MARITIME DRONE

Description

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims priority to German Application No. 10 2024 139 680.6, filed 23 Dec. 2024 with the German Patent and Trademark Office. The entire content of the above document is hereby incorporated herein by reference.

FIELD OF INVENTION

The invention relates to a maritime drone as uncrewed surface vessel.

DESCRIPTION OF THE RELATED ART

Maritime drones (also called uncrewed surface vessels; USV) are used nowadays for manifold applications, such as cartographic measurements, fish detection procedures, object identification purposes, and more. For example, traditional surveying tasks for depth or volume determination can be covered, such as in shipping lanes, open-pit mining lakes, gravel pits, or sedimentation basins. Moreover, maritime drones are also suitable for rapid underwater reconnaissance, for example, in disaster situations. Areas of application include initial assessments after shipwrecks, searches for missing persons, investigations following landslides, or searches for sunken objects or hazardous materials like old munitions. Additionally, observation or patrol tasks, such as at ports, gas terminals, or other critical infrastructure, as well as monitoring tasks in the aquaculture industry, can be handled.

Modern maritime drones share the capability of being autonomously controllable via an autopilot functionality, navigating using satellite positioning topologies, and being equipped with various sonar systems. Known maritime drones relate to the “Otter” by Maritime Robotics, the “Sonobot 5” by EvoLogics, and the “Z-Boat” by Teledyne Marine.

While the sonar sensors themselves are comparatively small, the size of these drones is comparatively large such that the state of the art drones are comparatively cumbersome. For example, these maritime drones have large dimensions and weights such that they cannot be transported by a single person alone over longer distances. In addition, each of the drones comprises many protruding antennas, which adds to fragility and also complicates the deployment and recovery at quays or docks since damage to the fragile antennas must be prevented. Furthermore, the protruding antennas are also problematic during transportation of the drones. Overall, known maritime drones require a lot of space during transport and considerable skill or additional infrastructure or personnel for operation.

Hence, there is a need for a maritime drone as uncrewed surface vessel, which is easier to be transported, more robust, and which allows improved sensing data to be detected.

SUMMARY OF THE INVENTION

The subject matter of the independent claims satisfies the need. Preferred embodiments and aspects are disclosed in view of the dependent claims and the following description, figures and claims, each of which may represent additional or cumulative aspects of the invention. In other words, each of the disclosed embodiments can be combined as such or part thereof with the remaining description and/or claims.

A maritime drone as uncrewed surface vessel for movement on a water surface is provided. The maritime drone has a control and a monohull. The control is configured such that a movement and/or an operation of the maritime drone is autonomously controlled by the control. The monohull has a casing with an overwater and an underwater portion, which encloses an interior volume of the maritime drone. The maritime drone comprises at least one sonar sensor, which is coupled to the control and is configured for detecting underwater objects. The at least one sonar sensor is arranged within the maritime drone so that it is integrated in a form-fitting and streamlined manner into an underwater portion of the casing. The maritime drone has a maximum length of 200 cm, a maximum width of 60 cm and a maximum height of 60 cm. The maritime drone comprises a self-righting functionality, which is based at least on a shape of the monohull and a weight distribution of the maritime drone.

In brief, the invention is based on the finding that by arranging the at least one sonar sensor within the maritime drone as uncrewed surface vessel for movement of water surface, protruding components of the maritime drone (except for water drives or propellers) extending away from the casing of the monohull into the exterior space, such as air or water, can be avoided. Therefore, the casing provides a smooth exterior surface. By avoiding externally mounted components or components which extend into the exterior space, the risk of damages of these components and therewith the maritime drone is greatly reduced as compared to prior art drones. Accordingly, deployment and recovery as well as the transportation of the maritime drone is much easier and reliable as compared to prior art drones. In addition, the functionality of the maritime drone is also improved as the components which are arranged within the maritime drone are better protected from external mechanical impacts, the drag of the vehicle as well as water turbulences and formation of air bubbles are reduced compared to known maritime drones, which have the respective sonar components mounted on an external surface so that they extend into the exterior space.

The inventive maritime drone is not configured for being operated as an underwater vessel. It is not a submarine.

The inventive maritime drone has furthermore compact dimensions, namely a maximum length of 200 cm, a maximum width of 60 cm, a maximum height of 60 cm and a maximum weight that the maritime drone can be transported by a single person, in particular transported by a single person alone over longer distances, such as one kilometer. In contrast to uncrewed surface vessels of the prior art, the inventive maritime drone may also be launched into water or be recovered from water by a single person alone without the assistance of any machinery.

Moreover, as the inventive maritime drone comprises a self-uprighting (synonym “self-righting”) functionality in addition to the inner arrangement of the sonar sensor, the robustness during operation is greatly improved as compared to known drones. For example, at least some of the known drones are not in the form of a monohull, but have multiple hulls, such as in a catamaran with two separate hulls connected to each other by a carrying deck. If multi-hulled drones were to capsize, these drones cannot upright themselves without any external assistance. However, in this case, personnel would have to reach the maritime drone on sea and rescue the drone. Thus, a high maintenance effort is caused in view of known multiple-hulled maritime drones in particular in case they capsize.

Furthermore, known mono hull or multiple hull maritime drones must be launched in a careful and horizontal manner, whereas the inventive maritime drone can be launched due to its shape and arrangement of sonar sensor into the water from whatever direction, not only horizontal direction. This allows launch of the inventive maritime drone from a greater height, such as from pier walls, gunwales, bridges, air vehicles or the like. Consequently, the maritime drone according to the present invention is improved in terms of its operability compared to prior art maritime drones having multiple or mono hulls. As a result, the operation of the maritime drone according to the invention is more efficient as compared to prior art drones, since certain failure conditions, such as capsizing of the maritime drone, can be remedied based on the maritime drone itself.

As already set out above, the at least one sonar sensor, e.g. one, two, three, four or more sonar sensors, is/are integrated into an underwater portion of the casing in a form-fitting and streamlined manner. The at least one sonar sensor may respectively be arranged in a cavity (synonym: “load bay”) formed within the underwater portion of the casing. In other words, the respective sonar sensor may substitute a portion of the casing of the inventive maritime drone such that in use at least part of the optically active part of the sonar sensor is in contact with the water. Thus, less casing material may negatively affect the sensing quality. In addition, the air resistance and the water resistance are still improved over the prior art, which leads to less turbulences during operation such that the orientation of the maritime drone is more homogeneous and less prone to fluctuations. Furthermore, as compared to known mono hull maritime drones having components attached to the exterior surface and extending into the exterior space, the maritime drone of the invention has a more quiescent/stationary horizontal position inside the water. This in turn allows improved sensor data to be acquired, such as sensor data having an improved signal-to-noise ratio, for example, by the at least one sonar sensor. Moreover, the arrangement of sonar sensor within the underwater portion of the casing of the inventive maritime drone allows arranging the sonar sensor at the deepest position during operation in water, which may reduce negative impact of sonar reflections at the water surface.

Suitable sonar sensors are discussed with respect to the Figures and can be combined with this general description.

In this regard, the expressions “integrated in a form-fitting and streamlined manner into a portion of the casing”/“integrated into a portion of the casing in a form-fitting and streamlined manner” mean that the respective component, such as the at least one sonar sensor or any other component, such as an antenna, a camera etc., is integrated within the monohull of the maritime drone. Preferably, the respective component may be arranged within a cavity/load bay within a respective portion of the casing. With respect to the at least one sonar sensor, an underwater portion of the casing is preferably substituted by at least part of the respective sonar sensor in such a way that at least part of the optically active portion of the respective sonar sensor is in use in contact with water. Preferably, when being “integrated in a form-fitting and streamlined manner into an underwater portion of the casing”, the respective component extends within the volume of the monohull, more preferably within the casing material and optional cavities thereof, but does not protrude outside of the monohull into an exterior space to such an extent that substantial water turbulence would be provoked by the component.

Preferably, except for propellers and/or water drives, the inventive maritime drone does not comprise any components extending from an exterior surface of the casing into an exterior space which have an aspect ratio of a length compared to a width of the respective component of 5:1 or more, preferably of 3:1 or more, more preferably of 2:1 or more, more preferably of 1:1 or more. In particular, any antennas or sensor units that protrude from the exterior surface into the exterior space are avoided in the inventive maritime drone, but are arranged such that these antennas or sensor units are located within the interior volume of the maritime drone.

According to an aspect of the present invention, the at least one sonar sensor may be a multi-beam sonar sensor. Hence, more sonar data can be acquired such that underwater objects or an underwater topography can be more accurately detected or evaluated.

Preferably, the multi-beam sonar sensor has:

• • 256 beams or more, and/or
  • a swath coverage of 130° or more, and/or
  • a range of 200 m or more.

Accordingly, high-precision sonar data can be acquired such that the operating functionality is enhanced.

Optionally, an underwater portion of the casing has a water depth in use of at least 10 cm in relation to a sea level, preferably of at least 15 cm in relation to the sea level. Therefore, it can be ensured that a permanent orientation of the underwater portion in comparison to the sea level is guaranteed without any fluctuations. This enables the at least one sonar sensor to be exposed to less fluctuating properties of the surrounding, e.g., waves. Hence, sonar data with high precision and a high signal-to-noise ratio can be achieved.

According to some embodiments, the at least one sonar sensor may be integrated in a form-fitting and streamlined manner into the underwater portion of the casing. To this end, the underwater portion of the casing may comprise a shape that corresponds to a shape of an abutting surface of an antenna element of the sonar sensor. Alternatively or in addition, acoustically transparent panels or casing parts can be used to provide additional protection for the sonars and/or form the relevant shape of the monohull. The antenna element is used to emit and/or to receive acoustic waves from the sonar sensor or from an underwater object. To achieve a wide detection range, the abutting surface of the antenna element may be curved. The underwater portion of the casing may comprise also a curved shape that corresponds to the curvature of the abutting surface. In this sense, the sonar sensor is integrated in a form-fitting and streamlined manner into the underwater portion of the casing, more preferably into a cavity/loading bay of the casing. In particular, the abutting surface of the sonar sensor may comprise a curved shape such that a streamlined shape of the casing is achieved. Thereby, any water turbulences can be avoided.

According to an additional or cumulative embodiment of the present invention, the maritime drone may be configured in such a way that at least a portion of the casing being in contact with the at least one sonar sensor comprises a material that is transparent for acoustic waves emitted and/or received by the at least one sonar sensor. In particular, the casing material transparent for acoustic waves emitted and or received by the at least one sonar sensor is arranged in the in the cavity/load bay encasing the at least one sonar sensor.

According to an aspect, the underwater portion of the casing may have a displacement shape and/or a glider shape with a slim fin or a fast displacement shape with a length-to-width ratio of 8:1 or more. With this length-to-width ratio, the classical rules concerning a limitation of the hull velocity can be overcome such that unusual high hull velocities can be achieved.

Preferably, the fin comprises a width less than a predetermined width threshold. Since the casing comprises a narrow fin, higher velocities and more quiescent/stationary orientations of the inventive maritime drone within the water can be achieved with less turbulences.

Optionally, the underwater portion of the casing comprises a hybrid shape having a central portion and a surrounding portion surrounding the central portion. The central portion includes a displacement shape. The surrounding portion includes a glider shape. Accordingly, the advantages of both shapes can be combined.

In some embodiments of the present invention, the surrounding portion may surround the central portion along a length extension axis and a width extension axis of the maritime drone. Hence, the central portion is entirely surrounded by the surrounding portion within a horizontal plane. Accordingly, since the surrounding portion comprises a glider shape, the stability of the orientation of the maritime drone when in use is improved. Put differently, compared to a drone for which a central portion having a displacement shape is not entirely surrounded by a surrounding portion having a glider shape, the moving properties of the inventive maritime drone are improved in view of the achievable velocity and the steadiness of the orientation of the monohull compared to the sea level.

According to an aspect of the present invention, the casing may comprise two or more immersion points in a bow area of the monohull. The two or more immersion points are displaced relative to each other such that different bow waves caused by the two or more immersion points during a movement of the maritime drone at least partially compensate each other. Accordingly, less water turbulences are caused such that the orientation of the maritime drone within the water is more uniform during the movement.

In particular, the two or more immersion points may be displaced with regard to each other along at least one of the length extension axis, the width extension axis, and the height extension axis of the inventive maritime drone. This enables an efficient cancellation of the bow waves to be achieved.

Optionally, an overwater portion of the casing comprises a curved shape and causes a buoyancy that at least partially facilitates the self-righting functionality. As to the overwater portion, the interior volume enclosed by the casing may comprise specific air reservoirs, which contribute to the buoyancy. Accordingly, an efficient self-righting functionality can be guaranteed such that the inventive maritime drone is usable without external assistance even in case of a capsizing event.

Preferably, the inventive maritime drone comprises one or more additional components coupled to the control, in particular sensors and/or communication devices. The one or more additional components are integrated in a form-fitting and streamlined manner into the casing. In other words, the additional components also do not extend from the exterior surface of the casing into an exterior space. Hence, even though the functionality of the maritime drone may be enlarged by including additional components, no additional water turbulences are caused thereby.

According to an aspect of the present invention, the one or more additional components may be selected from a group consisting of antennas, global navigation satellite system antennas (GNSS antennas), radio antennas, WiFi antennas, cameras, Bluetooth antennas, cell phone antennas, ultra-short wave antennas, Radar sensors, Lidar sensors, and infrared sensors. Thus, the maritime drone may be multifunctional. Also, the maritime drone may be configured to communicate via different wireless standards. In addition, sensor data may be acquired using different sensing techniques. Therefore, the functionality of the maritime drone is greatly improved.

Optionally, the inventive maritime drone comprises at least one communication device configured to communicate with a mobile device and/or a base station. Hence, sensor data or parameters of the maritime drone, such as the position, speed, and the battery level can be efficiently transferred for further evaluation and superordinate commands.

Preferably, the inventive maritime drone comprises at least two GNSS antennas, which together form a dual GNSS positioning system. The dual GNSS positioning system not only enhances the precision of positioning data but also may establish a highly accurate compass based on the individual GNSS antennas. Hence, the navigation capabilities of the maritime drone are improved.

In one aspect of the present invention, the control comprises an autopilot function, which is based on positioning signals received by at least one GNSS antenna. For the autopilot function, topographic data may be stored within a data storage device. In an alternative or in addition, topographic data may be acquired by at least one sensor of the maritime drone itself, such as by a camera, a Radar, or a Lidar.

In some embodiments of the present invention, a majority of the casing may comprise one or more shockproof and/or impact resisting materials. Thus, the resistance against external forces is improved. For example, the maritime drone is more robust in view of external impacts during transportation phases.

Optionally, the shockproof and/or impact resisting materials comprise at least one polymeric material, preferably selected from a group consisting of polyethylenes (PE), such as low density polyethylenes (LD-PE), high-density polyethylenes (HD-PE), acrylonitrile butadiene styrenes (ABS), polycarbonates (PC), polypropylenes (PP), polytetrafluoroethylene (PTFE), polyurethanes (PU), and mixtures thereof. These materials can be used to efficiently manufacture monohulls having casings with desired shapes. Hence, the manufacturing expenses are low.

According to an aspect, the casing of the monohull may be manufactured based on a laminating procedure, such as by using a glass fiber reinforced plastic or a carbon-reinforced plastic, based on a die casting procedure, a vacuum casting procedure, or a deep drawing procedure.

Preferably, the inventive maritime drone is configured such that the maritime drone resists a fall procedure from a height of 1 m or more over ground, such as water, without substantial damages. Hence, the maritime drone is designed to have shockproof properties.

In one aspect of the present invention, the maritime drone may comprise at least one electric motor coupled to at least one water drive. The maritime drone may be configured to move according to a maximum speed of at least 3 m/s, preferably of at least 4 m/s, more preferably of at least 5 m/s. Hence, the agility of the maritime drone is high. Thereby, the range of the maritime drone is enlarged since larger distances may be covered based on higher speeds.

Preferably, the electric motor is a brushless constant current motor. Thus, the maintenance costs are low.

Optionally, the at least one sonar sensor is configured such that high-quality sonar data are detectable while the inventive maritime drone moves at the maximum speed. Thus, the operating efficiency is improved since the sensor data may also be acquired at high speeds. No specific slow down needs to be performed for sensing the sonar data. This is entailed by the high signal-to-noise ratio of the at least one sonar sensor and by the calm and steady orientation of the maritime drone within the water during moving. In particular, the orientation is achieved based at least in part on the streamlined shape of the casing, which assists in the avoidance of water turbulences.

Optionally, the inventive maritime drone comprises two or more water drives. Thus, the agility is even further improved. For example, the maritime drone may have a small turning radius.

In one aspect of the present invention, the maritime drone may comprise at least one battery to supply the electric motor. In particular, the at least one battery may include two Li-ion (Lithium-ion) based batteries. Preferably, the at least one battery comprises a capacity of 200 kWh or more, more preferably of 250 kWh or more, more preferably of 290 kWh. In particular, the maritime drone may comprise two batteries having a capacity of 290 kWh. Hence, the range of the maritime drone is large.

According to the present invention, the maritime drone has a maximum length of 200 cm, and alternatively may have a maximum length of 150 cm, 140 cm, 130 cm, 120 cm, 110 cm or 100 cm.

The inventive maritime drone has a maximum width of 60 cm, and alternatively may have a maximum width of 50 cm, 40 cm, 30 cm or 20 cm.

The maritime drone has a maximum height of 60 cm, and alternatively may have a maximum height of 50 cm, 40 cm, 30 cm or 20 cm.

The smaller the dimensions of the inventive maritime drone, the lighter the maritime drone may be and the easier is the maritime drone to handle, especially when putting it in or taking it out of the water.

According to some embodiments of the present invention, the maritime drone may comprise at least one handle, in particular one, two, three or more handles. The maritime drone in addition or alternatively may have a maximum weight in use of 40 kg, alternatively of 35 kg, 30 kg, 25 kg, 23 kg or 21 kg.

The inventive maritime drone is very compact in terms of length, width, height and weight. Therefore, the maritime drone is more easily transportable than prior art drones. In particular, the inventive maritime drone can be transported by a single person, in particular transported over a longer distance, such as of at least one kilometer.

According to one embodiment of the present invention, the maritime drone may preferably have a length in the range of 100 cm to 140 cm, and a width and height respectively in the range of 20 cm to 50 cm.

In particular, the inventive maritime drone may have a maximum length of 120 cm, a maximum width of 40 cm, and a maximum height of 40 cm. According to these dimensions, the maritime drone is particularly compact.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention and other advantageous embodiments and further embodiments thereof are described and explained in more detail below with reference to the examples shown in the drawings.

FIG. 1 shows a schematic top view of a maritime drone according to an embodiment of the invention,

FIG. 2 shows a schematic side view of a maritime drone according to an embodiment of the invention,

FIG. 3 shows a schematic front view of a maritime drone according to an embodiment of the invention, and

FIG. 4 shows a schematic bottom view of a maritime drone according to an embodiment of the invention.

DETAILED DESCRIPTION

All features mentioned below with reference to the embodiments and/or the accompanying figures may be combined alone or in any sub-combination with features of the general invention, including features of preferred embodiments.

FIG. 1 shows a schematic top view of a maritime drone 10 according to an embodiment of the invention.

The maritime drone 10 comprises a monohull 12 having a casing 14, which encloses an interior volume 16 of the maritime drone 10.

A majority of the casing 14 comprises one or more shockproof and/or impact resisting materials. Therefore, the casing 14 is particularly robust to external impacts and forces.

The casing 14 has an exterior surface 18, which has a shape that is streamlined. In particular, the maritime drone 10 does not comprise any components extending away from the exterior surface 18 into an exterior space. Hence, the air and/or water resistance of the maritime drone 10 is comparatively small.

The casing 14 comprises several removable hatches 20A, 20B, 20C at the top side. For example, a hatch 20A may be configured to provide access to the electric motor 22, which is arranged within the maritime drone 10. Another hatch 20B may be arranged such that access to a battery tray 24 can be achieved. According to this embodiment, the battery tray 24 includes two batteries 26 having a capacity of 290 kWh for supplying a current to the electric motor 22. A different hatch 20C is arranged such that access can be gained to a control 28 of the maritime drone 10 and to several sensors 30 thereof.

According to the present embodiment, the sensors 30 of the maritime drone comprise at least a camera 32, which is configured to record visual data in a front direction of the maritime drone 10.

In addition, according to this embodiment the maritime drone 10 comprises two GNSS antennas 34A, 34B positioned at the bow and the rear of the maritime drone. Accordingly, a dual GNSS system is set up by the individual GNSS antennas 34A, 34B such that precise positioning and navigation functionalities are achieved.

The sensors 30, the GNSS antennas 34A, 34B, the batteries 26, and the electric motor 22 are at least indirectly coupled to the control 28.

The control 28 is configured to autonomously navigate and control the maritime drone 10.

The maritime drone has a length L along a length extension axis 36, a width W along a width extension axis 38, and a height H along a height extension axis 40.

According to this embodiment, the maritime drone has a length L of about 122 cm, a width W of about 39 cm, and a height H of about 36 cm. The weight of the maritime drone 10 is about 21 kg. Therefore, the maritime drone 10 is very compact. Accordingly, the maritime drone 10 is comparatively easy to transport, e.g., by a single person. To this end, the casing 14 comprises several handles 42, which assist convenient transportation.

In addition, as to the dimensions of the maritime drone 10, the maritime drone 10 comprises a large length-to-width ratio, which enables high maneuverability, and high vehicle speeds to be achieved.

Based on the shape of the casing 14 and the weight distribution of the maritime drone 10, the maritime drone 10 comprises a self-righting functionality. Hence, if the maritime drone 10 capsizes, the monohull 12 is designed such that the maritime drone 10 self-rights without external assistance.

Also, as can be seen in FIG. 1, the casing 14 has a shape such that except for the water drives 44, which comprise propellers, no protruding components extend away from the exterior surface 18 into the exterior space. Hence, all components and sensors 30 of the maritime drone 10 are arranged such, in particular within the maritime drone 10 that they are integrated in a form-fitting and streamlined manner into a portion of the casing 14 of the monohull 12. Consequently, only little turbulences are caused if the maritime drone 10 moves.

FIG. 2 shows a schematic side view of a maritime drone 10 according to an embodiment of the invention.

The monohull 12 comprises an underwater portion 46, which is below the sea level if the maritime drone 10 is in use. In particular, during use of the maritime drone 10, an underwater height H_U between the sea level and the bottom most point of the casing 14 is about 15 cm.

The maritime drone 10 comprises at least one sonar sensor 48, which is configured to detect an underwater topography or underwater objects. To this end, the sonar sensor 48 is arranged at a bottom side of the casing 14, i.e. at the underwater portion 46. The sonar sensor 48 is coupled to the control 28 and transmits detected sonar data thereto. Any suitable sonar sensor can be used for the inventive maritime drone 10. Suitable sonar sensors may be selected from multiplebeam sonar sensors, sidescan sonar sensors, front-looking sonar sensors. Examples of suitable sonar sensors are provided by the company Norbit (Norway), such as the OEM Multibeam by Norbit. However, all multibeam sonar sensors in the WBMS family (iWBMS, iWBMS Ekinox, iWBMSh, iWBMSh STX, iWBMSe, iWBMSh stabilised, WBMS STX, WBMS Basic, WBMS Basic Long Range), front-looking sonars FLS Wide and FLS Compact, and sidescan sonar Ping DSP 3DSS are also compatible. Furthermore, known SideScan sonars can be integrated as provided by Edgetech, Deep Vision, etc.

The underwater portion 46 comprises an underwater hatch 50, which is arranged such that access to the sonar sensor 48 can be gained.

In particular, the sonar sensor 48 is integrated in a form-fitting and streamlined manner into the underwater portion 46 of the casing 14, preferably into a cavity/load bay of the casing, wherein at least part of the optically active part of the sonar sensor is in use in contact with water.

According to the present embodiment, the sonar sensor 48 is a multibeam sonar sensor being configured to simultaneously emit 256 beams or more. The sonar sensor 48 has a swath coverage of 130° or more and a detection range of 200 m or more. To achieve these parameters the sonar sensor 48 comprises an antenna element 52 having a curved shape. The radius of the curvature is oriented according to an axis being oriented in parallel to the length extension axis 36 of the maritime drone 10.

At least a portion of the underwater portion 46 of the casing comprises a material, which is substantially transparent for acoustic waves emitted by or received by the antenna element 52 of the sonar sensor 48. “Substantially transparent” means that the attenuation caused by the material of the respective portion can be neglected. Preferably, this portion is arranged within a cavity/loading bay (not shown in FIG. 2) of the underwater portion 46 of casing being in contact with the sonar sensor 48.

FIG. 3 shows a schematic front view of a maritime drone 10 according to an embodiment of the invention.

The maritime drone 10 comprises two water drives 44 such that a high agility is achieved. Moreover, high vehicle speeds can be obtained at which the sonar sensor 48 is still enabled to acquire high quality sonar data.

As already mentioned, the shape of the casing 14 of the monohull 12 is streamlined. In particular, except the water drives 44, the maritime drone 10 does not comprise any components, such as antennas, which protrude away from the exterior surface 18 into the exterior space. Hence, turbulences are avoided.

FIG. 4 shows a schematic bottom view of a maritime drone 10 according to an embodiment of the invention.

According to this embodiment, the underwater portion 46 comprises a central portion 54 and a surrounding portion 56. The surrounding portion 56 surrounds the central portion 54 according to the length extension axis 36 and the width extension axis 38, i.e. within a horizontal plane.

In this embodiment, the central portion 54 has a displacement shape. In contrast, the surrounding portion 56 has a glider shape. As a consequence, the underwater portion 46 comprises a hybrid shape. Accordingly, the advantages of both shape types can be combined, such as a high stability of the orientation within the water and a low water resistance such that high vehicle speeds can be obtained. As a consequence, as to the shape of the underwater portion 46, at least two immersion points 60A, 60B are established within the bow area such that bow waves caused during a movement of the maritime drone at least partially compensate each other. Put differently, less turbulences are caused and higher vehicle speeds can be obtained.

According to this embodiment, the maritime drone 10 is configured to move at vehicle speeds of up to 5 m/s.

Hence, a robust, agile and fast maritime drone 10 is provided facilitating autonomous operating functionalities. The robustness of the maritime drone 10 also applies to the sensors 30 thereof since all sensors 30 are integrated within the maritime drone 10 in a formfitting and streamlined manner. As to the self-righting functionality, the risk of damages is reduced while the operating efficiency is enlarged. Even if the maritime drone 10 capsizes, no external assistance is required in order for the maritime drone 10 to continue operating. Furthermore, the inventive maritime drone 10 can be launched in any suitable position (not only horizontal) and furthermore can be launched from a greater height, such as pier walls, gunwales, bridges, air vehicles or the like.

Based on the various components, such as communication antennas according to different wireless communication standards, a reliable data transfer to a mobile device or a base station is ensured.

In the following embodiments of the invention are shown:

According to embodiment 1 a maritime drone as uncrewed surface vessel is provided, having a control and a monohull, wherein the control is configured such that a movement and/or an operation of the maritime drone is autonomously controlled by the control, wherein the monohull has a casing which encloses an interior volume of the maritime drone, wherein the maritime drone comprises at least one sonar sensor which is coupled to the control and is configured for detecting underwater objects, characterized in that the at least one sonar sensor is arranged within the maritime drone, and wherein the maritime drone comprises a self-righting functionality which is based at least on a shape of the monohull and a weight distribution of the maritime drone.

According to embodiment 2, the maritime drone according to embodiment 1 is provided, wherein the at least one sonar sensor is integrated in a form-fitting and streamlined manner into a portion of the casing.

According to embodiment 3, the maritime drone according to embodiment 1 or 2 is provided, wherein the at least one sonar sensor is a multi-beam sonar sensor.

According to embodiment 4, the maritime drone according to any one of the preceding embodiments is provided, wherein an underwater portion of the casing has a water depth in use of at least 10 cm in relation to a sea level. According to embodiment 5, the maritime drone according to [0094] embodiment 4 is provided, wherein the at least one sonar sensor is integrated in a form-fitting and streamlined manner into the underwater portion of the casing.

According to embodiment 6, the maritime drone according to embodiment 4 or 5 is provided, wherein the underwater portion of the casing has a displacement shape and/or a glider shape with a slim fin or a fast displacement shape with a length-to-width ratio of 8:1 or more.

According to embodiment 7, the maritime drone according to any one of the embodiments 4 to 6 is provided, wherein the underwater portion of the casing comprises a hybrid shape having a central portion and a surrounding portion surrounding the central portion, wherein the central portion includes a displacement shape, and wherein the surrounding portion includes a glider shape.

According to embodiment 8, the maritime drone according to embodiment 7 is provided, wherein the surrounding portion surrounds the central portion along a length extension axis and a width extension axis of the maritime drone.

According to embodiment 9, the maritime drone according to any one of the preceding embodiments is provided, wherein the casing comprises two or more immersion points in a bow area of the monohull, wherein the two or more immersion points are displaced relative to each other such that different bow waves caused by the two or more immersion points during a movement of the maritime drone at least partially compensate each other.

According to embodiment 10, the maritime drone according to any one of the preceding claims is provided, wherein an overwater portion of the casing comprises a curved shape and causes a buoyancy that at least partially facilitates the self-righting functionality.

According to embodiment 11, the maritime drone according to any one of the preceding embodiments is provided, further comprising one or more additional components coupled to the control, wherein the one or more additional components are integrated in a form-fitting and streamlined manner into the casing.

According to embodiment 12, the maritime drone according to embodiment 11 is provided, wherein the one or more additional components are selected from a group consisting of antennas, global navigation satellite system antennas, radio antennas, WiFi antennas, cameras, Bluetooth antennas, cell phone antennas, ultra-short wave antennas, Radar sensors, Lidar sensors, and infrared sensors.

According to embodiment 13, the maritime drone according to any one of the preceding embodiments is provided, wherein a majority of the casing comprises one or more shockproof and/or impact resisting materials.

According to embodiment 14, the maritime drone according to embodiment 13 is provided, wherein the one or more shockproof and/or impact resisting materials comprise at least one polymeric material, preferably selected from a group consisting of polyethylenes, such as low density polyethylenes, high-density polyethylenes, acrylonitrile butadiene styrenes, polycarbonates, polypropylenes, polytetrafluoroethylene, polyurethanes, and mixtures thereof.

According to embodiment 15, the maritime drone according to any one of the preceding embodiments is provided, wherein the maritime drone comprises at least one electric motor coupled to at least one water drive, and wherein the maritime drone is configured to move according to a maximum speed of at least 3 m/s.

According to embodiment 16, the maritime drone according embodiment 15 is provided, wherein the maritime drone comprises two or more water drives.