Unmanned vehicles

Abstract

An unmanned ground vehicle is disclosed. The unmanned ground vehicle may be a minefield breaching vehicle. The vehicle may have a body that has at least one opening to enable pressurised gas, generated by a mine explosion underneath the 5 vehicle, to escape through the body. The vehicle may comprise multiple electric motors for powering the wheels. The vehicle may have lowerable wheels. The vehicle may have a moveable mass that is arranged to compensate for a wheel of the vehicle by changing a centre of gravity of the vehicle. The vehicle may have at least three wheels on one side of the vehicle that are spaced from at least three wheels on the other side 10 of the vehicle. The vehicle may have at least one fluid powered arm that is configured to apply pressure to ground in order to cause mines in the ground to detonate. The vehicle may have one or more discardable mine rollers. The vehicle may have a wheel with multiple wheel flanges.

Description

[0001] TITLE

[0002] Unmanned Vehicles

[0003] TECHNOLOGICAL FIELD

[0004] Examples of the disclosure relate to unmanned ground vehicles (UGVs) which may be used in both military and civilian operations especially where there is a risk of encountering mines, improvised explosive devices (I ED), unexploded ordnance (UXO) or the vehicles are subject to ballistic threats by direct enemy fire. Some of those examples relate to an unmanned ground minefield breaching vehicle.

[0005] BACKGROUND

[0006] UGVs are used to carry logistics loads, weapons, or surveillance systems during military operations and are likely to encounter mines and other devices which may disable the vehicle. Also, rapid demining is required in military operations in order to quickly clear a path through a minefield, for example, to allow troops and / or land-based military vehicles to travel across the minefield safely. In the civilian environment the clearance of old mines and minefields from contaminated land is an ongoing problem.

[0007] BRIEF SUMMARY

[0008] According to various, but not necessarily all, examples there is provided an unmanned ground minefield breaching vehicle comprising: a plurality of wheels; and a mass arranged to move relative to the plurality of wheels, in order to at least partially compensate for a loss of one or more of the wheels during minefield breaching by changing the centre of gravity of the vehicle.

[0009] The moveable mass may be arranged to move along a length of the vehicle in order to move the centre of gravity of the vehicle along the length of the vehicle. The mass may be slidable along a guide. The guide may comprise a plurality of rails. The mass may be slidable along the plurality of rails. The unmanned ground minefield breaching vehicle may further comprise a drive configured to change the centre of gravity of the vehicle by moving the mass. The drive may comprise at least one fluid powered actuator.

[0010] The moveable mass may have a mass of at least 1000kg. The moveable mass may be arranged to move the centre of gravity of the vehicle by at least 1 metre.

[0011] The unmanned ground minefield breaching vehicle may be remotely controllable.

[0012] According to various, but not necessarily all, examples there is provided a method of operating an unmanned ground minefield breaching vehicle during minefield breaching, the method comprising: responding to a loss of one or more wheels of the vehicle by moving a mass to change a centre of gravity of the vehicle.

[0013] According to various, but not necessarily all, examples there is provided an unmanned ground minefield breaching vehicle comprising: a first set of wheels comprising at least three wheels spaced from each other along a length dimension of the vehicle; and a second set of wheels comprising at least three wheels spaced from each other along the length dimension of the vehicle, wherein the second set of wheels are spaced from the first set of wheels along a width dimension of the vehicle, and each wheel in the first and second sets of wheels has a tyre thereon.

[0014] At least one wheel in the first set of wheels may be independently drivable from at least one wheel in the second set of wheels. At least one wheel in the first set of wheels may be independently drivable from at least one other wheel in the first set of wheels.

[0015] According to various, but not necessarily all, examples there is provided an unmanned ground vehicle comprising: a plurality of wheels; and a body comprising at least one opening arranged to enable pressurised gas, generated by a mine explosion underneath the vehicle, to escape through the body. The body may comprise a frame having a plurality of openings arranged to enable pressurised gas, generated by a mine explosion underneath the vehicle, to escape through the frame.

[0016] The body may comprise a first hull and a second hull. The frame may couple the first hull to the second hull. The frame may comprise a plurality of elongate frame members that interconnect the first hull and the second hull. Each of the first hull and the second hull may have an underside with a substantially V-shaped cross section.

[0017] The unmanned ground vehicle may further comprise a plurality of wheels. At least some of the wheels may have a tyre thereon. Additionally or alternatively, at least some of the wheels may be located within at least one continuous track.

[0018] The unmanned ground vehicle may comprise at least one electric motor and / or at least one internal combustion engine, located in the first hull or the second hull, for powering at least one of the plurality of wheels. The vehicle may comprise a plurality of electric motors for powering the plurality of wheels. The plurality of electric motors may be located in the first hull, the second hull, or are distributed across the first hull and second hull.

[0019] The unmanned ground vehicle may further comprise a storage container having an underside with a substantially V-shaped cross section.

[0020] The unmanned ground vehicle may further comprise at one or more rocket motors configured to apply a groundwards force to the unmanned ground vehicle. The unmanned ground vehicle may further comprise processing circuitry and at least one sensor. The at least one sensor may be configured to provide at least one input to the processing circuitry that is indicative of an explosion having occurred local to the unmanned ground vehicle. The processing circuitry may be configured to activate at least one of the one or more rocket motors based at least in part on the at least one input provided by the at least one sensor.

[0021] The plurality of wheels may comprise a first wheel and a second wheel. The unmanned ground vehicle may further comprise a first electric motor and a second electric motor. The first electric motor may be configured to power at least the first wheel, at least in part. The second electric motor may be configured to power at least the second wheel, at least in part. The first electric motor may be configured to power the second wheel, at least in part.

[0022] The first electric motor and the second electric motor may be configured to simultaneously power the second wheel together.

[0023] If the first electric motor is rendered inoperable to power the first wheel, the second electric motor may be configured to power the first wheel, at least in part. The second electric motor may be configured to power the first wheel, at least in part. The first electric motor and the second electric motor may be configured to simultaneously power the first wheel together.

[0024] If the second electric motor is rendered inoperable to power the second wheel, the first electric motor may be configured to power the second wheel, at least in part.

[0025] The second wheel may be spaced from the first wheel along a width dimension of the vehicle. The second wheel may be spaced from the first wheel along a length dimension of the vehicle.

[0026] The first and second electric motors may be located in a first hull having a substantially V-shaped cross section.

[0027] The unmanned ground vehicle may further comprise: at least one lowerable wheel; a wheel lowering mechanism for causing the lowerable wheel to contact ground and bear at least part of the weight of the vehicle; and processing circuitry configured to control the wheel lowering mechanism to cause the lowerable wheel to contact ground and bear at least part of the weight of the vehicle, in order to at least partially compensate for a loss of one or more of the plurality of wheels.

[0028] According to various, but not necessarily all, examples there is provided an unmanned ground vehicle comprising: a first wheel; a second wheel; a first electric motor configured to power the at least the first wheel, at least in part; and a second electric motor configured to power at least the second wheel, at least in part.

[0029] The first electric motor may be configured to power the second wheel, at least in part. The first electric motor and the second electric motor may be configured to simultaneously power the second wheel together.

[0030] If the first electric motor is rendered inoperable to power the first wheel, the second electric motor may be configured to power the first wheel, at least in part. The second electric motor may be configured to power the first wheel, at least in part.

[0031] The first electric motor and the second electric motor may be configured to simultaneously power the first wheel together. If the second electric motor is rendered inoperable to power the second wheel, the first electric motor may be configured to power the second wheel, at least in part.

[0032] The second wheel may be spaced from the first wheel along a width dimension of the vehicle. The second wheel may be spaced from the first wheel along a length dimension of the vehicle.

[0033] The first and second electric motors may be located in a first hull having a substantially V-shaped cross section.

[0034] According to various, but not necessarily all, examples there is provided an unmanned ground vehicle comprising: a plurality of wheels; at least one lowerable wheel; a wheel lowering mechanism for causing the lowerable wheel to contact ground and bear at least part of the weight of the vehicle; and processing circuitry configured to control the wheel lowering mechanism to cause the lowerable wheel to contact ground and bear at least part of the weight of the vehicle, in order to at least partially compensate for a loss of one or more of the plurality of wheels during minefield breaching.

[0035] According to various, but not necessarily all, examples there is provided a method of operating an unmanned ground minefield breaching vehicle during minefield breaching, the method comprising: responding to a loss of one or more wheels of the vehicle by lowering a lowerable wheel to contact ground and bear at least part of the weight of the vehicle.

[0036] According to various, but not necessarily all, examples there is provided an unmanned ground vehicle comprising: a vehicle body; and at least one fluid powered arm, coupled to the vehicle body, configured to apply pressure to ground in order to cause mines in the ground to detonate.

[0037] The vehicle body may have a front. The at least one fluid powered arm may comprise at least one fluid powered arm that is configured to apply pressure to ground ahead of the front of the vehicle body in order to cause mines in the ground to detonate prior to the vehicle body reaching the mines when the vehicle is moving forwards.

[0038] The vehicle body may have a rear. The at least one fluid powered arm may comprise at least one fluid powered arm that is configured to apply pressure to ground behind a rear of the vehicle body.

[0039] The fluid powered arm may be hingedly connected to the vehicle body. At least one wheel may be located a distal end of the fluid powered arm. The fluid powered arm may be powered by a fluid powered actuator of the vehicle.

[0040] The at least one fluid powered arm may be at least one pneumatic arm.

[0041] The unmanned ground minefield breaching vehicle may further comprise one or more rocket motors configured to apply a groundwards force to the fluid powered arm.

[0042] The unmanned ground minefield breaching vehicle may further comprise processing circuitry and at least one sensor. The at least one sensor may be configured to provide at least one input to the processing circuitry that is indicative of an explosion having occurred proximal to the fluid powered arm. The processing circuitry may be configured to activate at least one of the one or more rocket motors based at least in part on the at least one input provided by the at least one sensor. According to various, but not necessarily all, examples there is provided an unmanned ground minefield breaching vehicle comprising: a body; a mine roller for detonating mines; a first tether coupling the mine roller to the body; a second tether coupling the mine roller to the body; and a mine roller release system configured to release the first tether separately from and prior to releasing the second tether.

[0043] The mine roller release system may be configured to discard the mine roller upon release of the second tether following release of the first tether.

[0044] According to various, but not necessarily all, examples there is provided a method of operating an unmanned ground minefield breaching vehicle during minefield breaching, the method comprising: releasing a first tether coupling a mine roller to a body of the vehicle; after releasing the first tether, releasing a second tether coupling the mine roller to the body of the vehicle.

[0045] According to various, but not necessarily all, examples there is provided an unmanned ground minefield breaching vehicle comprising: a body; a first mine roller, tethered to the body, arranged to be deployed to detonate mines; and a second mine roller, tethered to the body, arranged to be deployed to replace the first mine roller after the first mine roller has been discarded .

[0046] The second mine roller may be stowed in the vehicle body prior to deployment.

[0047] According to various, but not necessarily all, examples there is provided an unmanned ground vehicle comprising: a wheel hub; at least one wheel having: a first wheel flange spaced from a second wheel flange; a first plurality of fasteners configured to fasten the first wheel flange to the wheel hub; and a second plurality of fasteners configured to fasten the second wheel flange to the wheel hub.

[0048] The wheel hub may have a first surface comprising a first plurality of holes for receiving the first plurality of fasteners. The first plurality of holes may be a plurality of threaded holes and the first plurality of fasteners may be a plurality of threaded fasteners. The first surface may contact the first wheel flange. The wheel hub may have a second surface comprising a second plurality of holes for receiving the second plurality of fasteners. The second plurality of holes may be a plurality of threaded holes and the second plurality of fasteners may be a plurality of threaded fasteners. The second surface may contact the second wheel flange. The first surface may be spaced from the second surface in a dimension defined by the rotational axis of the wheel.

[0049] The at least one wheel may further comprise at least one spacer located between the first wheel flange and the second wheel flange. The spacer may be configured to receive at least one fastener from the second plurality of fasteners.

[0050] The unmanned ground minefield breaching vehicle may further comprise at a plurality of spacers located between the first wheel flange and the second wheel flange. The plurality of spacers may be configured to receive the second plurality of fasteners. The wheel may have a wheel rim that interconnects the first wheel flange and the second wheel flange.

[0051] According to various, but not necessarily all, examples there is provided an unmanned ground vehicle comprising: a body comprising a first hull, a second hull and a frame, wherein the frame couples the first hull to the second hull and comprises a plurality of openings arranged to enable pressurised gas, generated by a mine explosion underneath the vehicle, to escape through the frame.

[0052] According to various, but not necessarily all, examples there is provided examples as claimed in the appended claims.

[0053] The following portion of this ‘Brief Summary’ section, describes various features that may be features of any of the examples described in the foregoing portion of the ‘Brief Summary’ section. The description of a function should additionally be considered to also disclose any means suitable for performing that function

[0054] While the above examples of the disclosure and optional features are described separately, it is to be understood that their provision in all possible combinations and permutations is contained within the disclosure. It is to be understood that various examples of the disclosure can comprise any or all of the features described in respect of other examples of the disclosure, and vice versa. Also, it is to be appreciated that any one or more or all of the features, in any combination, may be implemented by / comprised in / performable by an apparatus, a method, and / or computer program instructions as desired, and as appropriate.

[0055] BRIEF DESCRIPTION

[0056] Some examples will now be described with reference to the accompanying drawings in which:

[0057] FIG. 1 illustrates a front perspective view of an unmanned minefield breaching vehicle; FIG. 2 illustrates a rear perspective view of the unmanned minefield breaching vehicle; FIG. 3 illustrates a rear view of the unmanned minefield breaching vehicle;

[0058] FIG. 4 illustrates a plan view of the unmanned minefield breaching vehicle;

[0059] FIG. 5 illustrates a side view of the unmanned minefield breaching vehicle;

[0060] FIG. 6 illustrates an underside perspective view of the front of the unmanned minefield breaching vehicle;

[0061] FIG. 7A illustrates a front perspective view of a wheel of the unmanned minefield breaching vehicle;

[0062] FIG. 7B illustrates a rear perspective view of the wheel of the unmanned minefield breaching vehicle;

[0063] FIG. 8 illustrates a first cross sectional view of the wheel;

[0064] FIG. 9 illustrates a second cross sectional view of the wheel;

[0065] FIG. 10A illustrates a third cross sectional view of the wheel;

[0066] FIG. 10B illustrates a fourth cross sectional view of the wheel through the line marked C-C in FIG. 10A;

[0067] FIG. 11 is a perspective view of a first example of a hull of the unmanned minefield breaching vehicle;

[0068] FIG. 12A illustrates a first example of a cross section of the unmanned minefield breaching vehicle;

[0069] FIG. 12B illustrates a second example of a cross section of the unmanned minefield breaching vehicle;

[0070] FIG. 13 illustrates a close-up perspective view of the front of the unmanned minefield breaching vehicle; FIG. 14 illustrates a close-up perspective view of the rear of the unmanned minefield breaching vehicle;

[0071] FIGs. 15A and 15B illustrate side views of the unmanned minefield breaching vehicle and show movement of a mass mounted within the vehicle;

[0072] FIG. 16 illustrates a close-up perspective view of the rear of the unmanned minefield breaching vehicle;

[0073] FIG. 17 illustrates a side view of the rear of the unmanned minefield breaching vehicle;

[0074] FIG. 18 illustrates a front perspective view of an alternative example of the unmanned minefield breaching vehicle;

[0075] FIG. 20A illustrates a perspective view of a first example of an unmanned damage resistant vehicle;

[0076] FIG. 20B illustrates a plan view of the first example of an unmanned damage resistant vehicle;

[0077] FIG. 20C illustrates a side view of the first example of an unmanned damage resistant vehicle;

[0078] FIG. 21 A illustrates a perspective view of a second example of the unmanned damage resistant vehicle;

[0079] FIG. 21 B illustrates a plan view of the second example of the unmanned damage resistant vehicle;

[0080] FIG. 21 C illustrates a front view of the second example of the unmanned damage resistant vehicle;

[0081] FIG. 21 D illustrates a side view of the second example of the unmanned damage resistant vehicle;

[0082] FIG. 22A illustrates a perspective view of a third example of the unmanned damage resistant vehicle;

[0083] FIG. 22B illustrates a front view of the third example of the unmanned damage resistant vehicle;

[0084] FIG. 23A illustrates a perspective view of a fourth example of the unmanned damage resistant vehicle;

[0085] FIG. 23B illustrates a plan view of the fourth example of the unmanned damage resistant vehicle;

[0086] FIG. 23C illustrates a front view of the fourth example of the unmanned damage resistant vehicle; FIG. 23D illustrates a side view of the fourth example of the unmanned damage resistant vehicle;

[0087] FIG. 24A illustrates a perspective view of a fifth example of the unmanned damage resistant vehicle;

[0088] FIG. 24B illustrates a front view of a fifth example of the unmanned damage resistant vehicle; and

[0089] FIG. 25 illustrates a front view of a sixth example of the unmanned damage resistant vehicle.

[0090] The figures are not necessarily to scale. Certain features and views of the figures can be shown schematically or exaggerated in scale in the interest of clarity and conciseness. For example, the dimensions of some elements in the figures can be exaggerated relative to other elements to aid explication. Similar reference numerals are used in the figures to designate similar features. For clarity, all reference numerals are not necessarily displayed in all figures.

[0091] DETAILED DESCRIPTION

[0092] Land may be planted by with mines by a military forces in order to prevent an opposing military force from crossing the land. Such mines include both surface-scattered and buried anti-personnel mines and anti-vehicle mines. Anti-personnel mines may trigger when a weight of 4kg - 50kg is sensed. Anti-vehicle mines, such as anti-tank mines, may trigger when a weight of 100kg or more is sensed.

[0093] The opposing military force may wish to rapidly clear a path through the minefield in order to carry out a military operation. Military demining may involve attempting to trigger mines from a remote position, for example by using a line charge, electromagnetic impulses or mechanical devices such as tillers, flails, or rollers. Alternatively or additionally, mine ploughs may be used, which plough up the earth and push mines aside.

[0094] Embodiments of the invention relate to an unmanned ground (land-based) minefield breaching vehicle for clearing a path through a minefield during a military operation. The vehicle clears a path through the minefield by using weight applied by the vehicle to ground, and other methods in order to detonate mines along the path travelled by the vehicle. Various aspects of the vehicle mean that it is particularly robust, allowing the vehicle to continue along its path when mines are detonated close to or under the vehicle. This allows the vehicle to carve out a long path through the minefield, allowing military vehicles and potentially military personnel to travel safely through the minefield.

[0095] In this specification, the term “unmanned” means that there is no human driver, crew or passengers on-board the minefield breaching vehicle. Said differently, the vehicle is configured to operate / travel without a human driver, crew or passengers on-board the vehicle. No provision is made for a human driver, crew or passengers; that is, there is no cabin nor any seats to accommodate a human driver, crew or passengers. The unmanned minefield breaching vehicle may be remotely controlled. Alternatively or additionally, the unmanned minefield breaching vehicle may be able to operate autonomously. This is described in further detail below.

[0096] FIGs 1-5 illustrate a front perspective, rear perspective, upper perspective, rear, plan and side views of the unmanned minefield breaching vehicle 100. Cartesian coordinate axes 80 are illustrated in the FIGs to enable the reader to orientate the FIGs relative to each other. Each of the x, y and z axes in the Cartesian co-ordinate axes 80 defines a different spatial dimension. The y-axis extends from the front to the rear of the vehicle 100. The length of the vehicle 100 is aligned with the y-axis. The x-axis extends laterally from one side of the vehicle 100 to the other side of the vehicle 100. The width of the vehicle 100 is aligned with the x-axis. The z-axis extends upwardly from the underside of the vehicle 100 to the top of the vehicle 100. The height of the vehicle is aligned with the z-axis.

[0097] The vehicle 100 comprises a body 20. The body 20 comprises a first hull 22 and a second hull 24. Each of the first and second hulls 22, 24 is a substantially v-shaped hull 22, 24 in the illustrated example. That is, each of the first and second hulls 22, 24 may have a substantially v-shaped cross section (in a plane defined by the x and z dimensions in the FIGs). At least the underside of each of the first and second hulls 22, 24 may be v-shaped (e.g., each hull 22, 24 may have a v-shaped cross section). The first and second hulls 22, 24 are spaced from one another in the width dimension of the vehicle 100 (as defined by the x-axis). Each of the hulls 22, 24 extends along the length of the vehicle 100 (as defined the y axis). In the illustrated example, each of the hulls 22, 24 extends along substantially the whole length of the vehicle 100.

[0098] The body 20 comprises a frame 26 that couples the first hull 22 to the second hull 24. The frame 26 may, for example, be a space frame comprising a plurality of interconnected struts. The struts can also be considered to be elongate frame members. In the implementation illustrated in the figures, the frame 26 extends along the width of the vehicle 100 to connect the two hulls 22, 24 to each other. At least some of the struts which interconnect the hulls 22, 24 may extend between the two hulls 22, 24. The struts might directly interconnect the two hulls 22, 24. At least some of the struts may that extend above each of the first and second hulls 22, 24. The struts may provide one or more platforms on which elements can be positions, such as one or more rocket motors 70.

[0099] The frame 26 has a plurality of openings that are arranged to enable pressurised gas, generated by a mine explosion underneath the vehicle 100, to escape through the frame. The relatively open nature of the frame 26 means that the pressurised gas can easily escape through the vehicle 100, potentially preventing the vehicle 100 from being overturned.

[0100] The vehicle 100 comprises a plurality of wheels 10. In the illustrated example, each of the wheels 10 has a tyre thereon. The tyre could, for example, be a (non-pneumatic) solid tyre. In some instances, the tyre could be further reinforced such that is more resistant to damage from a mine exploding underneath the tyre, such as by using aramid fibre in the tyre. The vehicle 100 might not be a tracked vehicle. In such an example, the wheels 10 do not rotate inside tracks. Instead, the wheels 10 have tyres thereon which are configured to contact the ground (e.g., when the vehicle 100 is propelling itself along the ground).

[0101] The wheels 10 comprise a first set of wheels 11 and a second set of wheels 12. The first set of wheels 11 and the second set of wheels 12 are spaced from each other along the width dimension of the vehicle 100, which is defined by the x-axis. Each set of wheels 11 , 12 comprises at least three wheels that are spaced from each other along the length dimension of the vehicle 100, which is defined by the y-axis. In the illustrated example, the first set of wheels 11 is located at one side of the vehicle 100 and the second set of wheels 12 is located at the other side of the vehicle 100, where the two sides are located at the different ends of the width of the vehicle 100.

[0102] The first set of wheels 11 is mounted to the first hull 22 and, more specifically, to the underside of the first hull 22. The second set of wheels 12 is mounted to the second hull 24 and, more specifically, to the underside of the second hull 24. The underside of each of the first and second hulls 22, 24 comprises the nadir of a V-shape.

[0103] In the illustrated example, each of the first and second sets of wheels 11 , 12 comprises sixteen wheels, but there could be more or fewer wheels in other examples. The wheels in each set 11 , 12 are grouped in twos, such that there are eight subsets of two wheels. The eight subsets of wheels are spaced along the length dimension of the vehicle 100 and the wheels in a particular subset are spaced along the width dimension of the vehicle 100 from each other and are directly connected to each other by an axle. In contrast, in the illustrated example, none of the wheels in the first set of wheels 11 shares an axle with any of the wheels in the second set of wheels 12.

[0104] In addition to the plurality of wheels 10 comprising the first set of wheels 11 and the second set of wheels 12, the vehicle may comprise at least one lowerable wheel 15. This can be seen in FIG. 6, for example, which illustrates an underside perspective view of the front of the vehicle 100.

[0105] The vehicle 100 may comprise a wheel lowering mechanism for causing the lowerable wheels 15 to contact ground and bear at least part of the weight of the vehicle 100. The wheel lowering mechanism may be a hydraulic mechanism. This is described in further detail below.

[0106] FIGs 7A and 7B illustrate front and rear perspective views of a wheel 90, an axle 91 and a wheel hub 92. The axle 91 and wheel hub 92 are shown schematically and may differ from the illustrated example. For example, an electric wheel hub drive and / or a hydraulic wheel hub drive may be present in the wheel hub 92, but these are not shown in the FIGs to maintain clarity. The wheel 90 has a tyre 89 thereon. The wheel 90 is from the plurality of wheels 10 or the lowerable wheels 15. FIGs 8, 9, 10A and 10B illustrate first, second, third and fourth cross sectional view of the wheel 90, the axle

[0107] 91 and the wheel hub 92.

[0108] The vehicle 100 comprises the axle 91 , which is configured to rotate in order to cause the wheel 90 to rotate. In the example of the vehicle 100 illustrated in the FIGs, there is an axle 91 for each subset of two wheels. The vehicle 100 also comprises a wheel hub 92 for each wheel 90. The wheel hub 92 is arranged to be connected to the wheel

[0109] 90. A wheel hub 92 may be located at each end of the axle 91 . Rotation of the axle 91 causes rotation of any wheel hub 92 connected to the axle 91 , which in turn causes rotation of the wheel 90. The axle 91 therefore defines an axis of rotation of the wheel hub 92 and the wheel 90 which is aligned with the width dimension of the vehicle 100 and the x-axis in the FIGs.

[0110] FIGs. 8, 9, 10A and 10B illustrates a first, second, third and fourth cross sectional view of the wheel 90. FIG. 10B illustrates a cross sectional view of the wheel 90 through the line marked C-C in FIG. 10A.

[0111] The wheel 90 comprises a first wheel flange 93 and a second wheel flange 94. The first and second wheel flanges 93, 94 are for connecting the wheel 90 to the wheel hub 92. The first and second wheel flanges 93, 94 are spaced from one another in the width dimension of the vehicle 100, as defined by the x-axis. Part of the volume between two wheel flanges 93, 94 is a void.

[0112] The wheel 90 comprises a first plurality of fasteners 95 that are configured to fasten the first wheel flange 93 to the wheel hub 92, and a second plurality of fasteners 96 that are configured to fasten the second wheel flange 94 to the wheel hub 92.

[0113] The wheel hub 92 has a first surface 97 to which the first wheel flange 93 is attached. As can be seen from the FIGs, in the illustrated implementation the first wheel flange 93 contacts the first surface 97. The wheel hub 92 has a second surface 98 to which the second wheel flange 94 is attached. As can be seen from the FIGs, in the illustrated implementation the second wheel flange 94 contacts the second surface 98. In the width dimension of the vehicle 100 (which is aligned with the rotational axis of the axle

[0114] 91 , the wheel hub 92 and the wheel 90), the first surface 97 of the wheel hub 92 is located between the first wheel flange 93 and the second wheel flange 94. Furthermore, in the width dimension of the vehicle 100, the second wheel flange 94 is located between the first and second surfaces 97, 98 of the wheel hub 92. The first surface 97 is spaced from the second surface 98 in the width dimension of the vehicle 100.

[0115] The wheel hub 92 comprises a first plurality of holes for receiving the first plurality of fasteners 95. The first plurality of holes may be located in the first surface 97 of the wheel hub 92. The first plurality of holes may blind holes. The first plurality of holes may be threaded holes and the first plurality of fasteners 95 may be threaded fasteners. Each of the first plurality of fasteners 95 passes through a hole in the first wheel flange 93. The hole in the first wheel flange 93 may be unthreaded.

[0116] The wheel hub 92 comprises a second plurality of holes for receiving the second plurality of fasteners 96. The second plurality of holes may be located in the second surface 98 of the wheel hub 92. The second plurality of holes may blind holes. The second plurality of holes may be threaded holes and the second plurality of fasteners 96 may be threaded fasteners. Each of the second plurality of fasteners 95 passes through a hole in the first wheel flange 93 and a hole in the second wheel flange 94. The holes in the first and second wheel flanges 93, 94 may be unthreaded.

[0117] In the illustrated example, the wheel 90 comprises a plurality of spacers 99, where each spacer 99 is located between the first wheel flange 93 and the second wheel flange 94. Each of the spacers 99 is configured to receive a fastener 96 from the second plurality of fasteners 96. The spacers 99, and therefore also the second plurality of fasteners 96, are located further from the rotational axis of the wheel 90 than the first plurality of fasteners 95 in the illustrated implementation. Each of the spacers 99 may abut the first wheel flange 83 and the second wheel flange 94.

[0118] The wheel 90 has a wheel rim 88 that interconnects the first wheel flange 93 and the second wheel flange 94.

[0119] The provision of two wheel flanges 93 and 94 in the wheel 90 allows loads to be transmitted from ground into the wheel 90 through two load paths (one from the tyre 89 through the first wheel flange 93, and one through the tyre 89 second wheel flange 94). This advantageously provides a wheel 90 that is more robust to an external shock, such as that provided by a mine explosion.

[0120] The vehicle 100 comprises a plurality of electric motors 132 for powering the wheels 10. In some implementations, the electric motors 132 could form part of an electro- hydraulic system for powering the wheels. In such implementations, the electric motors 132 power the wheels 10 in combination with one or more hydraulic motors, for example. In other implementations, there might not be any hydraulic aspect to the system powering the wheels 10.

[0121] It may be that there are a first set (plurality) of electric motors 132 (e.g., located in the first hull 22) for powering the first set of wheels 11 and a second set (plurality) of electric motors 132 (e.g., located in the second hull 24) for powering the second set of wheels 12. In some examples, the first set of electric motors 132 for powering the first set of wheels 11 may be incapable of powering the second set of wheels 12. In such examples, the second set of electric motors 132 for powering the second set of wheels 12 may be incapable of powering the first set of wheels 11. In other examples, some of all of the first set of electric motors 132 may be capable for powering some or all of the wheels in the second set of wheels 12. In such examples, some of all of the second set of electric motors 132 may be capable for powering some or all of the wheels in the first set of wheels 12.

[0122] There could be an electric motor 132 for every one of the wheels 10. Alternatively, there may be an electric motor 132 for each subset of wheels 10. As explained above, in the illustrated example each subset of wheels includes two wheels, but there could be more or fewer than this in other examples. Further alternatively, there may be multiple electric motors 132 for each set of wheels 11 , 12, but the number of electric motors 132 may be fewer than the number of wheels and / or fewer than the number of subsets of wheels.

[0123] The presence of multiple electric motors 132 for powering a particular a set of wheels 11 , 12 may mean that different wheels within the set of wheels 11 , 12 can be independently powered by the electric motors 132. For example, one wheel in a set of wheels 11 , 12 could be powered by one electric motor 132, and another wheel in the same set of wheels 11 , 12 could be powered by a different electric motor 132.

[0124] The electric motors 132 for a set of wheels 11 , 12 may be configured to contribute to powering all of the wheels in that set of wheels 11 , 12. Alternatively, some or all of the electric motors 132 might be configured to power multiple wheels in a set of wheels 11 , 12, but not all of the wheels in the set of wheels 11 , 12.

[0125] By way of example, a first electric motor 132 may be configured to power at least a first and a second wheel. The first and second wheels could be in the first set of wheels 11 and spaced from each other in the length dimension of the vehicle 100. Alternatively, the first wheel and the second wheel could be in the first set of wheels 11 and spaced from each other in the width dimension of the vehicle 100; for example, they may form a subset of wheels in the manner described above. Alternatively, the first wheel and the second wheel could each be in a different set of wheels 11 , 12, and spaced from each other in the width dimension.

[0126] A second electric motor 132 may be configured to power at least the first and second wheels. The first and second electric motors 132 may therefore be configured to simultaneously power the first wheel and the second wheel together. Thus, if the first electric motor 132 is rendered inoperable, the second electric motor 132 can be used to power the first and second wheels in the first set of wheels 11. If the second electric motor 132 is rendered inoperable, the first electric motor 132 can be used to power the first and second wheels in the first set of wheels 11 .

[0127] At least some of the plurality of electric motors 132 could be located in or adjacent to the wheel hubs 92 of the wheels 10. There could be an electric motor 132 per wheel 10, where the electric motor 132 is located in or adjacent to the wheel hub 92 of each wheel 10. Alternatively, there might not be an electric motor 132 for each wheel 10. For instance, there could be an electric motor 132 for each subset of wheels 10 (e.g., where each subset includes two wheels, as explained above). The electric motor 132 may power the subset of wheels 10 by driving an axle connecting the wheels in the subset. In addition to or as an alternative to electric motors 132 being located in or adjacent to the wheel hubs 92, one, some or all of the plurality of electric motors 132 may be located in the first and second hulls 22, 24, such that they are distributed across the hulls 22, 24. In some examples, a plurality of electric motors 132 may be located in the first hull 22 and a plurality of electric motors 132 may be located in the second hull 24.

[0128] FIG. 11 illustrates a first example of a first hull 22 of the vehicle 100. FIG. 12A illustrates a first example of a cross section of the vehicle 100 showing the contents of the first and second hulls 22, 24. In the first example, there is an electric motor 132 located in the first or second hull 22, 24 for each subset of wheels 10.

[0129] FIG. 12B illustrates an alternative second example of the first hull 22 of the vehicle 100. In the second example, there is at least one electric motor 132 located in each of the first and second hulls 22, 24 (and possibly a plurality of electric motors 132 located in each of the first and second hulls 22, 24) for powering the wheels 10, but there is fewer than one electric motor 132 per subset of wheels 10. The electric motors 132 in the hulls 22, 24 are not shown in FIG. 12B.ln the second example, the electric motor(s) 132 in a hull 22, 24 are coupled to the wheels 10 via a transmission mechanism 136 located in each of the hulls 22, 24. The transmission mechanism 136 may include one or more shafts running along the length of each hull 22, 24 (in the y dimension).

[0130] Each subset of wheels may be connected to an axle 91 , as shown in FIGs 12A and 12B. For example, the wheel hub 92 of each wheel may be connected to the axle 91. The axle 91 has a horizontal axis of rotation that may be aligned with the width dimension of the vehicle (defined by the x-axis in the FIGs). The axle 91 may be coupled to a shaft 81 (for example, via a cog array). The shaft 81 may have an axis of rotation that is aligned with the height dimension (defined by the z-axis in the FIGs). The electric motor(s) 132 is / are configured to cause the shaft 81 to rotate about its axis of rotation (e.g., in the FIG. 12B example by the transmission mechanism(s) 136), which in turn causes the axle 91 to rotate about its axis of rotation, thereby causing the wheels to turn and the vehicle 100 to move.

[0131] The presence of multiple electric motors 132 in the vehicle 100 potentially increases the robustness of the vehicle 100 relative to a vehicle 100 that only has a single electric motor. This is because if a mine explosion occurs local to the vehicle 100 and renders an electric motor 132 inoperable, other electric motors 132 of the vehicle 100 can continue to propel the vehicle 100 forwards and enable it to continue to carve out a safe path through the minefield for other vehicles (and potentially troops) to follow.

[0132] In some examples, the lowerable wheels 15 are wheels that are powered by one or more of the electric motors 132. In other examples, the lowerable wheels 15 are passive rather than driven wheels.

[0133] As explained above, the vehicle 100 may comprise a wheel lowering mechanism for causing the lowerable wheels 15 to contact ground and bear at least part of the weight of the vehicle 100. The purpose of lowering the lowerable wheels 15 may be to stabilise the vehicle 100 after one or more of the wheels 10 has been rendered inoperable (e.g., due to a mine explosion). Additionally or alternatively, if the lowerable wheels 15 are driven wheels, the purpose of lowering the lowerable wheels 15 may be to use them to assist in propelling the vehicle 100 forwards. In effect, the lowering of the wheels 15 at least partially compensates for the loss of one or more of the wheels 10 during minefield breaching.

[0134] The vehicle 100 may comprise one or more batteries 82 for storing energy. The batteries 82 may supply energy to electric motors 132 and other aspects of the vehicle 100. In the illustrated example, at least one battery 82 is located in the first hull 22 and at least one battery 82 is stored in the second hull 24.

[0135] The vehicle 100 may comprise one or more photovoltaic cells 30. Each of the photovoltaic cells 30 is configured to convert light into electricity using the photovoltaic effect. The purpose of the one or more photovoltaic cells 30 is to generate electricity for use in powering the vehicle 100. The photovoltaic cells 30 may generate electrical energy for storage in the one or more batteries 82.

[0136] Each of the photovoltaic cells 30 comprises a light sensitive surface. The light sensitive surface may be directly upwards when the vehicle is in use (e.g., situated on or travelling along ground). The photovoltaic cells 30 may include a first set of photovoltaic cells 32 and a second set of photovoltaic cells 34. The first set of photovoltaic cells 32 may be mounted on the first hull 22 and the second set of photovoltaic cells 34 may be mounted on the second hull 24, as shown in the FIGs (e.g., such that the light sensitive surface of each of the cells 32, 34 is directed upwardly).

[0137] The vehicle 100 may comprise at least one fluid powered arm 42, 44, 46, 48 that is coupled to the vehicle body 20. This is shown in FIGs 13 and 14, which illustrates close up views of the front rear of the vehicle 30. It can also be seen in various other figures, including FIGs 1 to 5.

[0138] In the illustrated example, multiple fluid powered arms 42, 44, 46, 48 are provided in the form of a first, second, third and fourth fluid powered arms 42, 44, 46, 48. While multiple fluid powered arms 42, 44, 46, 48 are described in this specification, in other examples only a single fluid powered arm might be provided.

[0139] At least one fluid powered arm 42, 44 may be provided that extends in front of the vehicle body 20. In the illustrated example, multiple such fluid powered arms 42, 44 are provided, but this need not be the case in every example. At least one fluid powered arm 46, 48 may be provided that extends behind the rear of the vehicle body 20. In the illustrated example, multiple such fluid powered arms 46, 48 are provided, but this need not be the case in every example.

[0140] The (front) fluid powered arm(s) 42, 44 may be configured to apply pressure to ground, while the vehicle 100 is moving, ahead of the front of the vehicle body 20 in order to cause mines in the ground to detonate prior to the vehicle body 20 reaching the mines when the vehicle 100 is moving forwards. Alternatively or additionally, the (rear) fluid powered arms 46, 48 may be configured to configured to apply pressure to ground behind the rear of the vehicle body 20, while the vehicle 100 is moving, in order to cause mines in the ground to detonate behind the vehicle. These fluid powered arms 46, 48 may be configured to configured to apply pressure to ground behind the rear of the vehicle body 100, in order to cause mines in the ground to detonate prior to the vehicle body 20 reaching the mines when the vehicle is reversing. Each of the arms 42, 44, 46, 48 is considered to be “fluid powered” because fluid is used to provide pressure to drive each of the arms 42, 44, 46, 48 towards the ground. The force that is generated by each of arms 42, 44, 46, 48 is, in operation, greater than the force generated by the gravitational weight of the arms 42, 44. Each fluid powered arm 42 could be a pneumatic arm or a hydraulic arm. The fluid power may be provided at least one fluid powered actuator 52 such as at least one pneumatic or hydraulic piston / cylinder / ram. That is, the vehicle 100 may comprise a fluid powered piston / cylinder / ram for each arm 42, 44, 46, 48 that is for driving a distal end of the arm 42, 44, 46, 48 towards ground. A first end of the fluid powered actuator 52 may be coupled to the body 20 of the vehicle 100 (e.g., connected to the frame 26) and a second end may be coupled to a portion of the arm 42, 44, 46, 48. In the illustrated example, each arm 42, 44, 46, 48 is substantially V-shaped and the end of the fluid powered actuator 52 is connected to an apex of the arm 42, 44, 46, 48. It can be seen in the FIGs that the first end of each fluid powered actuator 52 is connected to the body 20 of the vehicle 100 via a hinge 60 and the second end of each fluid powered actuator 52 is connected to the arm 42, 44, 46, 48 via a hinge 62.

[0141] One or more wheels 56 may be positioned at the distal end of each arm 42, 44, 46, 48. The wheels 56 have tyres thereon and may be in contact with the ground when the vehicle 100 is propelling itself along the ground. In this example, the wheels 56 are passive wheels, rather than driven wheels. That is, there is no motor driving the wheels 56 at the distal end of each arm 42, 44, 46, 48. Each arm 42, 44, 46, 48 may comprise at least one shock absorber 49, for instance positioned close to the wheel 56 that is located at the distal end of the arm 42, 44, 46, 48. The shock absorber(s) 49 may be positioned in a yoke of arm 42, 44, 46, 48 that connects to the wheel 56. If one or more shock absorbers 49 is located on an arm 42, 44, 46, 48, they may absorb some of the upwards force that is generated by the mine on the arm 42, 44, 46, 48, thereby helping to mitigate or prevent damage from being caused to the arm 42, 44, 46, 48 by the mine.

[0142] The proximal end of each arm 42, 44, 46, 48 is connected to the vehicle body 20. In the illustrated example, the proximal end of each of the (front) first arm 42 and the (rear) third arm 46 is connected to the first hull 22. The proximal end of each of the (front) second arm 44 is connected to one end of the second hull 24 and the proximal end of the (rear) fourth arm 48 is connected to a second end of the second hull 24. The proximal end of each arm 42, 44, 46, 48 may be connected via a hinge 66, as illustrated in the FIGs.

[0143] The vehicle 100 may further comprise one or more rocket motors 70. Each of the rocket motors 70 may be a “linear rocket motor” as disclosed, for example, in WO 2014 / 111709 A1. Each of the rocket motors 70 is configured to generate and apply a groundwards force to the vehicle by ejecting efflux. The rocket motor(s) 70 could be positioned anywhere on the vehicle 100. For example, one or more rocket motors 70 could be located on the vehicle body 20. The FIGs show rocket motors 70 located on the frame 26 of the vehicle body 20, towards the front and rear. Additionally or alternatively, one or more rocket motors 70 could be positioned on one or more of the arms 42, 44, 46, 48. The FIGs show multiple rocket motors 70 located on each of the arms 42, 44, 46, 48. A rocket motor 80 located on an arm 42, 44, 46, 48 may be activated to provide a groundwards force in response to the detection of a mine explosion that is proximal to the vehicle 100 and / or the arm 42, 44, 46, 48. This may limit the upwards movement of the arm 42, 44, 46, 48 due to the mine explosion and may allow the vehicle 100 to continue along its path through the minefield. If multiple rocket motors 70 are provided on an arm 42, 44, 46, 48, a different rocket motor 70 could be activated each time there is a mine explosion proximal to that arm 42, 44, 46, 48.

[0144] The vehicle 100 may further comprise a mass 72. The mass 72 might be made from one or more materials such that the mass 72 is substantially homogenous. The mass 72 increases the weight of the vehicle 100, and therefore increases the ground pressure applied by each wheel 10 of the vehicle. This may enable the wheels 10 to trigger mines (e.g., if the groundward pressure would otherwise be insufficient).

[0145] The mass 72 may be arranged to move within the vehicle 100. For example, the mass 72 may be arranged to move relative to the vehicle body 20, and the frame 26 of the vehicle body 20. The mass 72 may be arranged to move relative to the plurality of wheels 10. Movement of the mass is illustrated in FIGs.15A and 15B. FIG. 15B which shows the mass 72 after it has moved relative to its position in FIG 15A. The arrow labelled with the reference numeral 73 indicates the ability of the mass 72 to move relative to the vehicle body 20. When the mass 72 is located towards the front of the vehicle body 20 (e.g., as shown in FIG. 15A), the ground pressure applied by the wheels 10 located towards the front of the vehicle 10 is increased. When the mass 72 moves rearwards, the ground pressure applied by wheels 10 located rearwards is increased.

[0146] In the illustrated example, the vehicle 100 comprises a guide 74 along which the mass is moveable. In the illustrated example, the guide 74 is located on the vehicle body 20 (on the frame 26). The guide 74 may, for example, comprise one or more rails, such a plurality of rails. The guide 74 and / or the rails of the guide may extend along the length dimension of the vehicle 100, such that the longest extent of the guide / rails is substantially aligned with the length dimension of the vehicle. The guide 74 and / or the rails may be elongate in nature. The mass 72 may be slidable along the guide 74.

[0147] The mass 72 may be arranged to move along a length of the vehicle 100 (as defined by the y-axis in the FIGs) in order to change a centre of gravity of the vehicle 100. The mass 72 may be arranged to move towards the rear of the vehicle 100 in order to move the centre of gravity of the vehicle 100 rearwards. It may be that the mass 72 has no other function in the vehicle 100 other than to be moved to change the centre of gravity of the vehicle 100 and to cause the wheels 10 apply a greater groundwards pressure.

[0148] The vehicle 100 may comprise a drive 76 configured to change the centre of gravity of the vehicle 100 by moving the mass. The drive 76 may, for example, comprise at least one fluid powered actuator, such as a hydraulic piston / cylinder / ram or a pneumatic piston / cylinder / ram. The at least one fluid powered actuator may be telescopic. In the illustrated example, the drive 76 comprises a plurality of fluid powered actuators.

[0149] In some examples, the mass 72 may have a mass of at least 1000kg. In some examples, the mass might be at least 2000kg. It is possible that the mass is between 3000kg and 5000kg, or more The mass 72 be arranged such that movement of the mass 72 is able to change the centre of gravity of the vehicle (e.g., in the length dimension of the vehicle) by at least 1 metre. In some instances, the change in the centre of gravity of the vehicle 100 could be at least 2 metres, or more. The vehicle 100 further comprises at least one mine roller 102, 104 tethered to the vehicle body 20. This can be seen, for example, in FIGs 16 and 17 which illustrate close-up perspective and side views of the rear of the vehicle 100. The mine rollers 102, 104 are configured to apply a pressure to ground in order to activate mines in the ground, thereby helping the clear a path through the minefield.

[0150] Each mine roller 102, 104 may be coupled to the body 20 by a first tether 111 and a second tether 112. The first tether 111 may be attached at or proximal to a first end of the mine roller 102, 104 and the second tether 112 may be attached at or proximal to a second end of the mine roller 102, 104. The two ends of the mine roller 102, 104 may be spaced from one another along a rotational axis of the mine roller 102, 104. The rotational axis of the mine roller 102, 104 is aligned with the x-axis and the width dimension of the vehicle 100 in the figures. In some examples, such as those in the FIGs, a reel is positioned at each end of the mine roller 102, 104 and each of the first and second tethers 111 , 112 is attached to a different one of the reels.

[0151] The vehicle 100 may comprise a mine roller release system to release the mine rollers 102, 104 from the vehicle 100. The mine roller release system may be configured to release each of the first and second tethers 111 , 112 separately. For example, the mine roller release system may be configured to release one of the tethers 111 , 112 separately from and prior to releasing the other tethers 112. The mine roller release system is configured to discard the mine roller 102 by releasing the tethers in a consecutive manner.

[0152] In the illustrated example, one or more of the mine rollers 104 are replacement mine rollers 104 and are stowed for future deployment (e.g., on or in the vehicle body 20). For example, this or these mine rollers 104 may be stowed while another mine roller 102 is in use (that is, being pulled by the vehicle body 20). One or more retainers 160 may be provided that retain the replacement mine rollers 104 on the vehicle for future deployment. Release of one, some or all of the retainers 160 may cause a replacement mine roller 104 to be deployed. In the illustrated example, release of the retainers 160 causes a replacement mine roller 104 to roll down a ramp 162 located at the rear of the vehicle 100, and fall to the ground. In the event that a mine roller 102 becomes damaged, that mine roller 102 may be discarded in the manner described above and a replacement mine roller 104 may be deployed.

[0153] The vehicle 100 may comprise one or more electromagnetic mine detonators 140. These are perhaps best seen in FIGs 1 , 3 and 4. The electromagnetic mine detonators 140 may be located at the front of the vehicle body 20. Each of the electromagnetic mine detonators 140 may be configured to induce an electromagnetic current in a mine to cause the mine to detonate. The electromagnetic mine detonators 140 may be used to cause mines to detonate ahead of the vehicle 100 (e.g., when the vehicle 100 is moving) before the vehicle 100 reaches those mines.

[0154] The vehicle 100 may comprise one or more smoke grenade launchers 142. These are perhaps best seen in FIGs 1 , 3 and 4. The smoke grenade launchers 142 may be located at the front of the vehicle body 20. The smoke grenade launchers 142 may be configured to launch smoke grenades. The smoke grenades launched by the launchers 142 may be configured to emit smoke on detonation to screen the vehicle 100 from enemies. This may make it more difficult for enemies to target the vehicle 100. The smoke grenade launchers 142 may, for example, launch smoke grenades when the vehicle 100 is moving.

[0155] FIG. 18 illustrates a front perspective view of an alternative example of the unmanned minefield breaching vehicle 100. The example of the unmanned minefield breaching vehicle 100 illustrated in FIG. 18 differs from that described above and illustrated in FIGs 1 to 17 in that some of the wheels 10 are located within continuous tracks 210, 211. Each continuous track 210, 211 defines an endless loop. Each of the continuous tracks 210, 211 might include one or more idler / tensioner devices (not shown in FIG. 18 for clarity reasons). The inclusion of the continuous tracks 210, 211 may improve the ability of the vehicle 100 to traverse soft ground.

[0156] It was explained above that the vehicle 100 includes a first set of wheels 11 at one side of the vehicle 100 and a second set of wheels 12 at the other side of the vehicle 100. In FIG. 18 it can be seen that some of the wheels in the first set of wheels 11 are located within a first continuous track 210, and some of the wheels in the first set of wheels 11 are located within a second continuous track 211. The continuous tracks

[0157] 210, 211 are arranged to make contact with ground when the vehicle 100 moves. The wheels within a continuous track 210, 211 engage with that continuous track 210, 211 such that the rotation of the wheels causes movement of the continuous track 210,

[0158] 211.

[0159] Some of the wheels within the first set of wheels 11 are untracked. The untracked wheels have tyres thereon that are arranged to make contact with ground when the vehicle 100 moves. The untracked wheels are arranged to rotate substantially simultaneously with the tracked wheels.

[0160] While there are only two wheels located within each continuous track 210, 211 in the illustration, there might be more than two wheels located within each continuous track 210, 211 in other implementations. While there are only two continuous tracks 210, 211 at a side of the vehicle 100 in the illustration, there might be more than two continuous tracks 210, 211 in other implementations. In some implementations, all of the wheels may be located within continuous tracks, such that there are no untracked wheels. In such implementations, there may be one or more continuous tracks on each side of the vehicle 100.

[0161] The other side of the vehicle 100 on which the second set of wheels 12 is located cannot be seen in FIG. 18. The second set of wheels 12 may substantially correspond with the first set of wheels 11 that can be seen in FIG. 18 in that the second set 12 may have some wheels within continuous tracks in the manner shown in FIG. 18 in respect of the first set of wheels 11.

[0162] An advantage of having multiple continuous tracks 210, 211 on each side of the vehicle 100 is that the vehicle 100 is more potentially more robust. For example, if one of the continuous tracks 210, 211 on a particular side of the vehicle 210 is disabled (e.g., due to a mine blast), the other continuous track 210, 211 might remain intact and functional. This may enable the vehicle 110 to continue moving.

[0163] FIG. 19 illustrates a control schematic for the examples of the vehicle 100 described above. The vehicle 100 may comprise processing circuitry 6 and memory 8. The processing circuitry 6 and the memory 8 may be located in one of the hulls 22, 24 or distributed across both of the hulls 22, 24. The processing circuitry 6 may be implemented in hardware alone, have certain aspects in software including firmware alone or can be a combination of hardware and software (including firmware).

[0164] The processing circuitry 6 may be configured to use executable instructions of a computer program 7 in a general-purpose or special-purpose processor that may be stored on a computer readable storage medium (disk, memory etc) to be executed by such a processor.

[0165] The processing circuitry 6 is configured to read from and write to the memory 8. The processing circuitry 6 may also comprise an output interface via which data and / or commands are output by the processing circuitry 6 and an input interface via which data and / or commands are input to the processing circuitry 6.

[0166] The memory 8 stores a computer program 7 comprising computer program instructions (computer program code) that controls the operation of the vehicle 100 when loaded into the processing circuitry 6. The computer program instructions, of the computer program 7, provide the logic and routines that enables the apparatus to perform the methods described herein. The processing circuitry 6, by reading the memory 8, is able to load and execute the computer program 7.

[0167] Although the memory 8 is illustrated as a single component / circuitry, it may be implemented as one or more separate components / circuitry some or all of which may be integrated / removable and / or may provide permanent / semi-permanent / dynamic / cached storage.

[0168] Although the processing circuitry 6 is illustrated as a single component / circuitry, it may be implemented as one or more separate components / circuitry some or all of which may be integrated / removable. The processing circuitry 6 may be a single core or multicore processor.

[0169] The vehicle 100 may comprise one or more transceivers 120 configured to transmit and receive signals. The one or more transceivers 120 may be one or more radio frequency transceivers 120 that are configured to transmit and receive radio frequency signals. The one or more transceivers 120 are configured to provide inputs to the processing circuitry 6, based on received radio signals, and to receive outputs from the processing circuitry 6 for use when transmitting radio signals. The one or more transceivers 102 enable the vehicle to communicate with remote entities. For example, the transceiver(s) 120 may receive control data relating to the operation of the vehicle 100, which is provided to the processing circuitry 6. The processing circuitry 6 may control the transceiver 120 to transmit status information about the vehicle 100.

[0170] The vehicle 100 may be remotely controlled by a remote operator. The remote operator might be a human. For example, the remote operator might cause a radio transmitter to send control data to the transceiver(s) 120, which are received by the transceiver(s) 120 and provided to the processing circuitry 6. Status information that is transmitted by the transceiver(s) 120 may be sent to the remote operator and may, for example, include the (current) location of the vehicle 100.

[0171] As illustrated in FIG. 16, the vehicle 100 may comprise one or more sensors 122. The one or more sensors 122 are configured to provide inputs to the processing circuitry 6. The sensors 122 may be configured to determine data that can be used by the processing circuitry 6 or a remote operator to determine how to control the vehicle 100 and / or cause the vehicle 100 to respond to events.

[0172] The sensors 122 might, for example, include one or more image sensors that are configured to capture images of the surrounding of the vehicle 100. The sensors 122 might, for example, include location sensing circuitry to determine the location of vehicle 100 (which may, for example, operate in accordance with the Global Positioning System (GPS) or the Galileo system).

[0173] In some implementations, the vehicle 100 may be autonomous in that it may operate autonomously without being controlled by a remote human operator. In such implementations, the sensors 122 may include light detecting and ranging (LiDAR) sensors. The sensors 122 may include one or more sensors that are for sensing whether an explosion has occurred local to the vehicle 100 (e.g., underneath the vehicle 100). Such explosion may be due to the detonation of a mine local to the vehicle. The sensors for this purpose may, for example, include: one or more pressure detectors, one or more accelerometers, one or more electromagnetic pulse detectors, one or more gyroscopic sensors, one or more MEMS (microelectromechanical systems), one or more temperature detectors and / or one or more light detectors. The pressure detectors may, for example, be piezoelectric pressure detectors.

[0174] The sensors 122 may include one or more sensors that are for determining whether damage to the vehicle 100 has occurred. For example, one or more sensors may determine whether damage to a mine roller 102 or one of the wheels 10 has occurred. Such sensors 122 may, for example, include one or more image sensors, one or more sensors that detect a break in an electric circuit, one or more pressure sensors that detect whether force / pressure is being applied to a wheel by the vehicle body 20, and / or one or more sensors which sense the amount of force being applied to each tether by the mine roller 102.

[0175] The processing circuitry 6 is configured to control the electromagnetic mine detonator(s) 140 and the smoke grenade launchers 142. For example, the processing circuitry 6 may be configured to respond to control data received by the transceiver(s) 120 by activating the electromagnetic mine detonator(s) 140 and / or controlling the smoke grenade launchers 142 to launch one or more smoke grenades.

[0176] The processing circuitry 6 is configured to control the drive 76 to change the centre of gravity of the vehicle 100 by moving the mass 72. For example, the processing circuitry 6 may be configured to respond to inputs from one or more of the sensors 122 and / or control data received by the transceiver(s) 120 to control the drive 76 to change the centre of gravity of the vehicle 100 by moving the mass 72.

[0177] The processing circuitry 6 may be able to cause the mass 72 to move to differing extents depending on the change in the centre of gravity that is desired. For example, the processing circuitry 6 may cause the mass 72 to move a first distance to cause a first change in the centre of gravity, or to cause the mass 72 to move a second distance to cause a second change in the centre of gravity. If the second distance is greater than the first distance, the second change in the centre of gravity is greater than the first change.

[0178] The processing circuitry 6 may be able to cause the mass 72 to move incrementally. For example, the processing circuitry 6 may cause the mass 72 to move a first distance at a first time, and then cause the mass to move a second distance at a second, later, time. In this example, the first distance could be the same or different from the second distance. The processing circuitry 6 may cause the mass 72 to move the first distance after damage has occurred to the vehicle 100 (e.g., following a first mine explosion), and may cause the mass 72 to move the second distance after further damage has occurred to the vehicle 100 (e.g., following a second mine explosion). The processing circuitry 6 may do this by responding automatically to inputs from the sensor(s) 122 or by responding to control data received at the transceiver(s) 120. The damage and / or the further damage might be a loss of one or more of the wheels 10 of the vehicle 100. In some circumstances, the one or more of the frontmost wheels 10 may trigger one or more mines, rendering those wheels 10 inoperable or severing them completely. In response to this, the mass 72 may be moved rearwards within the vehicle body 20 to cause wheels 10 located further rearwards to apply sufficient ground pressure to trigger further mines as the vehicle 100 passes over them.

[0179] The processing circuitry 6 is configured to control the one or more fluid powered actuators 52 that provide pressure to drive the arms 42, 44, 46, 48. The processing circuitry 6 may do this in response to one or more inputs from one or more of the sensors 122 and / or in response to control data received by the transceiver(s) 120.

[0180] The processing circuitry 6 is configured to control the wheel lowering mechanism 128 to cause the lowerable wheels 15 to contact ground and bear at least part of the weight of the vehicle 100. The processing circuitry 6 may do this in response to one or more inputs from the one or more of the sensors 122 and / or in response to control data received by the transceiver(s) 120. For example, the processing circuitry 6 may control the wheel lowering mechanism 128 to cause the lowerable wheels 15 to contact ground and bear at least part of the weight of the vehicle 100 in response to determining, based on the sensor inputs, that damage to the vehicle 100 has occurred (e.g., due to a mine explosion local to the vehicle). The damage might be indicative of a loss of one or more of the wheels 10 of the vehicle 100.

[0181] The processing circuitry 6 is configured to control the mine roller release system 130 to cause the release of the tethers 111 , 112 connecting the mine rollers 102, 104 in the manner described above. The processing circuitry 6 may do this in response to one or more inputs from one or more of the sensors 122 and / or in response to control data received by the transceiver(s) 120. For example, the processing circuitry 6 may control the mine roller release system 130 to discard a mine roller 102, 104 in response to determining, based on the sensor inputs, that damage to the mine roller 102, 104 has occurred (e.g., due to a mine explosion local to the vehicle).

[0182] As described above, The vehicle 100 may comprise a plurality of electric motors 132 for powering the wheels 10. The processing circuitry 6 is configured to control the electric motors 132 to power the plurality of wheels 10 and possibly the lowerable wheels 15. The processing circuitry 6 may do this in response to configured to respond to inputs from one or more of the sensors 122 and / or in response to control data received by the transceiver(s) 120.

[0183] The processing circuitry 6 is configured to control the rocket motor(s) 70 to apply a groundward force to the vehicle 100. The processing circuitry 6 may do this in response to one or more inputs from one or more of the sensors 122.

[0184] The elements in FIG. 19 are operationally coupled and any number or combination of intervening elements can exist (including no intervening elements). For example, one or more intervening elements may exist between the processing circuitry 6 and one or more of the transceiver(s) 120, the sensor(s) 122, the fluid powered actuator(s) 52, the rocket motors 70, the electric motors 132, the mine roller release system 130, the memory 3, the wheel lowering mechanism 128, the drive 76, the smoke grenade launcher(s) 142 and the electromagnetic mine detector(s) 140 in order to enable the processing circuitry 6 to have control over those elements 8, 52, 76, 120, 128, 130, 132, 140, 142 or to enable the processing circuitry to receive inputs from those elements 8, 120, 122. FIGs. 20A, 20B and 20C illustrate perspective, plan and side views of a first example of an unmanned ground (damage resistant) vehicle 110. The unmanned damage resistant vehicle 110 is similar in many respects of the unmanned minefield breaching vehicle 100 described above. For example, the body 20 may be the similar to that described above, in that it includes a first hull 22, a second hull 24 and a frame 26 that couples the first hull 22 to the second hull 24.

[0185] Each of the first and second hulls 22, 24 is a substantially v-shaped hull 22, 24 in the illustrated example. That is, each of the first and second hulls 22, 24 has a substantially v-shaped cross section (in a plane defined by the x and z dimensions in the FIGs). The first and second hulls 22, 24 are spaced from one another in the width dimension of the vehicle 110 (as defined by the x-axis). Each of the hulls 22, 24 extends along the length of the vehicle 110 (as defined the y-axis). In the illustrated example, each of the hulls 22, 24 extends along substantially the whole length of the vehicle 110.

[0186] As explained above, the frame 26 may, for example, be a space frame comprising a plurality of interconnected struts. The struts can also be considered to be elongate frame members. In the implementation illustrated in the figures, the frame 26 extends along the width of the vehicle 110 to connect the two hulls 22, 24 to each other. At least some of the struts which interconnect the hulls 22, 24 may extend between the two hulls 22, 24. The struts might directly interconnect the two hulls 22, 24. At least some of the struts may extend above each of the first and second hulls 22, 24. The struts may provide one or more platforms on which elements can be positioned, such as one or more rocket motors 70.

[0187] The unmanned damage resistant vehicle 110a is also similar to the unmanned minefield breaching vehicle 100 described above in that the unmanned damage resistant vehicle 110a includes a plurality of wheels 10 having a tyre thereon. The wheels 10 and tyres may be the same as those described above in the context of the unmanned minefield breaching vehicle 100 (e.g., described above in relation to FIGs 7A to 10B), and they may be arranged in the same way. The first set of wheels 11 and the second set of wheels 12 are spaced from each other along the width dimension of the vehicle 100, which is defined by the x-axis. Each set of wheels 11 , 12 may comprise at least three wheels that are spaced from each other along the length dimension of the vehicle 100, which is defined by the y-axis. In the illustrated example, the first set of wheels 11 is located at one side of the vehicle 100 and the second set of wheels 12 is located at the other side of the vehicle 100, where the two sides are located at the different ends of the width of the vehicle 100.

[0188] The first set of wheels 11 is mounted to the first hull 22 and, more specifically, to the underside of the first hull 22. The second set of wheels 12 is mounted to the second hull 24 and, more specifically, to the underside of the second hull 24. The underside of each of the first and second hulls 22, 24 comprises the nadir of a V-shape.

[0189] In the first example of the unmanned damage resistant vehicle 110 illustrated in FIGs 20A to 20C, there are first and second sets 11 , 12 of wheels on either side of the vehicle 110a, where each set 11 , 12 is arranged in a single line. The wheels in each set 11 , 12 are grouped in twos, such that there are subsets of two wheels (e.g., three subsets of two wheels). The wheels in a particular subset are spaced along the width dimension of the vehicle 110 from each other and are directly connected to each other by an axle. In contrast, in the illustrated example, none of the wheels in the first set of wheels 11 shares an axle with any of the wheels in the second set of wheels 12.

[0190] The unmanned damage resistant vehicle 110 may have the same arrangement of electric motors 132 as those described above in relation to the unmanned minefield breaching vehicle 100, and they may operate in the same way. In some implementations, one, some or all of the electric motors 132 could be replaced or accompanied by one or more internal combustion engines (e.g., such that there is an internal combustion engine in each of the hulls 22, 24).

[0191] The unmanned damage resistant vehicle 110a, 110b, 110c may have the same one or more batteries 82 and the same one or more photovoltaic cells 30 as those described above in relation to the unmanned minefield breaching vehicle 100, and they may operate in the same way.

[0192] It is considered that the unmanned damage resistant vehicle 110 would not comprise the fluid powered arms 42, 44, 46, 48 of the unmanned minefield breaching vehicle 100, nor the mass 72, and the associated guide 74 and drive 76. It is further considered that the unmanned damage resistant vehicle 110 would not comprise the mine rollers 102, 104 nor the mine roller release system 130. The reason for not including the above features in the unmanned damage resistant vehicle 110 is that, unlike the unmanned minefield breaching vehicle 100, the purpose of the unmanned damage resistant vehicle 110 is not to clear a path through a minefield for other vehicles and / or troops. The purpose of the unmanned damage resistant vehicle 110 is to navigate through a minefield and remain intact, operable and in fighting condition. To this end, the unmanned damage resistant vehicle 110 may comprise the smoke grenade launcher(s) 142, the electromagnetic mine detonator(s) 140, the sensor(s) 122, the transceiver(s) 120, the processing circuitry 6, the memory 8 and the rocket motors 70, and they may all operate as described above in relation to the unmanned minefield breaching vehicle 100.

[0193] In some instances, the unmanned damage resistant vehicle 110 may include weaponry (e.g., one or more guns and / or one or more missiles) that is controllable by a remote operator via the transceiver(s) 120 and the processing circuitry 6.

[0194] The unmanned damage resistant vehicle 110 has many potential uses on the battlefield where mines and unexploded ordnance is a threat to the vehicle 110 and may prevent it carrying out its intended missions, which could be such as surveillance, intelligence-gathering, acting as transport for ammunition, food, water, batteries or any other supplies required by troops in forward positions, or a weapon-carrying platform. The basic space frame design concept with separate twin v-hulls 22, 24 containing and protecting the motors 132 and control system (the processing circuitry 6 and the memory 8) from both mine blasts and ballistic threats combine to make the vehicle 110 resistant to the threats which are present on an active battlefield and thus more likely to be able to complete missions more successfully than conventionally designed vehicles.

[0195] FIGs 21 A, 21 B and 21 C illustrate perspective, plan and front views of a second example of the unmanned damage resistant vehicle 110. The second example of the unmanned damage resistant vehicle 110 may include any of the features described above in relation to the first example of the unmanned damage resistant vehicle 110. The second example differs from the first example in that the vehicle further comprises a storage container 300. In the illustrated example, the storage container 300 is supported by the frame 26 of the body 20. At least part of the storage container 300 may be located above the first and second hulls 22, 24. The underside of the storage container 300 may be v-shaped (have a v-shaped cross section). The storage container 300 may be used to carry ammunition, food, water, batteries or any other supplies required by troops in forward positions.

[0196] FIG. 22A illustrates a perspective and front views of a third example of the unmanned damage resistant vehicle 110. The third example of the unmanned damage resistant vehicle 110 is the same as the second example other than that the size and shape of the storage container 300 is different. In this example the storage container 300 does not have a v-shaped underside, but it might in other examples. The storage container 300 is located between struts of the frame 26 that are located above the first and second hulls 22, 24 and part of the storage container 300 is not located above the first and second hulls 22, 24.

[0197] FIGs. 23A to 23D illustrates perspective, plan, front and side views of a fourth example of the unmanned damage resistant vehicle 110. The fourth example of the unmanned damage resistant vehicle 110 may include any of the features described above in relation to the first example of the unmanned damage resistant vehicle 110. The fourth example differs from the first example in that some of the wheels 10 are located within continuous tracks 210. Each continuous track defines an endless loop. Each of the continuous tracks 210 might include one or more idler / tensioner devices (not shown in the FIGs for clarity reasons).

[0198] It was explained above that the vehicle 110 includes a first set of wheels 11 on one side of the vehicle 100 and a second set of wheels 12 on the other side of the vehicle 100. In FIG. 23A and 23D it can be seen that some of the wheels in the first set of wheels 11 are located within a continuous track 210. The continuous track 210 is arranged to make contact with ground when the vehicle 110 moves. The wheels within the continuous track 210 engage with that continuous track 210 such that the rotation of the wheels causes movement of the continuous track 210. Some of the wheels within the first set of wheels 11 are untracked. The untracked wheels have tyres thereon that are arranged to make contact with ground when the vehicle 110 moves. The untracked wheels are arranged to rotate substantially simultaneously with the tracked wheels.

[0199] While there are only two wheels located within the continuous track 210 in the illustration, there might be more than two wheels located within each continuous track 210, 211 in other implementations. While there is only one continuous track 210 on a side of the vehicle 110 in the illustration, there might be more than one continuous track 210 in other implementations.

[0200] The other side of the vehicle 110 on which the second set of wheels 12 is located cannot be seen in FIGs 23A to 23D. The second set of wheels 12 may substantially correspond with the first set of wheels 11 that can be seen in FIGs 23A and 23D in that it may have some wheels within continuous tracks in the manner shown in FIGs 23A and 23D.

[0201] The third example of the vehicle illustrated in FIGs 23A to 23D may include a storage container 300, for example as illustrated in any of FIGs 21A to 22B and described above.

[0202] FIG. 24A illustrates perspective and front views of a fifth example of the unmanned damage resistant vehicle 110. The fifth example of the unmanned damage resistant vehicle 110 may include any of the features described above in relation to the first example of the unmanned damage resistant vehicle 110. The fifth example differs from the first example in that, like the unmanned minefield breaching vehicle 100 described above, the vehicle 110 may comprise at least one lowerable wheel 15. The vehicle 110 may comprise a wheel lowering mechanism 126 for causing the lowerable wheels 15 to contact ground and bear at least part of the weight of the vehicle 110, as described above in the context of the unmanned minefield breaching vehicle 100. There could be at least one lowerable wheel 15 at the front of the vehicle 110, as described above in the context of the unmanned minefield breaching vehicle 100. There could be at least one lowerable wheel 15 at the rear of the vehicle 110, as described above in the context of the unmanned minefield breaching vehicle 100. The fifth example of the unmanned damage resistant vehicle 110 may include a storage container 300, for example as illustrated in any of FIGs 21A to 22B and described above. The fifth example of the unmanned damage resistant vehicle 110 could include some tracked wheels, for example as described above in relation to FIGs 23A to 23D.

[0203] FIG. 25 illustrates a front view of a sixth example of the unmanned damage resistant vehicle. The sixth example of the unmanned damage resistant vehicle 110 may include any of the features described above in relation to the first example of the unmanned damage resistant vehicle 110. The fifth example differs from the first example in that it does not have subsets of wheels grouped in twos that are spaced along the length dimension of the vehicle 110. Instead, there are single wheels spaced along the length dimension of the vehicle 110.

[0204] The sixth example of the unmanned damage resistant vehicle 110 may include a storage container 300, for example as illustrated in any of FIGs 21A to 22B and described above. The sixth example of the unmanned damage resistant vehicle 110 could include some tracked wheels, for example as described above in relation to FIGs 23A to 23D. The sixth example of the unmanned damage resistant vehicle 110 may include at least one lowerable wheel, as described above in relation to FIGs 24A and 24B.

[0205] Where a structural feature has been described, it may be replaced by means for performing one or more of the functions of the structural feature whether that function or those functions are explicitly or implicitly described.

[0206] The term ‘comprise’ is used in this document with an inclusive not an exclusive meaning. That is any reference to X comprising Y indicates that X may comprise only one Y or may comprise more than one Y. If it is intended to use ‘comprise’ with an exclusive meaning then it will be made clear in the context by referring to “comprising only one...” or by using “consisting”. In this description, the wording ‘connect’, ‘couple’ and ‘communication’ and their derivatives mean operationally connected / coupled / in communication. It should be appreciated that any number or combination of intervening components can exist (including no intervening components), i.e., so as to provide direct or indirect connection / coupling / communication. Any such intervening components can include hardware and / or software components.

[0207] In this description, reference has been made to various examples. The description of features or functions in relation to an example indicates that those features or functions are present in that example. The use of the term ‘example’ or ‘for example’ or ‘can’ or ‘may’ in the text denotes, whether explicitly stated or not, that such features or functions are present in at least the described example, whether described as an example or not, and that they can be, but are not necessarily, present in some of or all other examples. Thus ‘example’, ‘for example’, ‘can’ or ‘may’ refers to a particular instance in a class of examples. A property of the instance can be a property of only that instance or a property of the class or a property of a sub-class of the class that includes some but not all of the instances in the class. It is therefore implicitly disclosed that a feature described with reference to one example but not with reference to another example, can where possible be used in that other example as part of a working combination but does not necessarily have to be used in that other example.

[0208] Although examples have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the claims.

[0209] Features described in the preceding description may be used in combinations other than the combinations explicitly described above.

[0210] Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not.

[0211] Although features have been described with reference to certain examples, those features may also be present in other examples whether described or not. The term ‘a’, ‘an’ or ‘the’ is used in this document with an inclusive not an exclusive meaning. That is any reference to X comprising a / an / the Y indicates that X may comprise only one Y or may comprise more than one Y unless the context clearly indicates the contrary. If it is intended to use ‘a’, ‘an’ or ‘the’ with an exclusive meaning then it will be made clear in the context. In some circumstances the use of ‘at least one’ or ‘one or more’ may be used to emphasis an inclusive meaning but the absence of these terms should not be taken to infer any exclusive meaning.

[0212] The presence of a feature (or combination of features) in a claim is a reference to that feature or (combination of features) itself and also to features that achieve substantially the same technical effect (equivalent features). The equivalent features include, for example, features that are variants and achieve substantially the same result in substantially the same way. The equivalent features include, for example, features that perform substantially the same function, in substantially the same way to achieve substantially the same result.

[0213] In this description, reference has been made to various examples using adjectives or adjectival phrases to describe characteristics of the examples. Such a description of a characteristic in relation to an example indicates that the characteristic is present in some examples exactly as described and is present in other examples substantially as described.

[0214] The above description describes some examples of the present disclosure however those of ordinary skill in the art will be aware of possible alternative structures and method features which offer equivalent functionality to the specific examples of such structures and features described herein above and which for the sake of brevity and clarity have been omitted from the above description. Nonetheless, the above description should be read as implicitly including reference to such alternative structures and method features which provide equivalent functionality unless such alternative structures or method features are explicitly excluded in the above description of the examples of the present disclosure.

[0215] References to “processing circuitry” or “processor” should be understood to encompass not only computers having different architectures such as single / multi- processor architectures and sequential (Von Neumann) / parallel architectures but also specialized circuits such as field-programmable gate arrays (FPGA), application specific circuits (ASIC), signal processing devices and other processing circuitry. References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the programmable content of a hardware device whether instructions for a processor, Or configuration settings for a fixed-function device, gate array or programmable logic device etc.

[0216] Whilst endeavouring in the foregoing specification to draw attention to those features believed to be of importance it should be understood that the applicant may seek protection via the claims in respect of any patentable feature or combination of features hereinbefore referred to and / or shown in the drawings whether or not emphasis has been placed thereon. l / we claim:

Claims

CLAIMS1. An unmanned ground vehicle comprising: a body comprising a first hull, a second hull and a frame, wherein the frame couples the first hull to the second hull and comprises a plurality of openings arranged to enable pressurised gas, generated by a mine explosion underneath the vehicle, to escape through the frame.

2. The unmanned ground vehicle of claim 1 , wherein the frame is a space frame comprising a plurality of struts that interconnect the first hull and the second hull.

3. The unmanned ground vehicle of claim 1 or 2, wherein each of the first hull and the second hull has an underside with a substantially V-shaped cross section.

4. The unmanned ground vehicle of any of the preceding claims, wherein the vehicle comprises at least one electric motor and / or at least one internal combustion engine for powering at least one of the plurality of wheels.

5. The unmanned ground vehicle of any of the preceding claims, wherein the vehicle comprises a plurality of electric motors for powering the plurality of wheels, wherein the plurality of electric motors are located in the first hull, the second hull, or are distributed across the first hull and second hull.

6. The unmanned ground vehicle of any of the preceding claims, further comprising a storage container having an underside with a substantially V- shaped cross section.

7. The unmanned ground vehicle of any of the preceding claims, further comprising at one or more rocket motors configured to apply a groundwards force to the unmanned vehicle.

8. The unmanned ground vehicle of claim 7, further comprising processing circuitry and at least one sensor, wherein the at least one sensor is configuredto provide at least one input to the processing circuitry that is indicative of an explosion having occurred local to the unmanned ground vehicle, and the processing circuitry is configured to activate at least one of the one or more rocket motors based at least in part on the at least one input provided by the at least one sensor.

9. The unmanned ground vehicle of any of the preceding claims, wherein the plurality of wheels comprises a first wheel and a second wheel, and the unmanned ground vehicle further comprises a first electric motor and a second electric motor, wherein the first electric motor is configured to power at least the first wheel, at least in part, and the second electric motor is configured to power at least the second wheel, at least in part.

10. The unmanned ground vehicle of claim 9, wherein the first electric motor is configured to power the second wheel, at least in part.

11. The unmanned ground vehicle of claim 10, wherein the first electric motor and the second electric motor are configured to simultaneously power the second wheel together.

12. The unmanned ground vehicle of claim 10 or 11, wherein, if the second electric motor is rendered inoperable to power the second wheel, the first electric motor is configured to power the second wheel, at least in part.

13. The unmanned ground vehicle of any of claims 9 to 12, wherein the second electric motor is configured to power the first wheel, at least in part.

14. The unmanned ground vehicle of claim 13, wherein the first electric motor and the second electric motor are configured to simultaneously power the first wheel together.

15. The unmanned ground vehicle of claim 13 or 14, wherein, if the first electric motor is rendered inoperable to power the first wheel, the second electric motor is configured to power the first wheel, at least in part.

16. The unmanned ground vehicle of any of claims 9 to 15, wherein the second wheel is spaced from the first wheel along a width dimension of the vehicle.

17. The unmanned ground vehicle of any of claims 9 to 15, wherein the second wheel is spaced from the first wheel along a length dimension of the vehicle.

18. The unmanned ground vehicle of any of claims 9 to 17, wherein the first and second electric motors are located in a first hull having a substantially V- shaped cross section.

19. The unmanned ground vehicle of any of the preceding claims, further comprising a plurality of wheels.

20. The unmanned ground vehicle of claim 19, wherein at least some of the wheels have a tyre thereon.

21. The unmanned ground vehicle of claim 19 or 20, wherein at least some of the wheels are located within at least one continuous track.

22. The unmanned ground vehicle of any of the preceding claims, further comprising: at least one lowerable wheel; a wheel lowering mechanism for causing the lowerable wheel to contact ground and bear at least part of the weight of the vehicle; and processing circuitry configured to control the wheel lowering mechanism to cause the lowerable wheel to contact ground and bear at least part of the weight of the vehicle, in order to at least partially compensate for a loss of one or more of the plurality of wheels.

23. An unmanned ground vehicle comprising: a first wheel; a second wheel; a first electric motor configured to power at least the first wheel, at least in part; anda second electric motor configured to power at least the second wheel, at least in part.

24. The unmanned ground vehicle of claim 23, wherein the first electric motor is configured to power the second wheel, at least in part.

25. The unmanned ground vehicle of claim 24, wherein the first electric motor and the second electric motor are configured to simultaneously power the second wheel together.

26. The unmanned ground vehicle of claim 24 or 25, wherein, if the second electric motor is rendered inoperable to power the second wheel, the first electric motor is configured to power the second wheel, at least in part.

27. The unmanned ground vehicle of any of claims 23 to 26, wherein the second electric motor is configured to power the first wheel, at least in part.

28. The unmanned ground vehicle of claim 27, wherein the first electric motor and the second electric motor are configured to simultaneously power the first wheel together.

29. The unmanned ground vehicle of claim 27 or 28, wherein, if the first electric motor is rendered inoperable to power the first wheel, the second electric motor is configured to power the first wheel, at least in part.

30. The unmanned ground vehicle of any of claims 23 to 29, wherein the second wheel is spaced from the first wheel along a width dimension of the vehicle.

31. The unmanned ground vehicle of any of claims 23 to 29, wherein the second wheel is spaced from the first wheel along a length dimension of the vehicle.

32. The unmanned ground vehicle of any of claims 23 to 31 , wherein the first and second electric motors are located in a first hull having a substantially V- shaped cross section.

33. An unmanned ground vehicle comprising: a plurality of wheels; at least one lowerable wheel; a wheel lowering mechanism for causing the lowerable wheel to contact ground and bear at least part of the weight of the vehicle; and processing circuitry configured to control the wheel lowering mechanism to cause the lowerable wheel to contact ground and bear at least part of the weight of the vehicle, in order to at least partially compensate for a loss of one or more of the plurality of wheels.

34. A method of operating an unmanned ground vehicle, the method comprising: responding to a loss of one or more wheels of the vehicle by lowering a lowerable wheel to contact ground and bear at least part of the weight of the vehicle.

35. An unmanned ground minefield breaching vehicle comprising: a plurality of wheels; and a mass arranged to move relative to the plurality of wheels, in order to at least partially compensate for a loss of one or more of the wheels during minefield breaching by changing the centre of gravity of the vehicle.

36. The unmanned ground minefield breaching vehicle of claim 35, wherein the moveable mass is arranged to move along a length of the vehicle in order to move the centre of gravity of the vehicle along the length of the vehicle.

37. The unmanned ground minefield breaching vehicle of claim 35 or 36, wherein the mass is slidable along a guide.

38. The unmanned ground minefield breaching vehicle of claim 37, wherein the guide comprises a plurality of rails, and the mass is slidable along the plurality of rails.

39. The unmanned ground minefield breaching vehicle of any of claims 35 to 38, further comprising a drive configured to change the centre of gravity of the vehicle by moving the mass.

40. The unmanned ground minefield breaching vehicle of any of claims 35 to 39, wherein the drive comprises at least one fluid powered actuator.

41. The unmanned ground minefield breaching vehicle of any of claims 35 to 40, wherein the moveable mass has a mass of at least 1000kg.

42. The unmanned ground minefield breaching vehicle of any of claims 35 to 41 , wherein the moveable mass is arranged to move the centre of gravity of the vehicle by at least 1 metre.

43. The unmanned ground minefield breaching vehicle of any of claims 35 to 42, wherein the unmanned ground minefield breaching vehicle is remotely controllable.

44. A method of operating an unmanned ground minefield breaching vehicle during minefield breaching, the method comprising: responding to a loss of one or more wheels of the vehicle by moving a mass to change a centre of gravity of the vehicle.

45. An unmanned ground minefield breaching vehicle comprising: a first set of wheels comprising at least three wheels spaced from each other along a length dimension of the vehicle; and a second set of wheels comprising at least three wheels spaced from each other along the length dimension of the vehicle, wherein the second set of wheels are spaced from the first set of wheels along a width dimension of the vehicle, and each wheel in the first and second sets of wheels has a tyre thereon.

46. The unmanned ground minefield breaching vehicle of claim 45, wherein at least one wheel in the first set of wheels is independently drivable from at least one wheel in the second set of wheels.

47. The unmanned ground minefield breaching vehicle of claim 45 or 46, wherein at least one wheel in the first set of wheels is independently drivable from at least one other wheel in the first set of wheels.

48. An unmanned ground minefield breaching vehicle comprising: a vehicle body; and at least one fluid powered arm, coupled to the vehicle body, configured to apply pressure to ground in order to cause mines in the ground to detonate.

49. The unmanned ground minefield breaching vehicle of claim 48, wherein the vehicle body has a front, and wherein the at least one fluid powered arm comprises at least one fluid powered arm that is configured to apply pressure to ground ahead of the front of the vehicle body in order to cause mines in the ground to detonate prior to the vehicle body reaching the mines when the vehicle is moving forwards.

50. The unmanned ground minefield breaching vehicle of claim 48 or 49, wherein the vehicle body has a rear, and wherein the at least one fluid powered arm comprises at least one fluid powered arm that is configured to apply pressure to ground behind a rear of the vehicle body.

51. The unmanned ground minefield breaching vehicle of claim 48, 49 or 50, wherein the fluid powered arm is hingedly connected to the vehicle body.

52. The unmanned ground minefield breaching vehicle of any of claims 48 to 51 , wherein at least one wheel is located a distal end of the fluid powered arm.

53. The unmanned ground minefield breaching vehicle of any of claims 48 to 52, wherein the fluid powered arm is powered by a fluid powered actuator of the vehicle.

54. The unmanned ground minefield breaching vehicle of any of claims 48 to 53, wherein the at least one fluid powered arm is at least one pneumatic arm.

55. The unmanned ground minefield breaching vehicle of any of claims 48 to 54, further comprising one or more rocket motors configured to apply a groundwards force to the fluid powered arm.

56. The unmanned minefield breaching ground vehicle of claim 55, further comprising processing circuitry and at least one sensor, wherein the at least one sensor is configured to provide at least one input to the processing circuitry that is indicative of an explosion having occurred proximal to the fluid powered arm, and the processing circuitry is configured to activate at least one of the one or more rocket motors based at least in part on the at least one input provided by the at least one sensor.

57. An unmanned ground minefield breaching vehicle comprising: a body; a mine roller for detonating mines; a first tether coupling the mine roller to the body; a second tether coupling the mine roller to the body; and a mine roller release system configured to release the first tether separately from and prior to releasing the second tether.

58. The unmanned ground minefield breaching vehicle of claim 57, wherein the mine roller release system is configured to discard the mine roller upon release of the second tether following release of the first tether.

59. A method of operating an unmanned ground minefield breaching vehicle during minefield breaching, the method comprising: releasing a first tether coupling a mine roller to a body of the vehicle; after releasing the first tether, releasing a second tether coupling the mine roller to the body of the vehicle.

60. An unmanned ground minefield breaching vehicle comprising: a body; a first mine roller, tethered to the body, arranged to be deployed to detonate mines; and a second mine roller, tethered to the body, arranged to be deployed to replace the first mine roller after the first mine roller has been discarded.

61. The unmanned ground minefield breaching vehicle of claim 60, wherein the second mine roller is stowed in the vehicle body prior to deployment.

62. An unmanned ground vehicle comprising: a wheel hub; at least one wheel having: a first wheel flange spaced from a second wheel flange; a first plurality of fasteners configured to fasten the first wheel flange to the wheel hub; and a second plurality of fasteners configured to fasten the second wheel flange to the wheel hub.

63. The unmanned ground vehicle of claim 62, wherein the wheel hub has a first surface comprising a first plurality of holes for receiving the first plurality of fasteners.

64. The unmanned ground vehicle of claim 63, wherein the first plurality of holes is a plurality of threaded holes and the first plurality of fasteners is a plurality of threaded fasteners.

65. The unmanned ground vehicle of claim 63 or 64, wherein the first surface contacts the first wheel flange.

66. The unmanned ground vehicle of any of claims 62 to 65, wherein the wheel hub has a second surface comprising a second plurality of holes for receiving the second plurality of fasteners.

67. The unmanned ground vehicle of claim 66, wherein the second plurality of holes is a plurality of threaded holes and the second plurality of fasteners is a plurality of threaded fasteners.

68. The unmanned ground vehicle of claim 66 or 67, wherein the second surface contacts the second wheel flange.

69. The unmanned ground vehicle of claim 66, 67 or 68, when dependent upon claim 58, 59 or 60, wherein the first surface is spaced from the second surface in a dimension defined by the rotational axis of the wheel.

70. The unmanned ground vehicle of any of claims 62 to 69, wherein the at least one wheel further comprises at least one spacer located between the first wheel flange and the second wheel flange.71 . The unmanned ground vehicle of claim 70, wherein the spacer is configured to receive at least one fastener from the second plurality of fasteners.

72. The unmanned ground vehicle of claim 71 , further comprising at a plurality of spacers located between the first wheel flange and the second wheel flange.

73. The unmanned ground vehicle of claim 72, wherein the plurality of spacers is configured to receive the second plurality of fasteners.

74. The unmanned ground vehicle of any of claims 62 to 73, wherein the wheel has a wheel rim that interconnects the first wheel flange and the second wheel flange.

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