WO2020136046A1 - Navigation device for making bodies movable in water - Google Patents

Navigation device for making bodies movable in water Download PDF

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Publication number
WO2020136046A1
WO2020136046A1 PCT/EP2019/085769 EP2019085769W WO2020136046A1 WO 2020136046 A1 WO2020136046 A1 WO 2020136046A1 EP 2019085769 W EP2019085769 W EP 2019085769W WO 2020136046 A1 WO2020136046 A1 WO 2020136046A1
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WO
WIPO (PCT)
Prior art keywords
propulsion
control system
motor
navigation
fixing means
Prior art date
Application number
PCT/EP2019/085769
Other languages
French (fr)
Inventor
Eric SOTTILE
Original Assignee
Bull Sas
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bull Sas filed Critical Bull Sas
Publication of WO2020136046A1 publication Critical patent/WO2020136046A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
    • B63H20/007—Trolling propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

Definitions

  • TITLE NAVIGATION DEVICE FOR RETURNING BODIES
  • the present invention relates generally to the field of navigation and propulsion devices in the maritime environment, in particular for making objects movable in the water.
  • patent FR2966800 describes an invention which allows, in the event of a failure of the boat's engine, the attachment of an auxiliary engine, in order to be able to replace the main engine, the person having fixed the engine being able to sail up to 'safe.
  • This fixation is described as universally fixable on all types of motor, thus allowing the user to place the device in the best optimal place for optimal propulsion (i.e. where the main motor is located) .
  • a unique device is thus proposed which is capable of operating on any boat by means of a possible attachment to any type of engine.
  • the propulsion will be greatly reduced, or even impossible, if the attachment is hampered and reduced, or even is not possible, for example in the event of deformation or destruction of the engine, or even in cases where the body to be returned mobile is not a motor boat, for example a non-motorized boat such as a buoy, a canoe, or bulky waste, or even a swimmer in distress. Indeed, the device under these conditions will not have not a good place to attach to the body to move. Even in cases where attachment is possible, the location will not necessarily be suitable for propulsion, which will make navigation more complex.
  • the present invention aims to provide a new navigation device for making any body fixed or drifting, mobile in the water, and this in a simple way, and for landing at least some of the disadvantages of the prior art.
  • the invention relates to a navigation device for making a body mobile in water, comprising:
  • a propulsion system comprising at least one propulsion means, a motor configured to actuate said propulsion means, and a means for modifying the direction of propulsion,
  • control system configured to control said engine and said means of modifying the direction of propulsion
  • an energy supply system configured to at least supply the motor and the control system
  • the navigation device comprises removable universal fixing means, configured to reversibly connect said device to any type of body to be made mobile and in that the control system is configured to transmit and receive locally and / or by connection wirelessly, in air or in water, control signals making it possible to control said motor and said means of modifying the direction of propulsion.
  • a device according to the invention allows the ordering of any body to be made mobile, below or on the surface of the water.
  • the navigation device thanks to its universal and reversible fixing means, is configured so that a single copy of the device is capable of making mobile in turn a broken down or non-motorized boat, bulky waste, equipment, a swimmer in distress, or a mammal. It suffices to detach the universal and removable fixing means from a body or object and fix them on another body or object to make it mobile in water. This fixing is moreover made simple by the use of removable universal fixing means which eliminates the need to fix it at a precise location.
  • the device also consists of 2 parts, a first part comprising at least the control system, and a second part comprising at least the propulsion system, the two parts being connected to one another. 'other using a communication and power connection element and connectable to the body to be made mobile by the removable universal fixing means.
  • the first part of the device has at least one emerged part, and the second part has at least one submerged part.
  • first part and the second part of the device are on either side of the body, preferably so as to be diametrically opposite on either side of the body.
  • the removable universal fastening means comprise at least one of the following: one or more straps, Velcros (registered trademark), ropes, suction cups, screws or a combination among them.
  • the device further comprises means allowing the addition of a flotation tool, to make the buoyancy of a part or of the entire device changeable during or before or after use of the device.
  • control system includes means for measuring the displacement and the position of the device and / or the body, the means preferably comprising a digital compass and / or a gyroscope.
  • control system comprises means for measuring its position, preferably an on-board GPS, and configured to direct the device and the body as a function of its position defined by said means, and of a destination. determined, sent or selected.
  • the engine of the propulsion system is electric
  • the propulsion means comprises at least one propeller
  • the means for modifying the direction of propulsion is a rudder
  • control system is configured to activate the propulsion system to navigate the body to a determined, sent or selected position, when the attachment of the attachment means to the body is confirmed.
  • control system can be remotely controlled in real time and / or programmed beforehand and preferably comprises at least one memory space readable by a machine and one or more hardware components for processing such as microprocessor for constituting a machine, the processor being configured to write and read a program on said memory space.
  • the invention also relates to a navigation method using the device according to the invention, which comprises the following steps:
  • the method being characterized in that it comprises a first step in which the navigation device navigates, preferably autonomously, as far as the body to be made mobile.
  • FIG 1 shows a simplified schematic view of a first non-limiting embodiment of the navigation device according to the invention.
  • FIG 2 shows a simplified schematic view of a second non-limiting embodiment of the navigation device according to the invention.
  • FIG 3 shows a simplified schematic view of a third non-limiting embodiment of the navigation device according to the invention.
  • “Navigation” means the technique which involves driving a body from a starting point to a given destination, which can be done by determining the position, calculating the optimal trajectory and guiding with reference to this trajectory. This navigation can be manual or automatic. In other words, we understand that the device makes it possible to navigate or make the body navigate in water from one point to another.
  • body to be made mobile in water means any body present on the surface or in water, living or inert, whatever its buoyancy, and whatever its shape and geometry.
  • a body can be assimilated to a broken down boat, a swimmer, who may be in distress, to equipment, including another navigation device according to the invention.
  • the term “universal fixing means” means means which allow possible fixing to a very large number of different bodies. having different geometries, the body can be inert or alive.
  • the fastening means can thus comprise several means which are different from one another in order to combine them, for example a combination of straps and handles, or hooks or snap hooks and ropes.
  • removable fastening means means fastening means which can be fixed reversibly to a body, in order to be able to detach them from this body when desired.
  • the fixing means can also be removable in the sense that they can be detached from the device itself, for example to fix others instead, more suitable in terms of security and / or comfort .
  • the universal fixing means are removable both vis-à-vis the body to be made mobile, and also vis-à-vis the device itself .
  • control signals By transmitting and receiving "locally” or “directly” control signals is meant a physical communication, such as a communication using buttons, a control screen or any mechanical element enabling a signal to be sent. control to the control system.
  • communication by "wireless link” means remote communication in which the signals pass through air or water before reaching the control system.
  • the navigation device (1) making it possible to make a body (6) mobile in the water, comprises:
  • a propulsion system (3) comprising at least one propulsion means (30), a motor (31) configured to actuate said propulsion means (30), and a means for modifying the direction of propulsion (32),
  • control system (2) configured to control said motor (31) and said means for modifying the direction of propulsion (32),
  • an energy supply system (4) configured to at least supply the motor (31) and the control system (2),
  • the navigation device (1) further comprises fixing means (5) removable universal, configured to reversibly connect said device (1) to any type of body (6) to be made mobile and in that the control system (2) is configured to transmit and receive locally and / or by wireless connection, in air or water, control signals for controlling said motor (31) and said means of changing the propulsion direction (32).
  • the device according to the invention is not specific to a boat but is on the contrary generic, and can be used on a large number of different bodies (6).
  • An additional advantage of the invention is that the removable universal fixing means (5) allow the device (1) to be reused from one body (6) to another body (6), different or not from the first.
  • the device (1) is thus reusable at will from a broken down boat, to a swimmer, who may be in distress, then to equipment, including another navigation device (1) according to the invention.
  • the removable universal fastening means (5) comprise at least one of the following: one or more straps, Velcros (registered trademark), ropes, suction cups, screws or a combination among these .
  • the removable universal fixing means (5) are interchangeable with other removable universal fixing means (5).
  • the universal fixing means can indeed be modified according to the body to be made mobile.
  • the propulsion system will be physically connected to it, manually or automatically, using Velcros (registered trademark), suction cup straps or screws, without being limited to it.
  • Velcros registered trademark
  • suction cup straps or screws without being limited to it.
  • Figure 3 illustrates a non-limiting embodiment of the present invention in which the device (1) is configured to move a float and is composed of two parts, the first part being emerged (7) at least partly and comprising the intelligence of the system, that is to say the control system (2), which includes an ON / OFF switch, GPS, RF head and antenna, acoustic modem, microcontroller, digital compass and gyroscope, flashlight and buzzer, and discreet components.
  • the control system (2) which includes an ON / OFF switch, GPS, RF head and antenna, acoustic modem, microcontroller, digital compass and gyroscope, flashlight and buzzer, and discreet components.
  • the fact of having a device in two parts makes it possible to have an at least partially submerged part making it possible to propel the body into the water, and a second part at least partially emerged making it possible inter alia to send and receive remote control signals by radio frequency (by air).
  • the switch can take two positions. It will allow the equipment to be powered up via a battery and powered down.
  • the GPS gives the position of the device with an accuracy of 2m.
  • the RF (radio frequency) head is used to receive command signals by radio waves.
  • the minimum range for signal transmission is 200m in the air without obstacle (calm sea).
  • the RF head is for example used when the control system has emerged.
  • the Acoustic Modem is used to receive control signals by acoustic waves.
  • the minimum range for signal transmission is 200m in water without obstacles.
  • the Acoustic Modem is for example used when the control system is submerged.
  • An alternative is to communicate with the 2 components jointly (the RF head and the acoustic modem) in order to be sure of being able to send the signal, whether the control system is out or in the water)
  • the microcontroller will make it possible to recover the GPS data (the protocol not described here is carried out according to the selected microcontroller and the GPS), and to process them in order to control the engine (31) and the rudder or the direction of a thruster to jet to steer the buoy.
  • the digital compass and the Gyroscope allow the navigation device (1) to position the device (1) and / or the body (6) relative to the measured displacement.
  • the flashlight and the buzzer allow a light and sound signaling, and therefore a use even at night, or with poor visibility.
  • control system (2) thanks to its command signal receivers, for example the RF head and / or the acoustic modem, can allow navigation of an underwater object remotely, said system being itself submerged or not (respectively by sending signals by acoustic or radiofrequency).
  • command signal receivers for example the RF head and / or the acoustic modem
  • the second part of the device (1) has at least one submerged part (8) and comprises the propulsion system (3) consisting of at least one motor (31) and one propulsion means (30), and the power system includes at least one battery.
  • the supply will be with a lithium battery sufficient to supply the complete device (1) for a minimum duration of 4 hours while the motor (31) and the propulsion means (30) ensure the displacement of the buoy according to the control signals .
  • Discrete components allow signal adaptations between all of these functions.
  • the motor (31) of the propulsion system is electric
  • the propulsion means (30) comprises at least one propeller and / or blades and the means for modifying the propulsion direction ( 32) is an adjustable rudder or turbine.
  • the device (1) can be attached to a non-motorized boat or broken down (6).
  • the device (1) single or in two parts, can be fixed symmetrically on either side of the body (6) as is the case in Figures 1 and 3, where arbitrarily, on one side of the body as c 'is the case shown in Figure 2.
  • This example of location is of course not limiting, and it is possible to modify said location depending on the body (6) to be made mobile.
  • the device (1) has a buoyancy adapted to the body (6) to be moved, for example negative in order to facilitate the movement of a floating body (6) (with positive buoyancy), such that 'a float.
  • Inverse buoyancy to that of the body (6) to be moved can facilitate its propulsion.
  • the device (1) has a neutral or positive buoyancy for moving another type of body (6) in the water.
  • the buoyancy of the device (1) can be modified during or before / after the use of the device (1), by an adjustable flotation tool (9) not shown and not described here.
  • this allows the device (1) to have the most suitable buoyancy to propel the body (6) optimally.
  • the flotation tool may for example include a compartment in one of the parts of the device, in which a user manually adds lead.
  • a compartment configured to take water, air or another fluid automatically or manually.
  • the fixing of the device (1) to the body (6) is done automatically.
  • the fixing of the fixing means (5) to the body (6) can be carried out without the help of an actor, for example a rescuer for a swimmer in distress.
  • the navigation of the device (1) is automatic and actuated by the control system (2).
  • the device (1) can be programmed to navigate to a given position, such as the position of a body (6) to be made mobile, for example a broken down boat or a swimmer in distress, and once attached to said body (6), can be programmed to navigate to a safety position.
  • a given position such as the position of a body (6) to be made mobile, for example a broken down boat or a swimmer in distress
  • the device can be programmed to navigate to a safety position.
  • a potentially mobile point for example the device is fixed to a buoy and, once activated, follows a diver, thus making it possible to mark its position relative to the surface.
  • control system (2) is configured to activate the propulsion system (3) to navigate the body (6) to a determined position when the fixing of the fixing means (5) to the body (6) is confirmed.
  • control system (1) can be integrated directly into the propulsion system.
  • the device (1) comprises only a part which includes the control system
  • control system can communicate directly with the propulsion system, the device thus being able to be formed in one piece without the information passing through a communication and power connection element.
  • the system can receive the remote or direct control signals, that is to say locally, for example by means of a screen on which instructions can be entered.
  • the device comprises a single single part fully submerged. This can be particularly useful for making an underwater body mobile.
  • control system (2) can be remotely controlled in real time and / or programmed beforehand.
  • control system (2) comprises at least one memory space readable by a machine and one or more processing hardware components such as a microprocessor to constitute a machine, the processor being configured to write and read a program on said memory space.
  • a party who wishes to move a body (6) can do it remotely, including by having programmed it in advance.
  • control system (2) can be programmed manually directly on the device (1), for example using the key and / or a screen.
  • a swimmer in distress can use and control the device (1) to navigate to a safety position.
  • the order can thus be made in real time or programmed for future use.
  • control system (2) can both be controlled remotely and directly on the device (1).
  • this allows different parties to control the device (1) if one of the parties fails. For example, if the control system is unable to receive control signals from a remote party, it is possible to generate control signals locally, directly on the device.
  • the removable universal fixing means (5) of the navigation device (1) are configured to simultaneously make mobile at least two bodies (6) independent of each other.
  • this makes it possible to transport several bodies (6) at the same time simultaneously with the same navigation device (1), even if the bodies (6) do not have the same shape, and are distinct from each other. one of the other.
  • the device (1) is configured so that a single copy of the device (1) is capable of making mobile in turn a broken down or non-motorized boat, bulky waste, equipment, a swimmer in distress, or a mammal. It suffices to detach the removable universal fixing means (5) from one body (6) and fix them on another body (6) to make it mobile in water.
  • An embodiment for making mobile in the water a broken or non-motorized boat or bulky waste in which the device comprises a single part connected to the boat by a rope, the control signals being sent to the remote control system.
  • An embodiment for making tools or equipment mobile in water in which the device comprises a single shaped part dedicated to the body to be transported, the object being fixed by straps, the control signals being sent to the remote control system.
  • An embodiment for making a distressed swimmer mobile in water in which the device comprises a single part connected to the swimmer by handles, the control signals being sent to the remote control system.
  • An embodiment for making a mammal mobile in water in which the device comprises a single part connected to the mammal by a strap, the control system comprising control signals previously saved in a program. This can be particularly useful for making an underwater body mobile.
  • Position measurement means (gyroscope / digital compass)

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Navigation device (1) for making a body (6) movable in water, comprising: - a propulsion system (3) comprising at least one propulsion means (30), a motor (31) which is configured to actuate the propulsion means (30), and a means (32) for modifying the propulsion direction, - a control system (2) which is configured to control the motor (31) and the means (32) for modifying the propulsion direction, - an energy supply system (4) which is configured to at least supply the motor (31) and the control system (2), characterised in that the navigation device (1) comprises removable universal attachment means (5) which are configured to reversibly connect the device (1) to any type of body (6) to be made movable and in that the control system (2) is configured to emit and receive, locally and/or by wireless connection, in the air or water, control signals for controlling the motor (31) and the means (32) for modifying the propulsion direction.

Description

DESCRIPTION DESCRIPTION
TITRE : DISPOSITIF DE NAVIGATION DESTINE A RENDRE DES CORPS TITLE: NAVIGATION DEVICE FOR RETURNING BODIES
MOBILES DANS L’EAU MOBILE IN WATER
DOMAINE TECHNIQUE DE L’INVENTION TECHNICAL FIELD OF THE INVENTION
[0001] La présente invention concerne de manière générale le domaine des dispositifs de navigation et de propulsion en milieu maritime, en particulier pour rendre mobile des objets dans l’eau. The present invention relates generally to the field of navigation and propulsion devices in the maritime environment, in particular for making objects movable in the water.
ETAT DE LA TECHNIQUE ANTERIEURE STATE OF THE PRIOR ART
[0002]A ce jour, il existe différents dispositifs de navigation, utilisé pour le secours en cas de panne du moteur d’une embarcation, comme décrit dans le brevet FR2966800, où l’amélioration de la propulsion d’un moteur préexistant, comme décrit dans le brevet FR2562503. Dans ces deux brevets, il est proposé un dispositif qui peut s’adapter à tout type de moteur, pour permettre la navigation, ou l’amélioration de celle-ci, d’une embarcation. To date, there are different navigation devices, used for rescue in the event of a boat engine failure, as described in patent FR2966800, where the improvement of the propulsion of a pre-existing engine, such as described in patent FR2562503. In these two patents, a device is proposed which can be adapted to any type of engine, to allow navigation, or the improvement thereof, of a boat.
[0003]Ainsi, le brevet FR2966800 décrit une invention qui permet, en cas de panne du moteur de l’embarcation, la fixation d’un moteur auxiliaire, afin de pouvoir remplacer le moteur principal, la personne ayant fixé le moteur pouvant naviguer jusqu’en sécurité. Cette fixation est décrite comme universellement fixable sur tout types de moteur, permettant ainsi à l’utilisateur de placer le dispositif au meilleur endroit optimal pour une propulsion optimale (c’est-à-dire à l’endroit ou est situé le moteur principal). Il est ainsi proposé ainsi un dispositif unique qui est capable de fonctionner sur tout bateau par l’intermédiaire d’une fixation possible sur tout type de moteur. Thus, patent FR2966800 describes an invention which allows, in the event of a failure of the boat's engine, the attachment of an auxiliary engine, in order to be able to replace the main engine, the person having fixed the engine being able to sail up to 'safe. This fixation is described as universally fixable on all types of motor, thus allowing the user to place the device in the best optimal place for optimal propulsion (i.e. where the main motor is located) . A unique device is thus proposed which is capable of operating on any boat by means of a possible attachment to any type of engine.
[0004] Cependant, la propulsion sera grandement réduite, voire impossible, si la fixation est gênée et réduite, voire n’est pas possible, par exemple en cas de déformation ou destruction du moteur, ou encore dans les cas où le corps à rendre mobile n’est pas un bateau à moteur, par exemple une embarcation non motorisée telle qu’une bouée, un canoë, ou un déchet volumineux, ou encore un nageur en détresse. En effet, le dispositif dans ces conditions ne disposera pas d’un bon emplacement pour se fixer au corps à mouvoir. Même dans le cas où une fixation est possible, l’emplacement ne sera pas forcément propice à une propulsion, ce qui rendra la navigation plus complexe. However, the propulsion will be greatly reduced, or even impossible, if the attachment is hampered and reduced, or even is not possible, for example in the event of deformation or destruction of the engine, or even in cases where the body to be returned mobile is not a motor boat, for example a non-motorized boat such as a buoy, a canoe, or bulky waste, or even a swimmer in distress. Indeed, the device under these conditions will not have not a good place to attach to the body to move. Even in cases where attachment is possible, the location will not necessarily be suitable for propulsion, which will make navigation more complex.
EXPOSE DE L’INVENTION STATEMENT OF THE INVENTION
[0005] La présente invention a pour objet de proposer un nouveau dispositif de navigation destiné à rendre n’importe quel corps fixe ou en dérive, mobiles dans l’eau, et ce de façon simple, et permettant de palier au moins une partie des inconvénients de l’art antérieur. The present invention aims to provide a new navigation device for making any body fixed or drifting, mobile in the water, and this in a simple way, and for landing at least some of the disadvantages of the prior art.
[0006]A cet effet, l’invention concerne un dispositif de navigation permettant de rendre mobile un corps dans l’eau, comprenant : To this end, the invention relates to a navigation device for making a body mobile in water, comprising:
- un système de propulsion comprenant au moins un moyen de propulsion, un moteur configuré pour actionner ledit moyen de propulsion, et un moyen de modification de la direction de propulsion, a propulsion system comprising at least one propulsion means, a motor configured to actuate said propulsion means, and a means for modifying the direction of propulsion,
- un système de commande, configuré pour contrôler ledit moteur et ledit moyen de modification de la direction de propulsion, - a control system, configured to control said engine and said means of modifying the direction of propulsion,
- un système d’alimentation en énergie configuré pour au moins alimenter le moteur et le système de commande - an energy supply system configured to at least supply the motor and the control system
caractérisé en ce que le dispositif de navigation comprend des moyens de fixation universels amovibles, configurés pour relier réversiblement ledit dispositif à tout type de corps à rendre mobile et en ce que le système de commande est configuré pour émettre et recevoir localement et/ou par liaison sans fil, dans l’air ou dans l’eau, des signaux de commandes permettant de contrôler ledit moteur et ledit moyen de modification de la direction de propulsion. characterized in that the navigation device comprises removable universal fixing means, configured to reversibly connect said device to any type of body to be made mobile and in that the control system is configured to transmit and receive locally and / or by connection wirelessly, in air or in water, control signals making it possible to control said motor and said means of modifying the direction of propulsion.
[0007]Avantageusement, un dispositif selon l’invention permet la prise de commande d’un corps quelconque à rendre mobile, en-dessous ou en surface de l'eau. Advantageously, a device according to the invention allows the ordering of any body to be made mobile, below or on the surface of the water.
[0008] Un autre avantage est que le dispositif de navigation, grâce à ses moyens de fixation universels et réversibles, est configuré pour qu’un seul exemplaire du dispositif est capable de rendre mobile tour à tour une embarcation en panne ou non motorisée, des déchets volumineux, du matériel, un nageur en détresse, ou un mammifère. Il suffit de détacher les moyens de fixation universels et amovibles d’un corps ou objet et de les fixer sur un autre corps ou objet pour le rendre mobile dans l’eau. Cette fixation est de plus rendue simple par l’utilisation de moyens de fixation universels amovibles ce qui permet de ne pas avoir besoin de le fixer à un emplacement précis. Another advantage is that the navigation device, thanks to its universal and reversible fixing means, is configured so that a single copy of the device is capable of making mobile in turn a broken down or non-motorized boat, bulky waste, equipment, a swimmer in distress, or a mammal. It suffices to detach the universal and removable fixing means from a body or object and fix them on another body or object to make it mobile in water. This fixing is moreover made simple by the use of removable universal fixing means which eliminates the need to fix it at a precise location.
[0009] Selon une particularité, le dispositif est en outre constitué de 2 parties, une première partie comprenant au moins le système de commande, et une deuxième partie comprenant au moins le système de propulsion, les deux parties étant reliées l’une à l’autre à l’aide d’un élément de liaison de communication et d’alimentation et reliables au corps à rendre mobile par les moyens de fixation universels amovibles. According to one feature, the device also consists of 2 parts, a first part comprising at least the control system, and a second part comprising at least the propulsion system, the two parts being connected to one another. 'other using a communication and power connection element and connectable to the body to be made mobile by the removable universal fixing means.
[0010] Selon une particularité, la première partie du dispositif présente au moins une partie émergée, et la deuxième partie présente au moins une partie immergée. According to one feature, the first part of the device has at least one emerged part, and the second part has at least one submerged part.
[0011] Selon une autre particularité, la première partie et la deuxième partie du dispositif sont de part et d’autre du corps, préférentiellement de manière à être diamétralement opposées de part et d’autre du corps. In another feature, the first part and the second part of the device are on either side of the body, preferably so as to be diametrically opposite on either side of the body.
[0012] Selon une autre particularité, les moyens de fixation universels amovibles comprennent au moins un moyen parmi les suivants : une ou plusieurs sangles, Velcros (marque déposée), cordes, ventouses, vis ou une combinaison parmi ceux-ci. In another feature, the removable universal fastening means comprise at least one of the following: one or more straps, Velcros (registered trademark), ropes, suction cups, screws or a combination among them.
[0013] Selon une autre particularité, le dispositif comprend en outre un moyen permettant l’adjonction d’un outil de flottaison, pour rendre la flottabilité d’une partie ou de l’ensemble du dispositif modifiable pendant ou avant ou après l’utilisation du dispositif. In another feature, the device further comprises means allowing the addition of a flotation tool, to make the buoyancy of a part or of the entire device changeable during or before or after use of the device.
[0014] Selon une autre particularité, le système de commande comprend des moyens permettant de mesurer le déplacement et la position du dispositif et/ou du corps, les moyens comprenant préférentiellement un compas numérique et/ou un gyroscope. [0015] Selon une autre particularité, le système de commande comprend des moyens de mesure de sa position, préférentiellement un GPS embarqué, et configuré pour diriger le dispositif et le corps en fonction de sa position définie par lesdits moyens, et d’une destination déterminée, envoyée ou sélectionnée. In another feature, the control system includes means for measuring the displacement and the position of the device and / or the body, the means preferably comprising a digital compass and / or a gyroscope. In another feature, the control system comprises means for measuring its position, preferably an on-board GPS, and configured to direct the device and the body as a function of its position defined by said means, and of a destination. determined, sent or selected.
[0016] Selon une autre particularité, le moteur du système de propulsion est électrique, le moyen de propulsion comprend au moins une hélice, et où le moyen de modification de la direction de propulsion est un gouvernail. In another feature, the engine of the propulsion system is electric, the propulsion means comprises at least one propeller, and where the means for modifying the direction of propulsion is a rudder.
[0017] Selon une autre particularité, le système de commande est configuré pour activer le système de propulsion pour naviguer le corps jusqu’à une position déterminée, envoyée ou sélectionnée, lorsque la fixation des moyens de fixation au corps est confirmée. In another feature, the control system is configured to activate the propulsion system to navigate the body to a determined, sent or selected position, when the attachment of the attachment means to the body is confirmed.
[0018] Selon une autre particularité, le système de commande peut être commandé à distance en temps réel et/ou programmé préalablement et préférentiellement comprend au moins un espace de mémoire lisible par une machine et un ou plusieurs composants hardware de traitement tels qu’un microprocesseur pour constituer une machine, le processeur étant configuré pour écrire et lire un programme sur ledit espace de mémoire. In another feature, the control system can be remotely controlled in real time and / or programmed beforehand and preferably comprises at least one memory space readable by a machine and one or more hardware components for processing such as microprocessor for constituting a machine, the processor being configured to write and read a program on said memory space.
[0019] L’invention concerne aussi un procédé de navigation utilisant le dispositif selon l’invention, qui comprend les étapes suivantes : The invention also relates to a navigation method using the device according to the invention, which comprises the following steps:
- Fixation du dispositif autour du corps à rendre mobile par les moyens de fixation universelle réversibles, - Fixing of the device around the body to be made mobile by the reversible universal fixing means,
- Activation du système de propulsion par le système de commande et navigation du dispositif jusqu’à une localisation déterminée à l’avance ou en temps réel, - Activation of the propulsion system by the control and navigation system of the device up to a predetermined location or in real time,
- Détachage des moyens de fixation universelle réversibles du dispositif du corps à rendre mobile, préférentiellement de manière automatique, une fois le corps déplacé à la localisation déterminée. - Detachment of the reversible universal fixing means of the device from the body to be made mobile, preferably automatically, once the body has been moved to the determined location.
le procédé étant caractérisé en ce qu’il comprend une première étape dans laquelle le dispositif de navigation navigue, préférentiellement de manière autonome, jusqu’au corps à rendre mobile. BREVE DESCRIPTION DES FIGURES the method being characterized in that it comprises a first step in which the navigation device navigates, preferably autonomously, as far as the body to be made mobile. BRIEF DESCRIPTION OF THE FIGURES
[0020] D’autres caractéristiques, détails et avantages de l’invention ressortiront à la lecture de la description qui suit en référence aux figures annexées, qui illustre : Other characteristics, details and advantages of the invention will emerge on reading the description which follows, with reference to the appended figures, which illustrates:
[Fig 1 ] représente une vue schématique simplifiée d’un premier mode de réalisation non limitatif du dispositif de navigation selon l’invention. [Fig 1] shows a simplified schematic view of a first non-limiting embodiment of the navigation device according to the invention.
[Fig 2] représente, une vue schématique simplifiée d’un deuxième mode de réalisation non limitatif du dispositif de navigation selon l’invention. [Fig 2] shows a simplified schematic view of a second non-limiting embodiment of the navigation device according to the invention.
[Fig 3] représente une vue schématique simplifiée d’un troisième mode de réalisation non limitatif du dispositif de navigation selon l’invention. [Fig 3] shows a simplified schematic view of a third non-limiting embodiment of the navigation device according to the invention.
DESCRIPTION DETAILLEE DE DIFFERENTS MODES DE REALISATION DE DETAILED DESCRIPTION OF DIFFERENT EMBODIMENTS OF
L’INVENTION THE INVENTION
[0021] De nombreuses combinaisons peuvent être envisagées sans sortir du cadre de l'invention ; l'homme de métier choisira l'une ou l'autre en fonction des contraintes économiques, ergonomiques, dimensionnelles ou autres qu'il devra respecter. Many combinations can be envisaged without departing from the scope of the invention; the person skilled in the art will choose one or the other according to the economic, ergonomic, dimensional or other constraints which he will have to respect.
[0022] On entend par « Navigation » la technique qui consiste à conduire un corps d'un point de départ jusqu'à une destination donnée, qui peut se faire par la détermination de la position, le calcul de la trajectoire optimale et le guidage par référence à cette trajectoire. Cette navigation peut être manuelle ou automatique. En d’autres termes, on comprend que le dispositif permet de naviguer ou faire naviguer le corps dans l’eau d’un point à un autre. “Navigation” means the technique which involves driving a body from a starting point to a given destination, which can be done by determining the position, calculating the optimal trajectory and guiding with reference to this trajectory. This navigation can be manual or automatic. In other words, we understand that the device makes it possible to navigate or make the body navigate in water from one point to another.
[0023] On entend par « Corps à rendre mobile dans l’eau », tout corps présent en surface ou dans l’eau, vivant ou inerte, quelle que soit sa flottabilité, et quelle que soit sa forme et sa géométrie. A titre d’exemple, un corps peut être assimilé à une embarcation en panne, à un nageur, qui peut être en détresse, à du matériel, y compris un autre dispositif de navigation selon l’invention. The term "body to be made mobile in water" means any body present on the surface or in water, living or inert, whatever its buoyancy, and whatever its shape and geometry. For example, a body can be assimilated to a broken down boat, a swimmer, who may be in distress, to equipment, including another navigation device according to the invention.
[0024] On entend par « moyens de fixation universels », des moyens qui permettent une fixation possible sur un très grand nombre de corps différents ayant des géométries différentes, le corps pouvant être inerte ou vivant. Les moyens de fixation peuvent ainsi comprendre plusieurs moyens différents les uns des autres afin de les combiner, par exemple une association de sangles et de poignées, ou de crochets ou mousquetons et de cordes. The term “universal fixing means” means means which allow possible fixing to a very large number of different bodies. having different geometries, the body can be inert or alive. The fastening means can thus comprise several means which are different from one another in order to combine them, for example a combination of straps and handles, or hooks or snap hooks and ropes.
[0025] On entend par moyens de fixation « amovibles » des moyens de fixations qui peuvent être fixés de manière réversible à un corps, afin de pouvoir les détacher de ce corps lorsqu’on le désire. De plus, les moyens de fixations peuvent aussi être amovibles dans le sens où l’on peut les détacher du dispositif lui-même, par exemple pour en fixer d’autres à la place, plus adaptés en terme de sécurité et/ou de confort. Ainsi, dans un mode de réalisation particulier combinable avec d’autres modes de réalisation, les moyens de fixations universels sont amovibles à la fois vis-à-vis du corps à rendre mobile, et aussi vis-à-vis du disposifif lui-même. The term “removable” fastening means means fastening means which can be fixed reversibly to a body, in order to be able to detach them from this body when desired. In addition, the fixing means can also be removable in the sense that they can be detached from the device itself, for example to fix others instead, more suitable in terms of security and / or comfort . Thus, in a particular embodiment which can be combined with other embodiments, the universal fixing means are removable both vis-à-vis the body to be made mobile, and also vis-à-vis the device itself .
[0026] On entend par émettre et recevoir « localement » ou « directement » des signaux de commandes une communication physique, tel qu’une communication à l’aide de boutons, écran de contrôle ou tout élément mécanique permettant d’envoyer un signal de commande au système de commande. A l’inverse, une communication par « liaison sans fil » on entend une communication à distance dans laquelle les signaux traversent l’air ou l’eau avant d’atteindre le système de commande. By transmitting and receiving "locally" or "directly" control signals is meant a physical communication, such as a communication using buttons, a control screen or any mechanical element enabling a signal to be sent. control to the control system. Conversely, communication by "wireless link" means remote communication in which the signals pass through air or water before reaching the control system.
[0027] De manière générale, comme illustré sur la figure 1 , le dispositif de navigation (1 ), permettant de rendre mobile un corps (6) dans l’eau, comprend : In general, as illustrated in FIG. 1, the navigation device (1), making it possible to make a body (6) mobile in the water, comprises:
- un système de propulsion (3) comprenant au moins un moyen de propulsion (30), un moteur (31 ) configuré pour actionner ledit moyen de propulsion (30), et un moyen de modification de la direction de propulsion (32), a propulsion system (3) comprising at least one propulsion means (30), a motor (31) configured to actuate said propulsion means (30), and a means for modifying the direction of propulsion (32),
- un système de commande (2), configuré pour contrôler ledit moteur (31 ) et ledit moyen de modification de la direction de propulsion (32), - a control system (2), configured to control said motor (31) and said means for modifying the direction of propulsion (32),
- un système d’alimentation en énergie (4) configuré pour au moins alimenter le moteur (31 ) et le système de commande (2), - an energy supply system (4) configured to at least supply the motor (31) and the control system (2),
le dispositif de navigation (1 ) comprend en outre des moyens de fixation (5) universels amovibles, configurés pour relier réversiblement ledit dispositif (1 ) à tout type de corps (6) à rendre mobile et en ce que le système de commande (2) est configuré pour émettre et recevoir localement et/ou par liaison sans fil, dans l’air ou dans l’eau, des signaux de commandes permettant de contrôler ledit moteur (31 ) et ledit moyen de modification de la direction de propulsion (32). the navigation device (1) further comprises fixing means (5) removable universal, configured to reversibly connect said device (1) to any type of body (6) to be made mobile and in that the control system (2) is configured to transmit and receive locally and / or by wireless connection, in air or water, control signals for controlling said motor (31) and said means of changing the propulsion direction (32).
[0028]Avantageusement, le dispositif selon l’invention n’est pas spécifique à une embarcation mais est au contraire générique, et peut être utilisé sur un grand nombre de corps (6) différents. Advantageously, the device according to the invention is not specific to a boat but is on the contrary generic, and can be used on a large number of different bodies (6).
[0029] Un avantage supplémentaire de l’invention est que les moyens de fixation (5) universelle amovibles permettent une réutilisation du dispositif (1 ) d’un corps (6) à un autre corps (6), différents ou non du premier. Le dispositif (1 ) est ainsi réutilisable à souhait d'une embarcation en panne, à un nageur, qui peut être en détresse, puis à du matériel, y compris un autre dispositif (1 ) de navigation selon l’invention. An additional advantage of the invention is that the removable universal fixing means (5) allow the device (1) to be reused from one body (6) to another body (6), different or not from the first. The device (1) is thus reusable at will from a broken down boat, to a swimmer, who may be in distress, then to equipment, including another navigation device (1) according to the invention.
[0030] Dans un mode de réalisation, les moyens de fixation (5) universels amovibles comprennent au moins un moyen parmi les suivants : une ou plusieurs sangles, Velcros (marque déposée), cordes, ventouses, vis ou une combinaison parmi ceux-ci. In one embodiment, the removable universal fastening means (5) comprise at least one of the following: one or more straps, Velcros (registered trademark), ropes, suction cups, screws or a combination among these .
[0031] Dans un mode de réalisation, les moyens de fixation (5) universels amovibles sont interchangeables avec d’autres moyens de fixation (5) universels amovibles. In one embodiment, the removable universal fixing means (5) are interchangeable with other removable universal fixing means (5).
[0032]Avantageusement, les moyens de fixation universels peuvent en effet être modifiés en fonction du corps à rendre mobile. Le système de propulsion y sera relié physiquement, de façon manuelle ou automatique, à l’aide de Velcros (marque déposée), de sangles de ventouses ou de vis sans s’y limiter. Ainsi, si les moyens de fixation (5) demeurent universels et amovibles, on peut opter pour certains moyens de fixation particulier pour des besoins de sécurité, confort ou stabilité. [0033] Plus particulièrement, la figure 3 illustre un mode de réalisation non limitatif de la présente invention dans lequel le dispositif (1 ) est configuré pour déplacer un flotteur et est composé de deux parties, la première partie étant émergée (7) au moins en partie et comprenant l’intelligence du système, c’est- à-dire le système de commande (2), qui comprend un interrupteur (Switch en anglais) ON/OFF, GPS, tête RF et antenne, modem acoustique, microcontrôleur, compas numérique et gyroscope, lampe à éclat et buzzer, et des composants discrets. Advantageously, the universal fixing means can indeed be modified according to the body to be made mobile. The propulsion system will be physically connected to it, manually or automatically, using Velcros (registered trademark), suction cup straps or screws, without being limited to it. Thus, if the fixing means (5) remain universal and removable, one can opt for certain particular fixing means for security, comfort or stability needs. More particularly, Figure 3 illustrates a non-limiting embodiment of the present invention in which the device (1) is configured to move a float and is composed of two parts, the first part being emerged (7) at least partly and comprising the intelligence of the system, that is to say the control system (2), which includes an ON / OFF switch, GPS, RF head and antenna, acoustic modem, microcontroller, digital compass and gyroscope, flashlight and buzzer, and discreet components.
[0034] Avantageusement, le fait d’avoir un dispositif en deux parties permet d’avoir une partie au moins partiellement immergée permettant de propulser le corps dans l’eau, et une deuxième partie au moins partiellement émergée permettant entre autres d’envoyer et de recevoir des signaux de commande à distance par radiofréquence (par l’air). Advantageously, the fact of having a device in two parts makes it possible to have an at least partially submerged part making it possible to propel the body into the water, and a second part at least partially emerged making it possible inter alia to send and receive remote control signals by radio frequency (by air).
[0035] Dans un mode préférentiel combinable, une partie est totalement immergée et l’autre totalement émergée. In a combinable preferential mode, one part is completely submerged and the other completely emerged.
[0036] Les différents composants du système de commande (2) vont maintenant être décrits ci-dessous : The various components of the control system (2) will now be described below:
- Le switch peut prendre deux positions. Il permettra la mise sous tension du matériel via une batterie et sa mise hors tension. - The switch can take two positions. It will allow the equipment to be powered up via a battery and powered down.
- Le GPS donne la position du dispositif avec une précision de 2m. - The GPS gives the position of the device with an accuracy of 2m.
- La tête RF (radio-fréquence) permet de recevoir les signaux de commandes par ondes radio. La portée minimum d'émission du signal est de 200m dans l'air sans obstacle (mer calme). La tête RF est par exemple utilisée lorsque le système de commande est émergé. - The RF (radio frequency) head is used to receive command signals by radio waves. The minimum range for signal transmission is 200m in the air without obstacle (calm sea). The RF head is for example used when the control system has emerged.
- Le Modem acoustique permet de recevoir les signaux de commandes par ondes acoustiques. La portée minimum d'émission du signal est de 200m dans l'eau sans obstacle. Le Modem acoustique est par exemple utilisé lorsque le système de commande est immergé. - The Acoustic Modem is used to receive control signals by acoustic waves. The minimum range for signal transmission is 200m in water without obstacles. The Acoustic Modem is for example used when the control system is submerged.
Une alternative est d’effectuer la communication avec les 2 composants conjointement (la tête RF et le modem acoustique) afin d’être sur de pouvoir envoyer le signal, que le système de commande soit hors ou dans l’eau) An alternative is to communicate with the 2 components jointly (the RF head and the acoustic modem) in order to be sure of being able to send the signal, whether the control system is out or in the water)
- Le microcontrôleur permettra de récupérer les données GPS (le protocole non décrit ici est réalisé en fonction du microcontrôleur choisi et du GPS), et de les traiter afin de contrôler le moteur (31 ) et le gouvernail ou la direction d’un propulseur à jet pour diriger la bouée. - The microcontroller will make it possible to recover the GPS data (the protocol not described here is carried out according to the selected microcontroller and the GPS), and to process them in order to control the engine (31) and the rudder or the direction of a thruster to jet to steer the buoy.
- Le compas numérique et le Gyroscope permettent au dispositif de navigation (1 ) de positionner le dispositif (1 ) et/ou le corps (6) par rapport au déplacement mesuré. - The digital compass and the Gyroscope allow the navigation device (1) to position the device (1) and / or the body (6) relative to the measured displacement.
- La lampe à éclat et le buzzer permettent une signalisation lumineuse et sonore, et donc une utilisation même de nuit, ou avec une mauvaise visibilité. - The flashlight and the buzzer allow a light and sound signaling, and therefore a use even at night, or with poor visibility.
- Les Composants discrets permettent principalement les adaptations de signaux entre toutes ces fonctions - Discrete components mainly allow signal adaptations between all these functions
[0037]Ainsi, le système de commande (2), grâce à ses récepteurs de signaux de commandes, par exemple la tête RF et/ou le modem acoustique, peut permettre la navigation d’un objet sous-marin à distance, ledit système étant lui- même immergé ou non (respectivement par envoi de signaux par acoustique ou radiofréquence). Thus, the control system (2), thanks to its command signal receivers, for example the RF head and / or the acoustic modem, can allow navigation of an underwater object remotely, said system being itself submerged or not (respectively by sending signals by acoustic or radiofrequency).
[0038] La deuxième partie du dispositif (1 ) présente au moins une partie immergée (8) et comprend le système de propulsion (3) constitué au moins d’un moteur (31 ) et d’un moyen de propulsion (30), et le système d’alimentation comprend au moins une batterie. L'alimentation se fera avec une batterie lithium suffisante pour alimenter le dispositif (1 ) complet pendant une durée minimum de 4h tandis que le moteur (31 ) et le moyen de propulsion (30) assurent le déplacement de la bouée suivant les signaux de commande. Des composants discrets permettent les adaptations de signaux entre toutes ces fonctions. [0039] Dans un mode de réalisation, le moteur (31 ) du système de propulsion est électrique, et le moyen de propulsion (30) comprend au moins une hélice et/ou des aubes et le moyen de modification de la direction de propulsion (32) est un gouvernail ou une turbine orientable. The second part of the device (1) has at least one submerged part (8) and comprises the propulsion system (3) consisting of at least one motor (31) and one propulsion means (30), and the power system includes at least one battery. The supply will be with a lithium battery sufficient to supply the complete device (1) for a minimum duration of 4 hours while the motor (31) and the propulsion means (30) ensure the displacement of the buoy according to the control signals . Discrete components allow signal adaptations between all of these functions. In one embodiment, the motor (31) of the propulsion system is electric, and the propulsion means (30) comprises at least one propeller and / or blades and the means for modifying the propulsion direction ( 32) is an adjustable rudder or turbine.
[0040] Comme représenté à la figure 2 dans un mode de réalisation particulier, le dispositif (1 ) peut être fixé à une embarcation non motorisée ou en panne (6). Le dispositif (1 ), unique ou en deux parties, peut être fixé symétriquement de part et d’autre du corps (6) comme c’est le cas dans les figures 1 et 3, où arbitrairement, sur un coté du corps comme c’est le cas représenté dans la figure 2. Cet exemple d’emplacement n’est bien sûr pas limitatif, et il est possible de modifier ledit emplacement en fonction du corps (6) à rendre mobile. As shown in Figure 2 in a particular embodiment, the device (1) can be attached to a non-motorized boat or broken down (6). The device (1), single or in two parts, can be fixed symmetrically on either side of the body (6) as is the case in Figures 1 and 3, where arbitrarily, on one side of the body as c 'is the case shown in Figure 2. This example of location is of course not limiting, and it is possible to modify said location depending on the body (6) to be made mobile.
[0041] Dans un mode de réalisation, le dispositif (1 ) a une flottabilité adaptée au corps (6) à déplacer, par exemple négative afin de faciliter le déplacement d’un corps (6) flottant (à flottabilité positive), tel qu’un flotteur. In one embodiment, the device (1) has a buoyancy adapted to the body (6) to be moved, for example negative in order to facilitate the movement of a floating body (6) (with positive buoyancy), such that 'a float.
[0042] Une flottabilité inverse à celle du corps (6) à déplacer peut permettre de faciliter sa propulsion. Inverse buoyancy to that of the body (6) to be moved can facilitate its propulsion.
[0043] Dans un mode de réalisation différent, le dispositif (1 ) a une flottabilité neutre ou positive pour déplacer un autre type de corps (6) dans l’eau. In a different embodiment, the device (1) has a neutral or positive buoyancy for moving another type of body (6) in the water.
[0044] Dans un mode de réalisation, la flottabilité du dispositif (1 ) peut être modifiée pendant ou avant/après l’utilisation du dispositif (1 ), par un outil de flottaison (9) réglable non représenté et non décrit ici. In one embodiment, the buoyancy of the device (1) can be modified during or before / after the use of the device (1), by an adjustable flotation tool (9) not shown and not described here.
[0045] Avantageusement cela permet au dispositif (1 ) d’avoir la flottabilité la plus adaptée pour propulser le corps (6) de façon optimale. Advantageously, this allows the device (1) to have the most suitable buoyancy to propel the body (6) optimally.
[0046] L’outil de flottaison peut par exemple comprendre un compartiment dans une des parties du dispositif, dans lequel un utilisateur ajoute manuellement du plomb. Une autre possibilité non limitante est un compartiment configuré pour prendre de l’eau, de l’air ou un autre fluide de façon automatique ou manuelle. [0047] Dans un mode de réalisation, la fixation du dispositif (1 ) au corps (6) se fait de manière automatique. The flotation tool may for example include a compartment in one of the parts of the device, in which a user manually adds lead. Another non-limiting possibility is a compartment configured to take water, air or another fluid automatically or manually. In one embodiment, the fixing of the device (1) to the body (6) is done automatically.
[0048] Il peut ainsi être prévu que la fixation des moyens de fixation (5) au corps (6) soit réalisable sans l’aide d’un acteur, par exemple d’un sauveteur pour un nageur en détresse. It can thus be expected that the fixing of the fixing means (5) to the body (6) can be carried out without the help of an actor, for example a rescuer for a swimmer in distress.
[0049] Dans un mode de réalisation, la navigation du dispositif (1 ) est automatique et actionnée par le système de commande (2). In one embodiment, the navigation of the device (1) is automatic and actuated by the control system (2).
[0050] Avantageusement, le dispositif (1 ) peut être programmé pour naviguer jusqu’à une position donnée, telle que la position d’un corps (6) à rendre mobile, par exemple une embarcation en panne ou un nageur en détresse, et une fois fixé audit corps (6), peut être programmé pour naviguer jusqu’à une position de sécurité. Une alternative serait que le dispositif soit programmé pour suivre un point potentiellement mobile, par exemple le dispositif est fixé à une bouée et, une fois activé, suit un plongeur, permettant ainsi de marquer sa position par rapport à la surface. Advantageously, the device (1) can be programmed to navigate to a given position, such as the position of a body (6) to be made mobile, for example a broken down boat or a swimmer in distress, and once attached to said body (6), can be programmed to navigate to a safety position. An alternative would be for the device to be programmed to follow a potentially mobile point, for example the device is fixed to a buoy and, once activated, follows a diver, thus making it possible to mark its position relative to the surface.
[0051] Dans un mode de réalisation, le système de commande (2) est configuré pour activer le système de propulsion (3) pour naviguer le corps (6) jusqu’à une position déterminée lorsque la fixation des moyens de fixation (5) au corps (6) est confirmée. In one embodiment, the control system (2) is configured to activate the propulsion system (3) to navigate the body (6) to a determined position when the fixing of the fixing means (5) to the body (6) is confirmed.
[0052]Avantageusement, cela permet un sauvetage autonome par le dispositifAdvantageously, this allows autonomous rescue by the device
(1 ), qui une fois fixé au corps (6) rentre automatiquement en lieu sûr. (1), which once fixed to the body (6) automatically returns to a safe place.
[0053] Dans un mode de réalisation combinable, le système de commande (1 ) peut être intégré directement au système de propulsion. En d’autres termes, le dispositif (1 ) ne comprend qu’une partie qui comprend le système de commandeIn a combinable embodiment, the control system (1) can be integrated directly into the propulsion system. In other words, the device (1) comprises only a part which includes the control system
(2) et le système de propulsion (3). (2) and the propulsion system (3).
[0054]Avantageusement, cela permet au système de commande de communiquer directement avec le système de propulsion, le dispositif pouvant ainsi n’être formé que d’un seul bloc sans que les informations passent par un élément de liaison de communication et d’alimentation (41 ). Le système peut recevoir les signaux de commande à distance ou directement, c’est-à-dire localement, par exemple grâce à un écran sur lequel on peut entrer des instructions. Advantageously, this allows the control system to communicate directly with the propulsion system, the device thus being able to be formed in one piece without the information passing through a communication and power connection element. (41). The system can receive the remote or direct control signals, that is to say locally, for example by means of a screen on which instructions can be entered.
[0055] Dans un mode de réalisation, le dispositif comprend une seule partie unique totalement immergée. Cela peut être particulièrement utile pour rendre mobile un corps sous-marin. In one embodiment, the device comprises a single single part fully submerged. This can be particularly useful for making an underwater body mobile.
[0056] Dans un mode de réalisation combinable, le système de commande (2) peut être commandé à distance en temps réel et/ou programmé préalablement. Dans le cas ou il est programmé préalablement, le système de commande (2) comprend au moins un espace de mémoire lisible par une machine et un ou plusieurs composants hardware de traitement tels qu’un microprocesseur pour constituer une machine, le processeur étant configuré pour écrire et lire un programme sur ledit espace de mémoire. In a combinable embodiment, the control system (2) can be remotely controlled in real time and / or programmed beforehand. In the case where it is programmed beforehand, the control system (2) comprises at least one memory space readable by a machine and one or more processing hardware components such as a microprocessor to constitute a machine, the processor being configured to write and read a program on said memory space.
[0057]Ainsi, une partie qui souhaite déplacer un corps (6), peut le faire à distance, y compris en l’ayant programmé à l’avance. Thus, a party who wishes to move a body (6) can do it remotely, including by having programmed it in advance.
[0058] Dans un mode de réalisation combinable, le système de commande (2) peut être programmé manuellement directement sur le dispositif (1 ), par exemple à l’aide de touche et/ou d’un écran. In a combinable embodiment, the control system (2) can be programmed manually directly on the device (1), for example using the key and / or a screen.
[0059] Ainsi, un nageur en détresse peut utiliser et contrôler le dispositif (1 ) pour naviguer jusqu’à une position de sécurité. La commande peut ainsi se faire en temps réel ou programmé pour une utilisation future. Thus, a swimmer in distress can use and control the device (1) to navigate to a safety position. The order can thus be made in real time or programmed for future use.
[0060] Dans un autre mode de réalisation, le système de commande (2) peut à la fois être commandé à distance et directement sur le dispositif (1 ). In another embodiment, the control system (2) can both be controlled remotely and directly on the device (1).
[0061]Avantageusement, cela permet à différentes parties de contrôler le dispositif (1 ) si l’une des parties est défaillante. Par exemple si le système de commande est dans l’impossibilité de recevoir des signaux de commandes de la part d’une partie distante, il est possible de produire des signaux de commande localement, directement sur le dispositif. [0062] Dans un mode de réalisation, les moyens de fixation (5) universels amovibles du dispositif (1 ) de navigation sont configurés pour rendre mobiles simultanément au moins deux corps (6) indépendants l’un de l’autre. Advantageously, this allows different parties to control the device (1) if one of the parties fails. For example, if the control system is unable to receive control signals from a remote party, it is possible to generate control signals locally, directly on the device. In one embodiment, the removable universal fixing means (5) of the navigation device (1) are configured to simultaneously make mobile at least two bodies (6) independent of each other.
[0063] Avantageusement cela permet de transporter plusieurs corps (6) à la fois simultanément avec le même dispositif (1 ) de navigation, et ce, même si les corps (6) n’ont pas la même forme, et sont distincts l’un de l’autre. Advantageously, this makes it possible to transport several bodies (6) at the same time simultaneously with the same navigation device (1), even if the bodies (6) do not have the same shape, and are distinct from each other. one of the other.
[0064] Le dispositif (1 ) est configuré pour qu’un seul exemplaire du dispositif (1 ) est capable de rendre mobile tour à tour une embarcation en panne ou non motorisée, des déchets volumineux, du matériel, un nageur en détresse, ou un mammifère. Il suffit de détacher les moyens de fixation (5) universels amovibles d’un corps (6) et de les fixer sur un autre corps (6) pour le rendre mobile dans l’eau. The device (1) is configured so that a single copy of the device (1) is capable of making mobile in turn a broken down or non-motorized boat, bulky waste, equipment, a swimmer in distress, or a mammal. It suffices to detach the removable universal fixing means (5) from one body (6) and fix them on another body (6) to make it mobile in water.
[0065] Des exemples d’autres modes de réalisation non représentés et non limitatifs selon la présente invention sont listés ci-après. Examples of other embodiments not shown and not limiting according to the present invention are listed below.
[0066] Un mode de réalisation pour rendre mobile dans l’eau une embarcation en panne ou non motorisée ou des déchets volumineux, dans lequel le dispositif comprend une seule partie reliée à l’embarcation par une corde, les signaux de commande étant envoyés au système de commande à distance. An embodiment for making mobile in the water a broken or non-motorized boat or bulky waste, in which the device comprises a single part connected to the boat by a rope, the control signals being sent to the remote control system.
[0067] Un mode de réalisation pour rendre mobile dans l’eau des outils ou matériel, dans lequel le dispositif comprend une seule partie de forme dédiée au corps à transporter, l’objet étant fixé par des sangles, les signaux de commande étant envoyés au système de commande à distance. An embodiment for making tools or equipment mobile in water, in which the device comprises a single shaped part dedicated to the body to be transported, the object being fixed by straps, the control signals being sent to the remote control system.
[0068] Un mode de réalisation pour rendre mobile dans l’eau un nageur en détresse, dans lequel le dispositif comprend une seule partie reliée au nageur par des poignées, les signaux de commande étant envoyés au système de commande à distance. An embodiment for making a distressed swimmer mobile in water, in which the device comprises a single part connected to the swimmer by handles, the control signals being sent to the remote control system.
[0069] Un mode de réalisation pour rendre mobile dans l’eau un mammifère, dans lequel le dispositif comprend une seule partie reliée au mammifère par une sangle, le système de commande comportant des signaux de commandes préalablement enregistrées dans un programme. Cela peut être particulièrement utile pour rendre mobile un corps sous-marin. An embodiment for making a mammal mobile in water, in which the device comprises a single part connected to the mammal by a strap, the control system comprising control signals previously saved in a program. This can be particularly useful for making an underwater body mobile.
[0070] On comprendra aisément à la lecture de la présente demande que les particularités de la présente invention, comme généralement décrits et illustrés dans les figures, puissent être arrangés et conçus selon une grande variété de configurations différentes. Ainsi, la description de la présente invention et les figures afférentes ne sont pas prévues pour limiter la portée de l'invention mais représentent simplement des modes de réalisation choisis. It will be readily understood on reading this application that the features of the present invention, as generally described and illustrated in the figures, can be arranged and designed according to a wide variety of different configurations. Thus, the description of the present invention and the accompanying figures are not intended to limit the scope of the invention but simply represent selected embodiments.
[0071] L’homme de métier comprendra que les caractéristiques techniques d’un mode de réalisation donné peuvent en fait être combinées avec des caractéristiques d’un autre mode de réalisation à moins que l’inverse ne soit explicitement mentionné ou qu’il ne soit évident que ces caractéristiques sont incompatibles. De plus, les caractéristiques techniques décrites dans un mode de réalisation donné peuvent être isolées des autres caractéristiques de ce mode à moins que l’inverse ne soit explicitement mentionné. Those skilled in the art will understand that the technical characteristics of a given embodiment can in fact be combined with characteristics of another embodiment unless the reverse is explicitly mentioned or that it does not it is obvious that these characteristics are incompatible. In addition, the technical characteristics described in a given embodiment can be isolated from the other characteristics of this mode unless the reverse is explicitly mentioned.
[0072] Il doit être évident pour les personnes versées dans l’art que la présente invention permet des modes de réalisation sous de nombreuses autres formes spécifiques sans l’éloigner du domaine défini par la portée des revendications jointes, ils doivent être considérés à titre d'illustration et l’invention ne doit pas être limitée aux détails donnés ci-dessus. It should be obvious to those skilled in the art that the present invention allows embodiments in many other specific forms without departing from the field defined by the scope of the appended claims, they must be considered as The invention should not be limited to the details given above.
[0073] Légende : Legend:
• 1. Dispositif (1 ) de navigation • 1. Navigation device (1)
• 2. Système de commande • 2. Control system
• 3. Système de propulsion • 3. Propulsion system
• 4. Système d’alimentation en énergie • 4. Power supply system
• 5. Moyens de fixation • 5. Means of attachment
• 6. Corps • 6. Body
• 7. Partie immergée • 8. Partie émergée • 7. Submerged part • 8. Outline
• 9. Outil de flottaison • 9. Flotation tool
• 10. Moyens de mesure de la position (gyroscope/compas numérique) • 10. Position measurement means (gyroscope / digital compass)
• 11. Moyens de mesure de la position (GPS) • 11. Position measurement means (GPS)
• 30. Moyen de propulsion • 30. Means of propulsion
• 31. Moteur • 31. Motor
• 32. Moyen de modification de la direction de propulsion • 32. Means for modifying the direction of propulsion
• 41. Elément de liaison de communication et d’alimentation • 41. Communication and power connection element

Claims

REVENDICATIONS
1. Dispositif de navigation (1 ), permettant de rendre mobile un corps (6) dans l’eau, comprenant : 1. Navigation device (1), making it possible to make a body (6) mobile in the water, comprising:
- un système de propulsion (3) comprenant au moins un moyen de propulsion (30), un moteur (31 ) configuré pour actionner ledit moyen de propulsion (30), et un moyen de modification de la direction de propulsion (32), a propulsion system (3) comprising at least one propulsion means (30), a motor (31) configured to actuate said propulsion means (30), and a means for modifying the direction of propulsion (32),
- un système de commande (2), configuré pour contrôler ledit moteur (31 ) et ledit moyen de modification de la direction de propulsion (32), - a control system (2), configured to control said motor (31) and said means for modifying the direction of propulsion (32),
- un système d’alimentation en énergie (4) configuré pour au moins alimenter le moteur (31 ) et le système de commande (2) - an energy supply system (4) configured to at least supply the motor (31) and the control system (2)
caractérisé en ce que le dispositif de navigation (1 ) comprend des moyens de fixation (5) universels amovibles, configurés pour relier réversiblement ledit dispositif (1 ) à tout type de corps (6) à rendre mobile et en ce que le système de commande (2) est configuré pour émettre et recevoir localement et/ou par liaison sans fil, dans l’air ou dans l’eau, des signaux de commandes permettant de contrôler ledit moteur (31 ) et ledit moyen de modification de la direction de propulsion (32). characterized in that the navigation device (1) comprises removable universal fixing means (5), configured to reversibly connect said device (1) to any type of body (6) to be made mobile and in that the control system (2) is configured to transmit and receive locally and / or wirelessly, in air or in water, control signals making it possible to control said motor (31) and said means for modifying the direction of propulsion (32).
2. Dispositif (1 ) selon la revendication précédente, où les moyens de fixation (5) universels amovibles comprennent au moins un moyen parmi les suivants : une ou plusieurs sangles, Velcros (marque déposée), cordes, ventouses, vis ou une combinaison parmi ceux-ci. 2. Device (1) according to the preceding claim, wherein the removable universal fixing means (5) comprise at least one of the following: one or more straps, Velcros (registered trademark), ropes, suction cups, screws or a combination from these.
3. Dispositif (1 ) selon l’une des revendications précédentes, où le dispositif (1 ) comprend en outre un moyen permettant l’adjonction d’un outil de flottaison 3. Device (1) according to one of the preceding claims, wherein the device (1) further comprises means allowing the addition of a flotation tool
(9), pour rendre la flottabilité d’une partie ou de l’ensemble du dispositif (1 ) modifiables pendant ou avant ou après l’utilisation du dispositif. (9), to make the buoyancy of part or all of the device (1) changeable during or before or after the use of the device.
4. Dispositif (1 ) selon l’une des revendications précédentes, dans lequel le système de commande (2) comprend des moyens (10) permettant de mesurer le déplacement et la position du dispositif (1 ) et/ou du corps (6), les moyens 4. Device (1) according to one of the preceding claims, in which the control system (2) comprises means (10) making it possible to measure the displacement and the position of the device (1) and / or of the body (6) , ways
(10) comprenant préférentiellement un compas numérique et/ou un gyroscope. (10) preferably comprising a digital compass and / or a gyroscope.
5. Dispositif (1 ) selon l’une des revendications précédentes, dans lequel le système de commande (2) comprend des moyens de mesure de sa position (11 ), préférentiellement un GPS embarqué, et configuré pour diriger le dispositif (1 ) et le corps (6) en fonction de sa position définie par lesdits moyens, et d’une destination déterminée, envoyée ou sélectionnée. 5. Device (1) according to one of the preceding claims, in which the control system (2) comprises means for measuring its position (11), preferably an on-board GPS, and configured to direct the device (1) and the body (6) as a function of its position defined by said means, and of a determined destination, sent or selected.
6. Dispositif (1 ) selon l’une des revendications précédentes, où le moteur (31 ) du système de propulsion est électrique, et où le moyen de propulsion (30) comprend au moins une hélice et où le moyen de modification de la direction de propulsion (32) est un gouvernail. 6. Device (1) according to one of the preceding claims, where the motor (31) of the propulsion system is electric, and where the propulsion means (30) comprises at least one propeller and where the direction modification means propulsion (32) is a rudder.
7. Dispositif (1 ) selon l’une des revendications précédentes, où le système de commande (2) est configuré pour activer le système de propulsion pour naviguer le corps (6) jusqu’à une destination déterminée, envoyée ou sélectionnée, lorsque la fixation des moyens de fixation (5) au corps (6) est confirmée. 7. Device (1) according to one of the preceding claims, wherein the control system (2) is configured to activate the propulsion system to navigate the body (6) to a determined destination, sent or selected, when the fixing of the fixing means (5) to the body (6) is confirmed.
8. Dispositif (1 ) selon l’une des revendications précédentes, où le système de commande (2) peut être commandé à distance en temps réel et/ou programmé préalablement et préférentiellement comprend au moins un espace de mémoire lisible par une machine et un ou plusieurs composants hardware de traitement tels qu’un microprocesseur pour constituer une machine, le processeur étant configuré pour écrire et lire un programme sur ledit espace de mémoire. 8. Device (1) according to one of the preceding claims, wherein the control system (2) can be remotely controlled in real time and / or programmed beforehand and preferably comprises at least one memory space readable by a machine and a or several processing hardware components such as a microprocessor to constitute a machine, the processor being configured to write and read a program on said memory space.
9. Dispositif (1 ) selon la revendication 1 , étant en outre constitué de 2 parties, une première partie comprenant au moins le système de commande (2), et une deuxième partie comprenant au moins le système de propulsion, les deux parties étant reliées l’une à l’autre à l’aide d’un élément de liaison de communication et d’alimentation (41 ) et reliables au corps (6) à rendre mobile par les moyens de fixation (5) universels amovibles. 9. Device (1) according to claim 1, further comprising 2 parts, a first part comprising at least the control system (2), and a second part comprising at least the propulsion system, the two parts being connected to each other by means of a communication and supply connection element (41) and connectable to the body (6) to be made mobile by the removable universal fixing means (5).
10. Dispositif (1 ) selon la revendication précédente, où la première partie possède au moins une partie émergée (7), et la deuxième partie possède au moins une partie immergée (7). 10. Device (1) according to the preceding claim, wherein the first part has at least one raised part (7), and the second part has at least one submerged part (7).
11. Dispositif (1 ) selon l’une quelconque des revendications 9 ou 10, où la première partie et la deuxième partie sont de part et d’autre du corps (6), préférentiellement de manière à être diamétralement opposées de part et d’autre du corps (6). 11. Device (1) according to any one of claims 9 or 10, wherein the first part and the second part are on either side of the body (6), preferably so as to be diametrically opposite on either side other of the body (6).
12. Procédé de navigation utilisant le dispositif (1 ) selon l’une des revendications précédentes, qui comprend les étapes suivantes : 12. A navigation method using the device (1) according to one of the preceding claims, which comprises the following steps:
- Fixation du dispositif (1 ) autour du corps (6) à rendre mobile par les moyens de fixation (5) universels réversibles, - Fixing the device (1) around the body (6) to be made mobile by the universal reversible fixing means (5),
- Activation du système de propulsion par le système de commande (2) et navigation du dispositif (1 ) jusqu’à une localisation déterminée à l’avance ou en temps réel, - Activation of the propulsion system by the control system (2) and navigation of the device (1) until a location determined in advance or in real time,
- Détachage des moyens de fixation (5) universels réversibles du dispositif (1 ) du corps (6) à rendre mobile, préférentiellement de manière automatique, une fois le corps (6) déplacé à la position déterminée. le procédé étant caractérisé en ce qu’il comprend une première étape dans laquelle le dispositif (1 ) de navigation navigue, préférentiellement de manière autonome, jusqu’au corps (6) à rendre mobile. - Detachment of the universal reversible fixing means (5) of the device (1) from the body (6) to be made mobile, preferably automatically, once the body (6) is moved to the determined position. the method being characterized in that it comprises a first step in which the navigation device (1) navigates, preferably autonomously, up to the body (6) to be made mobile.
PCT/EP2019/085769 2018-12-27 2019-12-17 Navigation device for making bodies movable in water WO2020136046A1 (en)

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FR1874249A FR3091257B1 (en) 2018-12-27 2018-12-27 Navigational device intended to make bodies move in water
FRFR1874249 2018-12-27

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WO2022254178A1 (en) * 2021-06-02 2022-12-08 Bae Systems Plc Method and apparatus for control

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