Underwater vehicle

Claim 2

A manoeuvreable underwater vehicle, comprising: means for generating a control signal indicating a desired manoeuvre which is to be executed; a plurality of controllable fins distributed over the surface of said vehicle, the number and distribution of said fins being such that there is an excess number of fins available for performing said desired manoeuvre; a plurality of fin manipulating means, each fin having associated therewith one of said fin manipulating means; and control means, responsive to said control signal, for controlling at least some of said plurality of fin manipulating means, wherein the control means includes means for detecting which fins if any are malfunctioning, and for adjusting the control of the other fins to take that into account.

Claim 3

A manoeuvreable underwater vehicle having a fore to aft axis, a port to starboard axis, and a top to bottom axis, each being mutually perpendicular to the other two, comprising: means for generating a control signal indicating a desired manoeuvre which is to be executed; a plurality of controllable fins distributed over the surface of said vehicle, the number and distribution of said fins being such that there is an excess number of fins available for manoeuvrering the vehicle such that it rotates about the top to bottom axis, and an excess number of fins available for manoeuvrering the vehicle such that it rotates about the port to starboard axis; a plurality of fin manipulating means, each fin having associated therewith one of said fin manipulating means; and control means, responsive to said control signal, for controlling at least some of said plurality of fin manipulating means.

Claim 4

A manoeuvreable underwater vehicle having a fore to aft axis, a port to starboard axis, and a top to bottom axis, each being mutually perpendicular to the other two, comprising: means for generating a control signal indicating a desired manoeuvre which is to be executed; a plurality of controllable fins distributed over the surface of said vehicle, the number and distribution of said fins being such that there is an excess number of fins available for manoeuvrering the vehicle such that it rotates about the top to bottom axis, and an excess number of fins available for manoeuvrering the vehicle such that it rotates about the port to starboard axis; a plurality of fin manipulating means, each fin having associated therewith one of said fin manipulating means; and control means, responsive to said control signal, for controlling at least some of said plurality of fin manipulating means.

Claim 5

An underwater vehicle according to claim 2, wherein the control means comprises means for detecting torque applied to each fin by fluid flow.

Claim 6

An underwater vehicle according to claim 2, in which each fin has its own actuator mounted in it.

Claim 7

An underwater vehicle according to claim 2, wherein the fins are arranged and shaped such as to form slots.

Claim 8

An underwater vehicle as claimed in claim 2, wherein each fin comprises sensing means for generating a report, and wherein the control means is additionally responsive to the reports from the fins and uses the reports in conjunction with the control signal to control the fins when said desired manoeuvre is executed.

Claim 9

An underwater vehicle as claimed in claim 2, wherein the number of fins is greater than five.

Claim 10

A manoeuvreable underwater vehicle, comprising: means for generating a control signal indicating a desired manoeuvre which is to be excuted; a plurality of controllable fins distributed over the surface of said vehicle, the number and distribution of said fins being such that there is an excess number of fins available for performing said desired manoeuvre; a plurality of fin manipulating means, each fin having associated therewith one of said fin manipulating means; and control means, responsive to said control signal, for controlling at least some of said plurality of fin manipulating means, wherein the vehicle has front and rear ends and left, right, top, and bottom sides, and wherein there are a plurality of fins at the left side of the front end of the vehicle, a plurality of fins at the right side of the front end of the vehicle, a plurality of fins at the top side of the front end of the vehicle, a plurality of fins at the bottom side of the front end of the vehicle, a plurality of fins at the left side of the rear end of the vehicle, a plurality of fins at the right side of the rear end of the vehicle, a plurality of fins at the top side of the rear end of the vehicle, and a plurality of fins at the bottom side of the rear end of the vehicle.

Claim 11

A manoeuvreable underwater vehicle, comprising: means for generating a control signal indicating a desired manoeuvre which is to be excuted; a plurality of controllable fins distributed over the surface of said vehicle, the number and distribution of said fins being such that there is an excess number of fins available for performing said desired manoeuvre; a plurality of fin manipulating means, each fin having associated therewith one of said fin manipulating means; and control means, responsive to said control signal, for controlling at least some of said plurality of fin manipulating means, wherein the vehicle has front and rear ends and left, right, top, and bottom sides, and wherein there are a plurality of fins at the left side of the front end of the vehicle, a plurality of fins at the right side of the front end of the vehicle, a plurality of fins at the top side of the front end of the vehicle, a plurality of fins at the bottom side of the front end of the vehicle, a plurality of fins at the left side of the rear end of the vehicle, a plurality of fins at the right side of the rear end of the vehicle, a plurality of fins at the top side of the rear end of the vehicle, and a plurality of fins at the bottom side of the rear end of the vehicle.

Claim 12

An underwater vehicle as claimed in claim 2, wherein each fin comprises a hollow casing; motor means, mounted in the casing and having a shaft which is affixed to the surface of the vehicle, for rotating the fin with respect to the surface; and sensor means in the casing for sensing the angular position of the fin.