane wing comprises an upper wing section and a lower wing section.

8. The autonomous underwater vehicle according to claim 7, wherein the lower wing section extends from or proximate to a lower end of the body.

9. The autonomous underwater vehicle according to claim 7 or claim 8, wherein the upper wing section extends from the body.

10. The autonomous underwater vehicle according to claim 9, wherein the body extends between the upper and lower wing sections.

11. The autonomous underwater vehicle according to any of claims 7 to 10, wherein the multiplane wing comprises a starboard wing side and a port wing side, wherein the body is defined between the starboard wing side and the port wing side.

12. The autonomous underwater vehicle according to claim 11, wherein the starboard wing side and port wing side are spaced from each other by the body.

13. The autonomous underwater vehicle according to claim 12, wherein the body comprises a vertical water thruster, the vertical water thruster being disposed between the starboard wing side and the port wing side.

14. The autonomous underwater vehicle according to any of claims 11 to 13, wherein the starboard wing side comprises a starboard fin extending between the upper wing section and the lower wing section, and the port wing side comprises a port fin extending between the upper wing section and the lower wing section.

15. The autonomous underwater vehicle according to claim 14, wherein the starboard and port fins are yaw stabilisers.

16. The autonomous underwater vehicle according to claim 14 or 15, wherein the starboard fin and port fin each extend between the leading and trailing edges of the multiplane wing.

17. The autonomous underwater vehicle according to any of claims 14 to 16, wherein the starboard and port fins extend substantially perpendicular to the upper wing section and the lower wing section.

18. The autonomous underwater vehicle according to any of claims 7 to 17, wherein the upper wing section has a positive dihedral angle.

19. The autonomous underwater vehicle according to any of claims 7 to 18, wherein the lower wing section has a positive dihedral angle.

20. The autonomous underwater vehicle according to any of claims 7 to 19, further comprising a water thruster, wherein the water thruster is disposed between the upper wing section and the lower wing section.

21. The autonomous underwater vehicle according to any of claims 7 to 20, wherein the water thruster is surrounded by the multiplane wing.

22. The autonomous underwater vehicle according to claim 20 or 21, wherein the water thruster is a starboard water thruster and the vechicle comprises a port water thruster, wherein the starboard water thruster is disposed on an opposite side of the body to the port water thruster.

23. The autonomous underwater vehicle according to claim 22, wherein the starboard and port water thrusters are spaced from the body.

24. The autonomous underwater vehicle according to claim 22 or 23, wherein the starboard and port water thrusters are mounted to the body.

25. The autonomous underwater vehicle according to claim 23, wherein the starboard and port water thrusters are mounted to the multiplane wing.

26. The autonomous underwater vehicle according to any preceding claim, wherein the multiplane wing is a biplane wing.

27. The autonomous underwater vehicle according to any preceding claim, wherein the multiplane wing is a box wing.

28. The autonomous underwater vehicle according to any preceding claim, wherein the vehicle has a maximum length L in a fore-aft direction and a maximum width W in a port-starboard direction; and wherein L/W<2.5.

29. The autonomous underwater vehicle according to any preceding claim, wherein the vehicle has a maximum length L in a fore-aft direction and a maximum height H in a height direction; and wherein L/H<3.5.

30. The autonomous underwater vehicle according to claim 28 or claim 29, wherein the multiplane wing has a maximum length L(w) in a fore-aft direction; and wherein L/L(w)<2.5.

31. The autonomous underwater vehicle according to any of claims 28 to 30, wherein the body has a maximum width W(b) in a port-starboard direction; and wherein 0.3<W(b)/W<0.7.

32. The autonomous underwater vehicle according to any preceding claim, wherein the sensing module comprises a seismic sensor.

33. The autonomous underwater vehicle according to any preceding claim, wherein the body has a nose and a tail, and the multiplane wing is disposed at the tail.

34. The autonomous underwater vehicle according to claim 33, wherein the multiplane wing extends to a rear end of the tail.

35. The autonomous underwater vehicle according to any preceding claim, wherein the centre of gravity of the vehicle is forward of the centre of pressure.

36. The autonomous underwater vehicle according to claim 35, further comprising a movable mass in the body, wherein the centre of gravity is movable to a position over the multiplane wing.

37. The autonomous underwater vehicle according to claim 36, wherein the movable mass in the body is configured to be moveable to allow both positive and negative pitch of the underwater vehicle.