The invention is the unmanned ground vehicle specified in the introduction to patent claim 1.

The invented solution is particularly suitable for territorial supervision, control, and reconnaissance, as well as for tasks such as transport, tracking people across terrain, and rescue services. The invented solution can be used particularly effectively in transport and rescue activities, for example in difficult terrain or otherwise difficult and/or dangerous conditions, for example during bad weather.

It is well-known that manned ground vehicles have been used for such tasks, where a driver is required to operate the vehicle. The driver requires their own space onboard the vehicle, which may enlarge the vehicle and require additional devices with which the driver can control the vehicle. The driver and the space and devices he needs make the vehicle heavier, which reduces the deployable payload capacity. Drivers may also become injured or even die when driving vehicles under difficult terrain or weather conditions or in otherwise hazardous environments. The additional weight added by the driver also increases the fuel consumption of the vehicle. Unmanned ground vehicles, commonly abbreviated as UGV, have also been used for these tasks. UGVs are typically used for example in the manufacturing industry and at warehouses to transport materials and goods. They are often automated in such applications, in which case they can be referred to by the abbreviation AGV. Unmanned goods transport vehicles used for commercial and industrial purposes are often outfitted to travel along rails, making their operation simpler and less risky. Current large unmanned vehicles not travelling along rails or other guiding elements are however relatively slow and clumsy and cannot be used as such to cross waterways.

The purpose of this invention is to eliminate the above-identified shortcomings and to create an unmanned vehicle that can be deployed with a high level of operational reliability in difficult terrain and weather conditions on both land and water, and which can be controlled remotely and which is capable of operating at least partly independently on the basis of its independent observations and pre-given instructions. The purpose of the invention is also to create an unmanned vehicle that can perform rescue, transport, surveillance, supervision, and reconnaissance missions under remote controls such that the device operator does not need to accompany the vehicle. Yet another purpose is to achieve an unmanned vehicle that can stay in contact and work together with other unmanned vehicles and also manned or unmanned aircraft. What has been presented in the characteristics section of patent claim 1 is characteristic of the invented unmanned vehicle. What has been presented in other patent claims is characteristic of other applications of the invention.

In order to achieve its purpose, the invention is an unmanned ground vehicle, comprising a frame section with a deck and a bottom section and a propulsion arrangement with an engine in order to propel the vehicle, and which ground vehicle is equipped to be operated via remote controls. Advantageously, the ground vehicle comprises a water jet assembly for propulsion in water. An advantage of the invented ground vehicle is for instance having reduced manufacturing costs when compared to manned vehicles of the same size, because many such systems and equipment can be omitted that are absolutely required for manned vehicles to be able to operate. The vehicle is also smaller than similar manned vehicles, because no room or equipment is needed for a driver .

One advantage is the speed and good terrain mobility characteristics of the vehicle as well as the fact that it can additionally cross waterways without external assistance. This means that no separate vessels or bridges are required to take the ground vehicle across water. The terrain capabilities are enhanced by the ability to lift the vehicle frame up, allowing for adjustments to ground clearance. The terrain capabilities are further enhanced by the wheels of the vehicle being easily complemented by a separate track assembly, reducing surface pressure and allowing operations in soft and wet terrains. The track assembly can also be standard equipment for terrain operations. Yet another advantage is that the vehicle can reach places that are impossible or too dangerous for humans to reach.

Another advantage is that several vehicles can be made to operate either together, simultaneously, or in sequence, thanks to the good communications connections. In this case, each vehicle can be connected for example to existing marine rescue systems, and they can be used for land, sea, air, and traffic controls .

An additional advantage is that the invented ground vehicle features a combustion engine or a hybrid engine and that both modes of operation can be used continuously, as the combustion engine can be used to keep the battery bank charged for using the electrical engine when required. The electrical engine can be used to move the vehicle for instance when there is a need to operate with as little noise as possible.

The vehicle can be taken or driven to its station for a long period of time to survey the area and to await with most functions switched off until the vehicle' s on-board surveillance equipment detects activity, in which case the vehicle switches itself on and begins operating according to its assigned task.

If remote controls cannot be properly used due to interference, the vehicle can complete rescue missions and payload transports independently as well, aided by means such as computer vision. If the vehicle loses connection to the operator, it can return to a predefined location on its own.

The vehicle can be assigned several missions and/or destinations in advance. When the vehicle is given a mission for example between two locations, it can operate independently and choose the best procedure by employing artificial intelligence.

Another advantage is the possibility of the vehicle to pair up with an unmanned aircraft. In this case, the ground vehicle and its paired aircraft have equipment to locate each other automatically. The equipment use means such as GPS positioning and radiolocation. The vehicle can arrive at a desired location or person if the location or person employs a suitable positioning device .

The invention is explained in more detail below by means of application examples and by making reference to the attached simplified and schematic drawings, in which figure 1 presents a side view of a ground vehicle according to the invention, figure 2 presents a top view of the ground vehicle in figure 1, figure 3 presents a rear view of the ground vehicle in figure 1, figure 4 presents a side view of another ground vehicle according to the invention, figure 5 presents a schematic description of one power train arrangement for the ground vehicle, and figure 6 presents a side view of a ground vehicle according to the invention interoperating with an assisting aircraft, such as an unmanned helicopter.

The invented ground vehicle is an unmanned and remote-controlled vehicle, which advantageously features two different power sources for moving the vehicle on land and in water.

Figures 1-3 present a ground vehicle according to the invention. The vehicle is shown from the side in figure 1, from the top in figure 2, and from the rear in figure 3.

The vehicle comprises a frame section 1, characterised by a flat deck 2 and a flat bottom section 3, and a mobility arrangement 4 for moving the vehicle on land and in water. The mobility arrangement 4 of the vehicle in figure 1 comprises four turning wheels 5 on both sides of the vehicle, intended for moving on land and connected to the powertrain of the vehicle .

There is an assembly of fixing arrangements 7 on the deck 2 of the vehicle, which can be different from each other and used to attach for instance various devices or payloads. The deck 2 can further feature one or several guide rails 6, which can be used for the sturdy placement and locking on of equipment such as a stretcher in order to transport injured persons from the scene of an accident.

The deck 2 is further equipped with a turntable 8, which is arranged to rotate around its vertical axis by means of suitable actuator equipment, and which can advantageously also remain in place in the vertical and horizontal directions by means of a stabilising system when the vehicle is moving.

Advantageously, the frame section 1 forms a sturdy and waterproof encased space where most of the actuators and equipment of the ground vehicle are housed. The vehicle floats easily even when loaded due to the water-proofing and the compartmentalised structure that contains air. The vehicle is equipped with a water jet assembly for propulsion on water, the rotating nozzle 11 of which is placed in the rear of the vehicle. In order to ensure floatation, the vehicle can also feature separate floatation devices to keep a loaded vehicle afloat on water .

Figure 4 presents a side view of another ground vehicle according to the invention. This vehicle may be identical to the vehicle in figures 1-3 in other respects, but the mobility arrangement 4 here comprises not wheels 5 but a track assembly 9, of which there can advantageously be for instance two on both sides. The track assemblies 9 make it possible to achieve a reduced ground pressure, allowing the vehicle to traverse soft and wet terrains. Advantageously, the same ground vehicle can feature both wheels 5 and track assemblies 9 such that the wheels 5 are replaced with the track assemblies 9 when needed, and vice versa.

The vehicle features equipment for lifting up the frame of the vehicle in order to increase the ground clearance of the vehicle. The ground clearance can be adjusted for instance by hydraulic means. The vehicle chassis can also be locked into a rigid state if needed.

The actuators of the ground vehicle comprise for example a mobility assembly 10, which is represented in a schematic and simplified way in figure 5. The mobility assembly 10 comprises an engine 12, which can be for instance a sufficiently powerful combustion engine, such as a diesel engine connected to an automatic transmission. Advantageously, the engine 12 and its transmission make it possible to move on land at a characteristic high speed. The ground speed of the vehicle varies between approximately 40 and 120 km/h, depending on the connected equipment, possible frame type, armouring, engine displacement, chassis option, and surrounding conditions. When conditions are favourable, the vehicle can move on water at a speed of approximately 40-60 km/h. The maximum payload capacity of the vehicle is approximately 600 kg.

The vehicle can also feature an electrical engine 14, which draws its power from a rechargeable battery pack 15. In order to recharge the battery pack 15, the vehicle also features a recharger system 16, which draws its power from the engine 12. The vehicle can also feature an arrangement for recharging the battery pack 15 by drawing from an external power grid. Advantageously, the vehicle features equipment for disengaging the proper drive engine 12 when the electrical engine 14 is engaged. The electrical engine 14 can be equipped with a hydraulic pump. The electrical engine 14 makes it possible to move with very little noise.

The ground vehicle also features a clutch arrangement 13 for transmitting power from the engine 12 to the wheels 5 or track assemblies 9 of the mobility arrangement 4 for movement on land and to the water jet assembly for movement on water. Advantageously, the clutch arrangement 13 also allows the simultaneous use of the wheels 5/track assemblies 9 and the water jet assembly. This clutch setting can be used advantageously for making landfall, where the traction of the wheels 5/track assemblies 9 facilitates rapid beaching when used in connection with the water jet assembly. The normal automatic transmission is also active at this time. When no need exists for using the wheels/track assemblies together with the jet assembly, power for the water jet assembly is drawn directly from the output shaft of the engine 12 in order to achieve the highest possible rotation speed and thus the greatest possible water jet flow speed at the nozzle 11.

The flat-bottom vehicle moves well on water. The vehicle can achieve a minimum speed of 60 km/h on water, allowing the vehicle to move on the surface of the water similar to a hydrofoil vessel. The shaping of the bottom causes the vehicle to be lifted onto the surface of the water, reducing friction and making it possible to achieve high speeds.

Advantageously, the clutch arrangement 13 features an electromagnetic clutch, which is equipped with a sensor in the water duct of the water jet assembly for engaging and disengaging the electromagnetic clutch. The arrangement works such that as soon as the sensor comes into contact with water, the electromagnetic clutch engages the engine 12 to spin the impeller in the water duct in order to form the water jet required for propelling the vehicle .

The various actuators and equipment of the remote-controlled ground vehicle include various surveillance systems, camera devices, radars, gauges, and other observation equipment as well as various means of communication, allowing the vehicle to be used as for example a mobile base of operations in support of operations carried out by the authorities. The vehicle can also be used for surveillance, monitoring, or reconnaissance. The vehicle makes it possible to avoid contacting the coast guard or other authorities in many cases. The vehicle also features equipment for guiding it back to a pre-defined location in case of for example loss of contact.

The operator of the remote-controlled ground vehicle does not need to maintain visual contact with the vehicle to control it. The vehicle can feature for instance a computer vision system and an associated video camera system, a speed dial, an odometer, a satellite positioning device, such as GPS, and sensors that prevent the vehicle from colliding with obstacles. The operator can control the vehicle on the basis of data submitted to the operator by the vehicle itself. For example, the operator can by means of the video camera system see the terrain and other events around the vehicle in real time, and the GPS system and/or other observation equipment make it possible for the operator to know the real-time location of the vehicle. The ground vehicle thus features connection equipment and instrument guidance systems required to control the vehicle remotely without visual contact with the vehicle.

The vehicle also features equipment for performing various independent tasks, such as rescue and payload transport missions. Such an arrangement is needed in case the remote control capability is reduced due to interference or similar reasons. The independent operating capability is advantageously realised by means of computer vision, which can also be combined with artificial intelligence functions.

The vehicle also carries operating equipment for independent operations when the vehicle has been given some mission, for instance travelling between two different locations. In this case, the vehicle will travel between the designated locations and perform its mission independently, until the mission is completed or cancelled.

The vehicle also features equipment for returning independently to a pre-defined location if contact is lost with the operator.

The vehicle features equipment that make it possible to assign several destinations and/or missions for the vehicle in advance. The vehicle can perform the tasks automatically in the order they are given. Additionally, the artificial intelligence onboard the vehicle can also make independent decisions about the best possible operating procedure and order of execution.

Advantageously, the vehicle also carries identification equipment that allow the vehicle to identify people, objects, and places in the video feed it collects and to submit the data to the operator or another pre-defined location.

The vehicle also features equipment to survey the area over which it travels in order to store route and survey data and to learn the route it has travelled. Thus, the vehicle can be sent to drive along the same route later. The vehicle can also feature equipment for remote activation. In this case, the vehicle can be taken, or it can drive, to the operating area, and it can be activated remotely or be programmed to activate automatically if the observation and surveillance systems cause such an activation. In such a situation, the vehicle can remain operational in the area for weeks. The vehicle features an automatic recharging arrangement for the battery pack 15. When the charge of the battery pack 15 is reduced, the engine 12 will recharge the battery pack 15 to full by means of the recharging equipment 16 connected to the engine .

Advantageously, the remote-controlled and unmanned ground vehicle has cooperating systems to get it to work together with a remote-controlled and unmanned aircraft 18. Figure 6 is a schematic representation of such a situation. In figure 6, the ground vehicle is carrying a load 17 and maintains a wireless connection 19 with aircraft 18, which can for example guide the ground vehicle to its destination.

Advantageously, the ground vehicle and aircraft 18 have locating systems for finding each other automatically. The locating equipment use means such as GPS positioning and/or radiolocation. The ground vehicle and aircraft 18 can arrive at any location where there is a locating device compatible with their locating devices, including individual persons who carry such locating devices.

Importantly, the unmanned ground vehicle is light in weight, and its paired unmanned aircraft is equipped with such lifting capacity and equipment that allow the aircraft to transport the ground vehicle to the designated operating area. Advantageously, the unmanned ground vehicles and aircraft feature interoperation systems that allow several ground vehicles and/or aircraft to work together as a group. In this way, versatile and efficient groups can be formed for various tasks, for instance in difficult or dangerous conditions or environments. The range of the remote controls is at least 180 km when good HF radio equipment are used, and an internet connection can also be used for issuing commands. The ground vehicle and aircraft also feature satellite connection systems to be used in areas where they can be used.

It will be clear to industry professionals that the invention is not limited only to the examples mentioned above, but that it may vary within the framework set by the following patent claims. Thus, the water jet assembly for instance can feature more than one nozzle. There can be one or more nozzles at the rear of the vehicle, at the front of the vehicle, and on both sides .