EP3717346A1 - Floating maritime vessel comprising a detachable measuring keel - Google Patents

Floating maritime vessel comprising a detachable measuring keel

Info

Publication number
EP3717346A1
EP3717346A1 EP18826770.2A EP18826770A EP3717346A1 EP 3717346 A1 EP3717346 A1 EP 3717346A1 EP 18826770 A EP18826770 A EP 18826770A EP 3717346 A1 EP3717346 A1 EP 3717346A1
Authority
EP
European Patent Office
Prior art keywords
keel
bulb
hull
machine
kiosk
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP18826770.2A
Other languages
German (de)
French (fr)
Other versions
EP3717346B1 (en
Inventor
Sébastien GRALL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exail SAS
Original Assignee
iXBlue 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 iXBlue SAS filed Critical iXBlue SAS
Publication of EP3717346A1 publication Critical patent/EP3717346A1/en
Application granted granted Critical
Publication of EP3717346B1 publication Critical patent/EP3717346B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/04—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with single hull
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
    • B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/14—Hull parts
    • B63B3/38—Keels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/14—Hull parts
    • B63B3/48—Decks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B63B2041/003—Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels

Definitions

  • the present invention relates generally to the field of aquatic gear, including marine. It relates more particularly to a floating maritime vehicle with removable keel. It applies in particular to the maritime exploration with measuring devices and in particular a machine which is a unmanned or personal drone on board.
  • For marine exploration measurement devices are used, usually sonars, which are under water. These measuring devices can be towed to the rear of a ship but it has also been proposed to use boats or drones comprising such measuring devices and having means of propulsion and autonomous navigation and / or remote controlled. These boats or drones are relatively small and in the case of drones, do not include crew.
  • Floating boats or drones may have appendages under their hull to perform various functions sometimes combined: anti-drift, ballast or equipment support. In the following these appendices will be called in a generic way "keel”.
  • the keel is used for these anti-drift and ballast functions in order to counter the capsizing torque exerted by the wing.
  • the keel On boats or floating drones with mechanical propulsion, the keel is used for these anti-drift functions but no ballast. Indeed, the transverse stability of boats or floating drones mechanical propulsion is primarily provided by the shape of the hull and more specifically its wide. For this reason the bowling pins, generally called “quillettes", present on the boats with mechanical propulsion are of shallow depth.
  • the exploration drone is usually brought to the exploration site by a ship that takes it back at the end of the exploration. Between the exploration periods when he is put to sea, the drone is reassembled on the ship.
  • the keel can be an inconvenience during the maneuvers of recovery or launching of the drone and, also, for its storage on the ship.
  • these pins that are located under the hull of the boat or drone, increase its vertical depth or draft. It may be useful to be able to reduce this draft in certain circumstances and one of the commonly adopted solutions is that these pins are liftable to say that thanks to a mechanical means and a guidance system, the keel can be retracted totally or partially inside the hull of the boat or the drone.
  • these pins are so large, that once raised, they exceed the upper surface of the bridge, upwards. In this case, they form a catch in the wind and they clutter the bridges.
  • some boats or drones have an appendage or a series of appendages arranged in height above the deck and / or superstructures.
  • These appendages in height that may be called “mature” or kiosk, these terms being equivalent in the context of the invention, serve functions necessary for boats or drones as supporting different equipment: navigation lights, communication antennas, radars, flags ..., engine exhausts, ventilation inlets / outlets, tank vents ...
  • the present invention proposes a marine machine which comprises a removable keel facilitating launching and recovery maneuvers as well as storage, but, also, which may allow several modes of navigation to the craft according to the position of the keel.
  • the keel in the up position no longer has an impact on the wind and is no longer an embarrassment on the deck because it is raised in the kiosk or mature which has internally a keel storage space which receives the part of the raised keel that would otherwise exceed the deck or superstructures. Due to their immersed positioning, the keels can be advantageously equipped with measuring devices.
  • a floating maritime craft having at least one hull surmounted by a bridge, the hull being elongated between a bow and a stern in a longitudinal direction of the machine, the machine comprising at its part lower a removable keel and at its upper part a kiosk erected above the bridge, the keel can be lowered under the hull and up through the hull, the keel having a lower end and an upper end, in the lowered position of the keel the upper end of the keel connecting to the hull.
  • the kiosk internally comprises a keel storage space and the keel and keel storage space of the kiosk are arranged in alignment so that the keel can be raised upwardly at least partly in the kiosk keel storage space.
  • the term maritime for the maritime machine must be taken in a broad sense which may as well concern a gear adapted to the sea or the ocean as for lakes, rivers or other bodies of water.
  • the bridge corresponds to the upper level, out of water, in the open air, of the machine
  • the floating maritime craft is an exploration craft
  • the removable keel is a detachable measuring keel comprising at least measuring instruments
  • the kiosk keel and keel storage space have main axes in alignment which are inclined with respect to the vertical
  • the main axis of the kiosk and the main axis of the kiosk keel storage space are parallel and preferably colinear,
  • the kiosk has at its low part the keel storage space and at the top of the equipment,
  • the keel comprises at its lower end an elongated bulb longitudinally connected to the upper end of the keel by a connecting portion of the keel of longitudinal extension less than the longitudinal extension of the bulb, and when the keel is raised in the kiosk, the bulb remains under the hull,
  • the bulb is secured to the binding portion of the keel and when the keel is raised in the kiosk, the bulb remains under the hull, - The bulb is separable from the binding part of the keel and when the keel is raised in the kiosk, the uncoupled bulb remains under the hull,
  • the bulb comprises at least measuring instruments
  • the apparatus is intended to carry out acoustic measurements and it comprises acoustic measurement systems comprising acoustic wave emission and reception transducers, and at least acoustic wave emission and reception transducers are arranged in the bulb of the keel,
  • the apparatus comprises an attitude measurement unit comprising attitude measuring sensors and at least attitude measurement sensors are arranged in the bulb of the keel.
  • the maximum width of the connecting part of the keel is less than or equal to the maximum width of the bulb, the maximum length of the connecting part being less than the maximum length of the bulb, said length and width being respectively considered in the direction longitudinal axis of the machine and a horizontal transverse direction perpendicular to the longitudinal direction,
  • the ratio of the maximum width of the connecting part to the maximum width of the bulb is between 0.05 and 0.5
  • the connecting part of the keel has a substantially identical length over its entire height
  • the connecting part of the keel has a substantially identical maximum width over its entire height
  • the connecting part of the keel has a uniform cross section over its height
  • the cross section of the connecting part of the keel is circular, ovoid or fusiform
  • the hull has a keel well allowing at least the passage downhill and ascent of the keel,
  • the kiosk keel storage space is in alignment with a keel well opening from the hull down and whose walls rise above the waterline of the machine, the keel slidable in said well keel,
  • the machine comprises sealing means between the binding portion of the keel and the hull in order to create a gap in the keel well that is below the waterline which is out of the water,
  • a flexible flexible skirt is extended between the upper end of the keel and the hull, - a flexible flexible skirt is extended between the lower end of the connecting portion of the keel and the hull,
  • the soft skirt is an accordion skirt
  • the flexible skirt is elastic
  • the bulb has an upper face facing upwards and the shell and a lower face facing downwards and the shell has a recess at the connection of the shell to the keel, said recess can accommodate at least the upper face of the bulb when the keel is up,
  • the recess of the hull can fully accommodate the bulb when the keel is raised, the bulb being then included in the overall size of the hull,
  • the craft is a drone
  • the craft is unibody and comprises a substantially fusiform hull with a tapered bow to form a floating wave-piercing craft,
  • the bridge has a convex surface upwards
  • the bow is tapered like a knife
  • the monocoque craft has a total width to total length ratio of less than 0.2 and a maximum length of less than 20 meters, the said length and width respectively being considered in the longitudinal direction of the craft and a horizontal transverse direction perpendicular to the longitudinal direction,
  • the monohull craft has a ratio of the height above the waterline of the hull acting as a float and its possible appendages, therefore off the kiosk, on the height below the waterline of the hull making float office and out any appendages, so out keel, which is less than 0.8 and greater than 0.1,
  • the craft has a length of at least 2.5 meters
  • the kiosk is partly intended to receive the keel and kiosk keel storage space represents at least 75% of the overall kiosk volume
  • the height of the kiosk on the deck or superstructure of the ship is such that the top of the vessel is at a minimum altitude of 1.5 meters above deck when the vessel is vertical
  • the kiosk can be closed on its entire surface
  • the kiosk can be opened on part of its surface
  • the kiosk has an aerodynamic shape, - The kiosk at a ratio of height (relative to its base) to width (in the direction transverse to the axis of displacement of the ship) greater than 3,
  • the maximum height of the hull measured from the lowest point of the hull, out of keel, at the highest point of the hull, off the kiosk, is less than the height of the keel
  • off keel and off kiosk measured along an alignment axis passing through the lowered keel and the kiosk is less than the height of the keel
  • the machine comprises a motorized mechanical propulsion
  • the motorized mechanical propulsion comprises at least one electric and / or internal combustion engine and operating directly or indirectly one or more propellers or one or more turbines,
  • the mechanical mechanical propulsion is mixed, at least one internal combustion engine operating at least one electric generator which in turn supplies at least one electric motor directly operating one or more propellers or one or more turbines, the internal combustion engine thus operating indirectly one or more propellers or one or more turbines,
  • the machine further comprises rechargeable batteries storing electrical energy for the electric motor (s) directly actuating one or more propellers or a propeller. or more turbines,
  • the machine comprises on the bridge and / or on the kiosk photovoltaic cells intended to recharge the rechargeable batteries,
  • the craft comprises at least one propeller and navigation devices
  • the machine is a drone comprising remotely controlled and / or pre-programmed computer navigation equipment,
  • the hull comprises a submerged lower part or hull and the lowered keel sticks out of said submerged lower part of the hull,
  • the hull comprises a lower non-immersed part and the lowered keel sticks out from the bottom of the undisclosed lower part of the hull, the lowered keel then comprising a non-immersed part upwards,
  • the machine comprises a mechanism for raising and lowering the keel, said mechanism being at least motorized, the machine comprises a means of locking the keel immobilizing the keel with respect to the hull (more generally with respect to the rest of the machine),
  • the machine comprises a means for locking the keel in the lowered position
  • the machine comprises a means of locking the keel in the raised position
  • the keel is adjustable in height under the hull in order to adjust the depth of the bulb relative to the hull,
  • the machine comprises means for locking the keel for at least one intermediate position of the keel between the raised position and the lowered position,
  • the locking means is without a physical connection between the parts locked together
  • the locking means is magnetic and controlled, the magnetic locking means comprising at least two independent and magnetically interacting complementary parts, one of the parts being disposed on the keel side and the other part, functionally complementary, being disposed on the hull side and, possibly, kiosk side.
  • each of the two parts of the controlled magnetic locking means is complementarily selected from among one or more magnets, electromagnets and ferromagnetic parts, in order to be able to attract, repel or possibly no longer have a magnetic interaction, function of commands,
  • the pieces on the keel are fixed on the keel but mobile relative to the hull and the kiosk because of the mobility of the keel with respect to the hull,
  • the same piece of the keel is used with at least two complementary parts of the hull and / or the kiosk for locking the keel positions at least down and up, the piece of the keel moving with the keel to come into relationship with the fixed complementary part of the hull and, possibly, the kiosk,
  • a command makes it possible to suppress the magnetic attraction or repulsion interaction between the two parts of the magnetic locking means, one of the two parts of the locking means is an electromagnet and the other complementary part is an electromagnet or a ferromagnetic part,
  • the ferromagnetic part is a permanent magnet
  • At least one of the two parts of the locking means further comprises a permanent magnet
  • the upper end of the connecting portion of the keel comprises the first piece of the locking means and the machine comprises at least one second complementary piece, the first and the second corresponding pieces coming into functional correspondence when the keel is lowered and / or reassembly, the first and second parts can at least attract according to a locking control, the functional correspondence is a vis-à-vis the first and second parts for a magnetic interaction between them,
  • the keel may comprise intermediate positions between the lowered position and the raised position
  • the intermediate positions are lockable
  • the second piece is in the kiosk to allow locking of the keel in the raised position
  • the second piece is in the hull or in close relation with the hull, in particular in the lower part of the keel well of the hull, to allow the keel to be locked in the lowered position,
  • the locking is passive, the stop of the unlocking control ensuring the locking
  • the unlocking control must be maintained to maintain the unlocking
  • the unlocking is passive, the stop of the locking control ensuring the unlocking
  • At least one of the two parts of the magnetic locking means is an electromagnet, the control being provided by an electric current,
  • the bulb has a bow end and a stern end and the bulb is tilting at the lower end of the connecting portion of the keel to align axial alignment of the bulb and the connecting portion and the shape in transverse section of the bulb, said section being perpendicular to the longitudinal extension of the bulb, and the shape of the cross section of the connecting portion of the keel are adapted to allow the bulb to be raised at least in the keel well, -
  • the bulb has a bow end and a stern end and the bulb is tilting at the lower end of the connecting portion of the keel to align axial alignment of the bulb and the connecting portion and the shape in transverse section of the bulb, said section being perpendicular to the longitudinal extension of the bulb, and the shape of the cross section of the connecting portion of the keel are adapted to allow the bulb to rise and at least one of the two ends bow or stern of the bulb in the kiosk storage space,
  • the adaptation between the sectional shapes of the connecting part of the keel and the bulb corresponds to the fact that the tilted bulb is included in the extension downwards of the jig of the connecting portion of the keel,
  • At least one lower part of the rear edge of the keel connection part is opened in order to accommodate in the jig of the connecting part a part of the tilted bulb
  • the connecting part of the keel and the bulb comprise a locking means in the tilted position of the bulb and in the non-tilted position of the bulb,
  • the locking means in the tilted and / or tilted position of the bulb are electromagnetic
  • the longitudinal extension of the bulb is substantially parallel to the longitudinal extension of the machine
  • the longitudinal extension of the bulb is substantially parallel to the connecting portion of the keel
  • the tilting bulb keel comprises bulb tilting members which are motorized and controlled
  • the keel may comprise one or more movable flaps
  • the lower part of the keel comprises one or more trailing edge flaps in order to act dynamically on the transverse attitude of the machine
  • the trailing edge flaps can be retracted in order to fit into the external external jig of the binding part of the keel and be able to be reassembled in at least the keel well,
  • the movable flap (s) of the keel can be piloted in order to influence the transverse stability of the machine
  • FIG. 1 represents a perspective view of a drone whose keel is lowered
  • FIG. 2 represents a perspective view of the drone of FIG. 1, the keel of which is raised,
  • FIG. 3 represents a cross-sectional view passing through the keel of the drone of FIG. 1 and whose keel is lowered
  • FIG. 4 represents a view in cross-sectional view of an enlarged detail of the keel and the drone of FIG. 1, and
  • FIG. 5 shows a cross-sectional view passing through the keel of the drone of Figure 1 and whose keel is raised.
  • a drone intended to carry out maritime explorations with measurements carried out by measuring equipment installed in the bulb of the keel was considered.
  • FIG. 1 shows the floating / surface drone 1 of the invention which is mechanically propelled, in this case with a propeller 8, and which comprises a very narrow fusiform shell 2.
  • This very narrow hull does not give transverse stability to the craft 1 which has a very tapered shape and that with this tapered bow hull we obtain a piercing-wave craft.
  • the hull 10, the dead works and the bridge 4 are thus configured to be of the type "vague bore".
  • a keel 3 bulb 6 Toward the bottom of the hull 2, at the bottom of the hull 10, is installed a keel 3 bulb 6.
  • the bulb 6 being at the lower end of the keel 3, the latter 6 is connected to the hull by a connecting portion 5 of the keel 3.
  • the keel 3 bulb 6 preferably comprises in the bulb 6, a ballast that gives transverse stability to the machine 1.
  • This ballast is a specific heavy material, for example lead or tungsten, and / or corresponds to equipment, in particular measurement, installed in the bulb 6.
  • the machine 1 also comprises, in this example, a rudder 7.
  • the machine 1 has a very low resistance to advancement with respect to its length.
  • the hull 2 with the keel 3 makes it possible to minimize the pitching movements.
  • the hull 2 is able to exceed with very little energy the limit speed of hull and to pass in overspeed without being of a form called "Planing".
  • the machine 1 whose total length is less than 20 meters and which has a minimum length of at least 2.5 meters, has a total width to total length ratio of less than 0.2.
  • the drone of the example shown has a length of between 2.5 m and 20 m.
  • the surface craft 1 of the invention with its fusiform hull is therefore different from traditional mechanical propulsion vessels which have a geometry that gives them a stability of shape to maintain the horizontal attitude of the ship during the displacement of the masses carried and during movements generated by the sea or the ocean.
  • the elements of the machine 1 arranged above the waterline and in particular those on the deck 4 are of a relatively small height, or at least have a reduced mass, so that the center of gravity of the gear with its keel lowered is very low and so it offers little grip wind.
  • the craft does not include a sail, mast or rigging or any other equipment intended to use the force of the wind. It therefore has a weak radar echo because of its shape, its size and the low height of the emerged parts.
  • the machine does not use the wind for its propulsion and therefore it does not include a mat or other appendage in height dedicated to the use of wind for propulsion
  • the machine may however comprise a booth 9 or a mature used in particular to carry the radio and / or optical equipment and / or wind generator and / or sensors, and to go up as high as possible possible air intakes useful to certain modes of operation of the drone.
  • the outer walls of the hull 2 and the kiosk 9, preferably in their non-immersed parts, comprise inspection hatches allowing access to the interior of some of the compartments of the machine 1.
  • the materials constituting the machine in particular its hull 2 and its booth 9, can be chosen according to the needs.
  • the shell 2 and / or kiosk 9 metals to retain a radar echo or composite materials, including fiberglass, otherwise.
  • the machine 1 which is not a model of an existing ship, is in this case a drone intended to carry out sonar acoustic measurements, the acoustic measurement systems, in particular the transmission and reception transducers. acoustic waves, are arranged in the bulb 6 of the keel 3.
  • the keel 3, in particular its bulb 6, also comprises an attitude unit which allows precise corrections of the acoustic measurements because this central d attitude is positioned as close as possible to the acoustic transducers.
  • This machine 1 is autonomous in that it comprises mechanical propulsion means 8 and an internal source of energy. It is not therefore a device towed and / or connected by a cable to a ship or other equipment floating or not. In an implementation variant, it can be towed.
  • the resistance to travel is reduced both in calm water and agitated water and we obtain a decrease in the movements generated on the machine 1 by the agitation of waves.
  • the shape of the machine 1 and its keel 3 improves the flow around the acoustic transducers and prevents the formation of bubbles having a masking effect at the acoustic transducers. The result is a decrease in "noises" which, in traditional ships, interfere with acoustic measurements.
  • This drone is propelled mechanically and uses at least one electric motor or internal combustion / chemical reaction or even mixed, which can actuate a propeller 8 or, in variants, several propellers or one or more turbines.
  • the keel 3 can be lowered and reassembled, preferably more or less reassembled, in particular to choose the draft of the machine.
  • the keel 3 has been raised and the bulb 6 remains under the shell 2, most of the height of the connecting portion 5 of the keel 3 having slid inside the hull of the gear and even, for the upper end of the connecting portion 5, having gained a keel storage space 13 located inside the kiosk 9, as can be seen better in Figure 5.
  • the kiosk 9 or mature therefore comprises at least a hollow portion sufficiently large to contain the portion of the keel protruding from the deck or superstructures when the keel 3 is in up / down position.
  • the kiosk 9 may have an aerodynamic shape and other functions that the only function of storing at least an upper portion of the keel raised.
  • the keel 3 is further removable and interchangeable. It is also preferred that the bulb 6 of the keel 3 is interchangeable from the keel so that the drone can be used with different configurations of acoustic transducers of various bulbs.
  • the hull has a keel well in which the keel is lowered into the lower position / exit of the keel.
  • This keel well can be materialized by a hollow column adjusted to the size and shape of the keel or correspond to a wider zone of passage of the keel, or even correspond to a large internal compartment of the machine.
  • the keel well is not a column adjusted to the keel, as in the example shown in the figures, it is expected that the keel passes through at least two adjusted passages and arranged at different heights to allow effective guidance up and down the keel and stabilize along a vertical axis (or close to the vertical) stable once in place and locked at the desired height.
  • Guiding means are therefore provided between the keel and the keel well and, possibly, the keel storage space of the kiosk.
  • the machine thus has means for guiding the keel which can be a sheath, slides, bearings, slides ...
  • the connecting portion 5 of the keel 3 which is located between, below, the bulb 6 and, at the top, the upper end of the keel, has a uniform section over its height and the keel well of the hull and, possibly, the kiosk keel storage space 13, also have a uniform section on its height and which, in addition, is adjusted to that of the connecting portion 5 of the keel to allow the keel guidance.
  • This adjustment between the keel, in particular the binding portion of the keel, and the keel well and, possibly, the kiosk keel storage space contributes to the stable connection between the two and prevents the keel bat "in relation to the hull.
  • this guidance may, as in the example shown in the figures, be limited to two or more guide passages 14, 15 where adjustments are made with the keel 3.
  • the lifting keel is thus mechanically guided in the keel well and, possibly, in the keel storage space of the kiosk, in order to take all the efforts other than those directed parallel to the movement of raising and lowering of the keel so that between the keel and the ship is made a "slide" type connection.
  • the keel 3 can be raised to settle at least partly in a keel storage space 13 inside the kiosk 9 or the mature one.
  • the keel In the high position of the keel, at least partially raised in the kiosk, the keel can be locked in place using magnetic locking means (not shown for the high position). Optionally, intermediate positions in height of the keel can also be locked with magnetic locking means (not shown).
  • the last remaining degree of freedom, ascent and descent of the keel, is thus locked by magnetic locking means for locking the keel at heights determined relative to the hull. These determined heights are at least the lowered position of the keel and the raised position of the keel corresponding to the maximum vertical displacement amplitude of the keel.
  • the magnetic locking means consist of functional pairs, each having two magnetically complementary parts that can attract and / or repel and / or become magnetically inactive as a function of commands.
  • One of the two parts is an electromagnet and the controls are carried out by means of electric currents.
  • the magnetic locking means are completely represented only for the locking in the lowered position of the keel 3.
  • the magnetic locking means 11 is arranged in relation to the upper end of the connecting portion 5 of the keel 3 and with the bridge 12.
  • the magnetic locking means 11 has been unlocked to start raising the keel and to make it more visible the two parts 11a and 11b of the magnetic locking means 11 which have separated.
  • These two pieces 11a and 11b form a magnetic suction cup here disposed in relation to the fitted passage 15 through the tweezers 12.
  • provision may additionally, as security, mechanical locking means activatable and deactivatable manually and in particular for the up / down position of the keel, these locking means being for example a pin coming between the walls of the connecting part 5 and the kiosk 9.
  • Locking of the keel at intermediate heights between the two preceding extremes is possible, either at predetermined heights, punctual locking means being installed at these predetermined heights, or at any height.
  • a vertical ferromagnetic plate is arranged along the keel well and a electromagnet disposed in the keel can flow in front of the plate during the raising and lowering of the keel, the activation of the electromagnet causing an attraction with the plate blocking the displacement of the keel at any desired position in height.
  • the interlocks of the electromagnets can be in the "free under voltage” or “closed under voltage” mode depending on the modes of implementation.
  • the bulb remains under the shell, possibly protected in a recess of the hull, and does not pass through the keel well.
  • the bulb can also go up through the well, either the well is configured to allow passage to the bulb, or the bulb can align with the connecting portion of the keel, for example by tilting, and to get into the projected jig of this connecting part, the keel well having a shape adjusted to the jig of the connecting portion of the keel.
  • a downstop is provided, preventing the keel from going down beyond a determined limit.
  • This downstop may be a wider part of the upper end of the keel and which abuts against a stop disposed at the lower end of the keel well or, as in the figures, disposed in relation to the passage 15 to 12.
  • This keel abutment may be an element attached to the upper end of the keel.
  • the abutment can also be used as a high landing bearing in the lower position of the keel.
  • the abutment can support either the electromagnet (s) or magnetic parts on which the electromagnets can act magnetically by attraction or magnetic repulsion according to the implementation modalities.
  • the mechanical guidance and stops and stops are designed so that the only forces to which the electromagnets are subjected are oriented in the axis of movement up / down the keel.

Abstract

The invention relates to a floating maritime vessel (1) comprising at least one hull (2) beneath a deck (4), said hull (2) extending between a bow and a stern in a longitudinal direction of the vessel (1), the vessel (1) comprising, on its lower part, a removable keel (3) and, on its upper part, a conning tower (9) erected above the deck, the keel (3) being able to be descended below the hull (2) and raised back through the hull (2), the keel (3) comprising a lower end and an upper end, the upper end of the keel connecting to the hull when the keel is in its lowered position. According to the invention, the conning tower (9) contains a keel storage space (13) and the keel (3) and the keel storage space (13) of the conning tower (9) are aligned such that the keel (3) can be raised by upward translation at least partly into the keel storage space (13) of the conning tower (9).

Description

« Engin maritime flottant à quille de mesure amovible »  "Maritime floating machine with removable measuring keel"
DOMAINE TECHNIQUE AUQUEL SE RAPPORTE L'INVENTION TECHNICAL FIELD TO WHICH THE INVENTION REFERS
La présente invention concerne de manière générale le domaine des engins aquatiques, notamment maritimes. Elle concerne plus particulièrement un engin maritime flottant à quille amovible. Elle s’applique en particulier à l’exploration maritime avec des engins de mesure et notamment un engin qui est un drone sans équipage ou personnel à bord.  The present invention relates generally to the field of aquatic gear, including marine. It relates more particularly to a floating maritime vehicle with removable keel. It applies in particular to the maritime exploration with measuring devices and in particular a machine which is a unmanned or personal drone on board.
ARRIERE-PLAN TECHNOLOGIQUE  BACKGROUND
Pour l’exploration maritime on utilise des appareils de mesure, en général des sonars, qui sont sous l’eau. Ces appareils de mesure peuvent être remorqués à l’arrière d’un navire mais on a aussi proposé d’utiliser des embarcations ou des drones comportant de tels appareils de mesure et ayant des moyens de propulsion et de navigation autonome et/ou télécommandée. Ces embarcations ou ces drones sont de relativement petite taille et dans le cas des drones, ne comportent pas d’équipage.  For marine exploration measurement devices are used, usually sonars, which are under water. These measuring devices can be towed to the rear of a ship but it has also been proposed to use boats or drones comprising such measuring devices and having means of propulsion and autonomous navigation and / or remote controlled. These boats or drones are relatively small and in the case of drones, do not include crew.
Les embarcations ou les drones flottants peuvent posséder des appendices sous leur coque pour réaliser diverses fonctions parfois combinées : d’antidérive, de lest ou de support d’équipements. Dans la suite ces appendices seront appelés d’une manière générique « quille ».  Floating boats or drones may have appendages under their hull to perform various functions sometimes combined: anti-drift, ballast or equipment support. In the following these appendices will be called in a generic way "keel".
Sur les embarcations ou les drones flottants à propulsion vélique, la quille est utilisée pour ces fonctions d’antidérive et de lest afin de contrer le couple de chavirage exercé par la voilure.  On floating propeller boats or drones, the keel is used for these anti-drift and ballast functions in order to counter the capsizing torque exerted by the wing.
Sur les embarcations ou les drones flottants à propulsion mécanique, la quille est utilisée pour ces fonctions d’antidérive mais pas de lest. En effet, la stabilité transversale des embarcations ou les drones flottants à propulsion mécanique est avant tout apportée par la forme même de la coque et plus spécifiquement sa grande largeur. Pour cette raison les quilles, généralement appelées « quillettes », présentes sur les embarcations à propulsion mécanique sont de faible profondeur.  On boats or floating drones with mechanical propulsion, the keel is used for these anti-drift functions but no ballast. Indeed, the transverse stability of boats or floating drones mechanical propulsion is primarily provided by the shape of the hull and more specifically its wide. For this reason the bowling pins, generally called "quillettes", present on the boats with mechanical propulsion are of shallow depth.
Le drone d’exploration est généralement amené sur le site d’exploration par un navire qui le reprend à la fin de l’exploration. Entre les périodes d’exploration où il est mis à la mer, le drone est remonté sur le navire. La quille peut être une gêne lors des manœuvres de récupération ou de mise à l’eau du drone et, aussi, pour son stockage sur le navire.  The exploration drone is usually brought to the exploration site by a ship that takes it back at the end of the exploration. Between the exploration periods when he is put to sea, the drone is reassembled on the ship. The keel can be an inconvenience during the maneuvers of recovery or launching of the drone and, also, for its storage on the ship.
En outre, ces quilles qui sont situées sous la carène de l’embarcation ou du drone, en augmentent sa profondeur verticale ou tirant d’eau. Il peut être utile de pouvoir réduire ce tirant d’eau dans certaines circonstances et l’une des solutions communément adoptées consiste à ce que ces quilles soient relevables, c’est à dire que grâce à un moyen mécanique et un système de guidage, la quille peut être rentrée totalement ou partiellement à l’intérieur de la coque de l’embarcation ou du drone. In addition, these pins that are located under the hull of the boat or drone, increase its vertical depth or draft. It may be useful to be able to reduce this draft in certain circumstances and one of the commonly adopted solutions is that these pins are liftable to say that thanks to a mechanical means and a guidance system, the keel can be retracted totally or partially inside the hull of the boat or the drone.
Dans certains cas, ces quilles sont de si grandes dimensions, qu’une fois relevées, elles dépassent de la surface supérieure du pont, vers le haut. Dans ce cas, elles forment une prise au vent et elles encombrent les ponts.  In some cases, these pins are so large, that once raised, they exceed the upper surface of the bridge, upwards. In this case, they form a catch in the wind and they clutter the bridges.
Par ailleurs, certaines embarcations ou drones comportent un appendice ou d’une série d’appendices disposés en hauteur au-dessus du pont et/ou des superstructures. Ces appendices en hauteur que l’on peut dénommer « mature » ou kiosque, ces termes étant équivalents dans le contexte de l’invention, servent à des fonctions nécessaires aux embarcations ou drones comme supporter différents équipements : feux de navigation, antennes de communication, radars, pavillons..., échappements des moteurs, entrée/sortie de ventilation, évents de réservoirs...  In addition, some boats or drones have an appendage or a series of appendages arranged in height above the deck and / or superstructures. These appendages in height that may be called "mature" or kiosk, these terms being equivalent in the context of the invention, serve functions necessary for boats or drones as supporting different equipment: navigation lights, communication antennas, radars, flags ..., engine exhausts, ventilation inlets / outlets, tank vents ...
On connaît les documents SU-1.154.142A1 concernant un voilier à dérive pouvant être remontée à travers la coque, WO-2016/144124A1 concernant un navire à « airbag » et poids mobile destinés à empêcher qu’un navire en perdition ne gite trop et coule et US-4.538.539A concernant un navire à quille déformable pour modifications hydrodynamiques. D’une manière générale, les navires motorisés ont des coques de forme différente de celle des voiliers et ces navires motorisés n’ont pas de quille de lestage du fait qu’ils n’ont pas à contrer un couple créé par le vent sur une voile d’un mat.  Document SU-1.154.142A1 concerning a drifting sailboat that can be reassembled through the hull is known, WO-2016 / 144124A1 concerning an "airbag" ship and mobile weight intended to prevent a ship in distress from lying too much and and US-4,538,539A for a deformable keel vessel for hydrodynamic modifications. In general, the motorized vessels have hulls of different shape from that of the sailboats and these motorized vessels do not have a ballast keel because they do not have to counter a couple created by the wind on a sail of a mat.
OBJET DE L’INVENTION  OBJECT OF THE INVENTION
Afin de remédier aux inconvénients précités ou même d’autres, la présente invention propose un engin maritime qui comporte une quille amovible facilitant les manœuvres de mise à l’eau et de récupération ainsi que le stockage, mais, aussi, pouvant permettre plusieurs modes de navigation à l’engin en fonction de la position de la quille. En outre, en opération, la quille en position remontée n’a plus d’impact sur la prise au vent et n’est plus une gêne sur le pont grâce au fait qu’elle est remontée dans le kiosque ou mature qui comporte intérieurement un espace de stockage de quille qui reçoit la partie de la quille remontée qui dépasserait sinon du pont ou des superstructures. Du fait de leur positionnement immergé, les quilles peuvent être avantageusement équipée d’appareils de mesure.  In order to remedy the aforementioned drawbacks or even others, the present invention proposes a marine machine which comprises a removable keel facilitating launching and recovery maneuvers as well as storage, but, also, which may allow several modes of navigation to the craft according to the position of the keel. In addition, in operation, the keel in the up position no longer has an impact on the wind and is no longer an embarrassment on the deck because it is raised in the kiosk or mature which has internally a keel storage space which receives the part of the raised keel that would otherwise exceed the deck or superstructures. Due to their immersed positioning, the keels can be advantageously equipped with measuring devices.
Plus particulièrement, on propose selon l’invention un engin maritime flottant comportant au moins une coque surmontée d’un pont, la coque étant allongée entre une proue et une poupe suivant une direction longitudinale de l’engin, l’engin comportant à sa partie inférieure une quille amovible et à sa partie supérieure un kiosque érigé au-dessus du pont, la quille pouvant être descendue sous la coque et remontée à travers la coque, la quille comportant une extrémité inférieure et une extrémité supérieure, en position descendue de la quille l’extrémité supérieure de la quille se raccordant à la coque. More particularly, it is proposed according to the invention a floating maritime craft having at least one hull surmounted by a bridge, the hull being elongated between a bow and a stern in a longitudinal direction of the machine, the machine comprising at its part lower a removable keel and at its upper part a kiosk erected above the bridge, the keel can be lowered under the hull and up through the hull, the keel having a lower end and an upper end, in the lowered position of the keel the upper end of the keel connecting to the hull.
Selon l’invention, le kiosque comporte intérieurement un espace de stockage de quille et la quille et l’espace de stockage de quille du kiosque sont disposés en alignement afin que la quille puisse être remontée par translation vers le haut au moins en partie dans l’espace de stockage de quille du kiosque.  According to the invention, the kiosk internally comprises a keel storage space and the keel and keel storage space of the kiosk are arranged in alignment so that the keel can be raised upwardly at least partly in the kiosk keel storage space.
Le qualificatif de maritime pour l’engin maritime doit être pris dans un sens large pouvant aussi bien concerner un engin adapté à la mer ou l’océan que pour les lacs, rivières ou autres étendues d’eau.  The term maritime for the maritime machine must be taken in a broad sense which may as well concern a gear adapted to the sea or the ocean as for lakes, rivers or other bodies of water.
D’autres caractéristiques non limitatives et avantageuses de l’engin conforme à l’invention, prises individuellement ou selon toutes les combinaisons techniquement possibles, sont les suivantes :  Other non-limiting and advantageous features of the machine according to the invention, taken individually or in any technically possible combination, are as follows:
- le pont correspond au niveau supérieur, hors d’eau, à l’air libre, de l’engin, - the bridge corresponds to the upper level, out of water, in the open air, of the machine,
- l’engin maritime flottant est un engin d’exploration, - the floating maritime craft is an exploration craft,
- la quille amovible est une quille de mesure amovible comportant au moins des instruments de mesure,  the removable keel is a detachable measuring keel comprising at least measuring instruments,
- la coque fait office de flotteur,  - the hull acts as float,
- la quille et l’espace de stockage de quille du kiosque ont des axes principaux en alignement qui sont verticaux,  - keel and kiosk keel storage space have main axes in alignment which are vertical,
- la quille et l’espace de stockage de quille du kiosque ont des axes principaux en alignement qui sont inclinés par rapport à la verticale,  the kiosk keel and keel storage space have main axes in alignment which are inclined with respect to the vertical,
- la quille et l’espace de stockage de quille du kiosque ont des axes principaux en alignement qui sont perpendiculaires à l’extension principale longitudinale de l’engin,  - keel and kiosk keel storage space have main axes in alignment that are perpendicular to the main longitudinal extension of the craft,
- la quille et l’espace de stockage de quille du kiosque ont des axes principaux en alignement qui sont inclinés par rapport à l’extension principale longitudinale de l’engin,  - keel and kiosk keel storage space have main axes in alignment which are inclined with respect to the main longitudinal extension of the machine,
- l’axe principal du kiosque et l’axe principal de l’espace de stockage de quille du kiosque sont parallèle et de préférence colinéaires,  the main axis of the kiosk and the main axis of the kiosk keel storage space are parallel and preferably colinear,
- le kiosque comporte à sa partie basse l’espace de stockage de quille et en partie haute des équipements,  the kiosk has at its low part the keel storage space and at the top of the equipment,
- la quille comporte à son extrémité inférieure un bulbe allongé longitudinalement relié à l’extrémité supérieure de la quille par une partie de liaison de la quille d’extension longitudinale inférieure à l’extension longitudinale du bulbe, et lorsque la quille est remontée dans le kiosque, le bulbe reste sous la coque,  the keel comprises at its lower end an elongated bulb longitudinally connected to the upper end of the keel by a connecting portion of the keel of longitudinal extension less than the longitudinal extension of the bulb, and when the keel is raised in the kiosk, the bulb remains under the hull,
- le bulbe est solidaire de la partie de liaison de la quille et lorsque la quille est remontée dans le kiosque, le bulbe reste sous la coque, - le bulbe est désolidarisable de la partie de liaison de la quille et lorsque la quille est remontée dans le kiosque, le bulbe désolidarisé reste sous la coque, - the bulb is secured to the binding portion of the keel and when the keel is raised in the kiosk, the bulb remains under the hull, - The bulb is separable from the binding part of the keel and when the keel is raised in the kiosk, the uncoupled bulb remains under the hull,
- le bulbe comporte au moins des instruments de mesure,  the bulb comprises at least measuring instruments,
- l’engin est destiné à réaliser des mesures acoustiques et il comporte des systèmes de mesures acoustiques comportant des transducteurs d’émission et de réception d’ondes acoustiques, et au moins les transducteurs d’émission et de réception d’ondes acoustiques sont disposés dans le bulbe de la quille,  the apparatus is intended to carry out acoustic measurements and it comprises acoustic measurement systems comprising acoustic wave emission and reception transducers, and at least acoustic wave emission and reception transducers are arranged in the bulb of the keel,
- l’engin comporte une centrale de mesure d’attitude comportant des capteurs de mesure d’attitude et au moins des capteurs de mesure d’attitude sont disposés dans le bulbe de la quille.  the apparatus comprises an attitude measurement unit comprising attitude measuring sensors and at least attitude measurement sensors are arranged in the bulb of the keel.
- la largeur maximale de la partie de liaison de la quille est inférieure ou égale à la largeur maximale du bulbe, la longueur maximale de la partie de liaison étant inférieure à la longueur maximale du bulbe, lesdites longueur et largeur étant respectivement considérées suivant la direction longitudinale de l’engin et une direction transversale horizontale perpendiculaire à la direction longitudinale, - the maximum width of the connecting part of the keel is less than or equal to the maximum width of the bulb, the maximum length of the connecting part being less than the maximum length of the bulb, said length and width being respectively considered in the direction longitudinal axis of the machine and a horizontal transverse direction perpendicular to the longitudinal direction,
- le rapport de la largeur maximale de la partie de liaison sur la largeur maximale du bulbe est compris entre 0,05 et 0,5, the ratio of the maximum width of the connecting part to the maximum width of the bulb is between 0.05 and 0.5,
- la partie de liaison de la quille a une longueur sensiblement identique sur toute sa hauteur,  - the connecting part of the keel has a substantially identical length over its entire height,
- la partie de liaison de la quille a une largeur maximale sensiblement identique sur toute sa hauteur,  the connecting part of the keel has a substantially identical maximum width over its entire height,
- la partie de liaison de la quille a une section transversale uniforme sur sa hauteur,  the connecting part of the keel has a uniform cross section over its height,
- la section transversale de la partie de liaison de la quille est circulaire, ovoïde ou fusiforme,  - the cross section of the connecting part of the keel is circular, ovoid or fusiform,
- la coque comporte un puit de quille permettant au moins le passage en descente et remontée de la quille,  - The hull has a keel well allowing at least the passage downhill and ascent of the keel,
- l’espace de stockage de quille du kiosque est en alignement avec un puit de quille débouchant de la coque vers le bas et dont les parois remontent au-dessus de la ligne de flottaison de l’engin, la quille pouvant coulisser dans ledit puit de quille,  - The kiosk keel storage space is in alignment with a keel well opening from the hull down and whose walls rise above the waterline of the machine, the keel slidable in said well keel,
- le puit de quille est inondé jusqu’au niveau de la ligne de flottaison,  - the keel well is flooded to the level of the water line,
- l’engin comporte des moyens d’étanchéité entre la partie de liaison de la quille et la coque afin de créer dans le puit de quille un espace en dessous de la ligne de flottaison qui soit hors d’eau,  the machine comprises sealing means between the binding portion of the keel and the hull in order to create a gap in the keel well that is below the waterline which is out of the water,
- une jupe souple étanche est étendue entre l’extrémité supérieure de la quille et la coque, - une jupe souple étanche est étendue entre l’extrémité inférieure de la partie de liaison de la quille et la coque, - a flexible flexible skirt is extended between the upper end of the keel and the hull, - a flexible flexible skirt is extended between the lower end of the connecting portion of the keel and the hull,
- la jupe souple est une jupe accordéon,  - the soft skirt is an accordion skirt,
- la jupe souple est élastique,  the flexible skirt is elastic,
- le bulbe comporte une face supérieure tournée vers le haut et la coque et une face inférieure tournée vers le bas et la coque comporte un renfoncement au niveau du raccordement de la coque à la quille, ledit renfoncement pouvant loger au moins la face supérieure du bulbe lorsque la quille est remontée,  - The bulb has an upper face facing upwards and the shell and a lower face facing downwards and the shell has a recess at the connection of the shell to the keel, said recess can accommodate at least the upper face of the bulb when the keel is up,
- le renfoncement de la coque peut loger en totalité le bulbe lorsque la quille est remontée, le bulbe étant alors compris dans le gabarit général de la coque, - the recess of the hull can fully accommodate the bulb when the keel is raised, the bulb being then included in the overall size of the hull,
- l’engin est un drone, - the craft is a drone,
- l’engin est monocoque,  - the craft is monohull,
- l’engin est monocoque et comporte une coque sensiblement fusiforme avec une étrave effilée afin de former un engin flottant perce-vague,  the craft is unibody and comprises a substantially fusiform hull with a tapered bow to form a floating wave-piercing craft,
- le pont présente une surface convexe vers le haut,  the bridge has a convex surface upwards,
- la proue est effilée en pointe,  - the bow is tapered to the point,
- la proue est effilée en lame de couteau,  - the bow is tapered like a knife
- la poupe est plane,  - the stern is flat,
- l’engin monocoque présente un rapport largeur totale sur longueur totale inférieur à 0,2 et une longueur maximale inférieure à 20 mètres, lesdites longueur et largeur étant respectivement considérées suivant la direction longitudinale de l’engin et une direction transversale horizontale perpendiculaire à la direction longitudinale,  - the monocoque craft has a total width to total length ratio of less than 0.2 and a maximum length of less than 20 meters, the said length and width respectively being considered in the longitudinal direction of the craft and a horizontal transverse direction perpendicular to the longitudinal direction,
- l’engin monocoque présente un rapport de la hauteur au-dessus de la ligne de flottaison de la coque faisant office de flotteur et hors ses éventuels appendices, donc hors kiosque, sur la hauteur en dessous de la ligne de flottaison de la coque faisant office de flotteur et hors les éventuels appendices, donc hors quille, qui est inférieur à 0,8 et supérieur à 0,1 ,  - the monohull craft has a ratio of the height above the waterline of the hull acting as a float and its possible appendages, therefore off the kiosk, on the height below the waterline of the hull making float office and out any appendages, so out keel, which is less than 0.8 and greater than 0.1,
- l’engin a longueur d’au moins 2,5 mètres,  - the craft has a length of at least 2.5 meters,
- le kiosque est en partie destiné à recevoir la quille et l’espace de stockage de quille du kiosque représente au moins 75% du volume global du kiosque,  - the kiosk is partly intended to receive the keel and kiosk keel storage space represents at least 75% of the overall kiosk volume,
- la hauteur du kiosque posé sur le pont ou les superstructures du navire est telle que le sommet de celui-ci se situe à une altitude minimum de 1 ,5 mètres au- dessus du pont lorsque le navire est vertical,  - the height of the kiosk on the deck or superstructure of the ship is such that the top of the vessel is at a minimum altitude of 1.5 meters above deck when the vessel is vertical,
- Le kiosque peut être fermé sur toute sa surface,  - The kiosk can be closed on its entire surface,
- Le kiosque peut être ouvert sur une partie de sa surface,  - The kiosk can be opened on part of its surface,
- Le kiosque a une forme aérodynamique, - Le kiosque à un rapport hauteur (par rapport à sa base) sur largeur (dans le sens transversal à l’axe de déplacement du navire) supérieur à 3, - The kiosk has an aerodynamic shape, - The kiosk at a ratio of height (relative to its base) to width (in the direction transverse to the axis of displacement of the ship) greater than 3,
- la hauteur maximale de la coque mesurée depuis le point le plus bas de la coque, hors quille, au point le plus haut de la coque, hors kiosque, est inférieure à la hauteur de la quille,  - the maximum height of the hull measured from the lowest point of the hull, out of keel, at the highest point of the hull, off the kiosk, is less than the height of the keel,
- la hauteur de la coque, donc hors quille et hors kiosque, mesurée le long d’un axe d’alignement passant par la quille descendue et le kiosque est inférieure à la hauteur de la quille,  - the height of the hull, therefore off keel and off kiosk, measured along an alignment axis passing through the lowered keel and the kiosk is less than the height of the keel,
- l’engin comporte une propulsion mécanique motorisée,  the machine comprises a motorized mechanical propulsion,
- la propulsion mécanique motorisée comporte au moins un moteur électrique et/ou à combustion interne et actionnant directement ou indirectement une ou plusieurs hélices ou une ou plusieurs turbines,  the motorized mechanical propulsion comprises at least one electric and / or internal combustion engine and operating directly or indirectly one or more propellers or one or more turbines,
- la propulsion mécanique motorisée est mixte, au moins un moteur à combustion interne actionnant au moins un générateur électrique qui à son tour alimente au moins un moteur électrique actionnant directement une ou plusieurs hélices ou une ou plusieurs turbines, le moteur à combustion interne actionnant donc indirectement une ou plusieurs hélices ou une ou plusieurs turbines,  the mechanical mechanical propulsion is mixed, at least one internal combustion engine operating at least one electric generator which in turn supplies at least one electric motor directly operating one or more propellers or one or more turbines, the internal combustion engine thus operating indirectly one or more propellers or one or more turbines,
- dans le cas d’une propulsion mécanique motorisée par moteur électrique, l’engin comporte en outre des batteries rechargeables stockant de l’énergie électrique destinée au(x) moteur(s) électrique(s) actionnant directement une ou plusieurs hélices ou une ou plusieurs turbines,  - In the case of mechanical propulsion powered by an electric motor, the machine further comprises rechargeable batteries storing electrical energy for the electric motor (s) directly actuating one or more propellers or a propeller. or more turbines,
- l’engin comporte sur le pont et/ou sur le kiosque des cellules photovoltaïques destinées à recharger les batteries rechargeables,  the machine comprises on the bridge and / or on the kiosk photovoltaic cells intended to recharge the rechargeable batteries,
- l’engin est sans pilote à bord,  - the craft is unmanned on board,
- l’engin ne comporte pas d’équipage,  - the craft does not have a crew,
- l’engin est autonome,  - the machine is autonomous,
- l’engin est télécommandé,  - the machine is remote controlled,
- l’engin comporte au moins un propulseur et des organes de navigation,  - the craft comprises at least one propeller and navigation devices,
- l’engin est un drone comportant des équipements de navigation informatiques télécommandés et/ou préprogrammés,  the machine is a drone comprising remotely controlled and / or pre-programmed computer navigation equipment,
- la coque comporte une partie inférieure immergée ou carène et la quille descendue sort vers le bas de ladite partie inférieure immergée de la coque, the hull comprises a submerged lower part or hull and the lowered keel sticks out of said submerged lower part of the hull,
- la coque comporte une partie inférieure non-immergée et la quille descendue sort vers le bas de ladite partie inférieure non-immergée de la coque, la quille descendue comportant alors vers le haut une partie non-immergée, the hull comprises a lower non-immersed part and the lowered keel sticks out from the bottom of the undisclosed lower part of the hull, the lowered keel then comprising a non-immersed part upwards,
- l’engin comporte un mécanisme de remontée et de descente de la quille, ledit mécanisme étant au moins motorisé, - l’engin comporte un moyen de verrouillage de la quille immobilisant la quille par rapport à la coque (plus généralement par rapport au reste de l’engin), the machine comprises a mechanism for raising and lowering the keel, said mechanism being at least motorized, the machine comprises a means of locking the keel immobilizing the keel with respect to the hull (more generally with respect to the rest of the machine),
- l’engin comporte un moyen de verrouillage de la quille en position descendue, the machine comprises a means for locking the keel in the lowered position,
- l’engin comporte un moyen de verrouillage de la quille en position remontée,the machine comprises a means of locking the keel in the raised position,
- la quille est réglable en hauteur sous la coque afin de pouvoir régler la profondeur du bulbe par rapport à la coque, - The keel is adjustable in height under the hull in order to adjust the depth of the bulb relative to the hull,
- l’engin comporte un moyen de verrouillage de la quille pour au moins une position intermédiaire de la quille entre la position remontée et la position descendue,  the machine comprises means for locking the keel for at least one intermediate position of the keel between the raised position and the lowered position,
- la quille est interchangeable,  - the keel is interchangeable,
- le moyen de verrouillage est sans liaison matérielle entre les parties verrouillées entre elles,  the locking means is without a physical connection between the parts locked together,
- le moyen de verrouillage est magnétique et commandé, le moyen de verrouillage magnétique comportant au moins deux pièces complémentaires indépendantes et interagissant magnétiquement entre elles, une des pièces étant disposée côté quille et l’autre pièce, fonctionnellement complémentaire, étant disposée côté coque et, éventuellement, côté kiosque.  the locking means is magnetic and controlled, the magnetic locking means comprising at least two independent and magnetically interacting complementary parts, one of the parts being disposed on the keel side and the other part, functionally complementary, being disposed on the hull side and, possibly, kiosk side.
- chacune des deux pièces du moyen de verrouillage magnétique commandé est choisie complémentairement parmi un ou plusieurs des aimants, des électroaimants, des pièces ferromagnétiques, afin de pouvoir s’attirer, se repousser ou, éventuellement, ne plus avoir d’interaction magnétique, en fonction de commandes,  each of the two parts of the controlled magnetic locking means is complementarily selected from among one or more magnets, electromagnets and ferromagnetic parts, in order to be able to attract, repel or possibly no longer have a magnetic interaction, function of commands,
- les pièces sur la coque et, éventuellement, sur le kiosque sont fixes,  - the parts on the hull and possibly on the kiosk are fixed,
- les pièces sur la coque sont disposées dans le puit de quille,  - the parts on the hull are arranged in the keel well,
- les pièces sur la quille sont fixes sur la quille mais mobiles relativement à la coque et au kiosque du fait de la mobilité de la quille par rapport à la coque, the pieces on the keel are fixed on the keel but mobile relative to the hull and the kiosk because of the mobility of the keel with respect to the hull,
- une même pièce de la quille est utilisée avec au moins deux pièces complémentaires de la coque et/ou du kiosque pour le verrouillage de la quille aux positions au moins descendue et remontée, la pièce de la quille se déplaçant avec la quille pour venir en relation avec la pièce complémentaire fixe de la coque et, éventuellement, du kiosque, - the same piece of the keel is used with at least two complementary parts of the hull and / or the kiosk for locking the keel positions at least down and up, the piece of the keel moving with the keel to come into relationship with the fixed complementary part of the hull and, possibly, the kiosk,
- une commande permet d’attirer entre elles les deux pièces du moyen de verrouillage magnétique,  a command makes it possible to attract between them the two pieces of the magnetic locking means,
- une commande permet de repousser entre elles les deux pièces du moyen de verrouillage magnétique,  a command makes it possible to push back together the two parts of the magnetic locking means,
- une commande permet de supprimer l’interaction magnétique d’attraction ou de répulsion entre les deux pièces du moyen de verrouillage magnétique, - une des deux pièces du moyen de verrouillage est un électroaimant et l’autre pièce complémentaire un électroaimant ou une pièce ferromagnétique, a command makes it possible to suppress the magnetic attraction or repulsion interaction between the two parts of the magnetic locking means, one of the two parts of the locking means is an electromagnet and the other complementary part is an electromagnet or a ferromagnetic part,
- la pièce ferromagnétique est un aimant permanent,  the ferromagnetic part is a permanent magnet,
- au moins une des deux pièces du moyen de verrouillage comporte en outre un aimant permanent,  at least one of the two parts of the locking means further comprises a permanent magnet,
- l’extrémité supérieure de la partie de liaison de la quille comporte la première pièce du moyen de verrouillage et l’engin comporte au moins une seconde pièce complémentaire, la première et la seconde pièces correspondantes venant en correspondance fonctionnelle lorsque la quille est descendue et/ou remontée, les première et seconde pièces pouvant au moins s’attirer en fonction d’une commande de verrouillage, la correspondance fonctionnelle est un vis-à-vis des première et seconde pièces permettant une interaction magnétique entre elles, the upper end of the connecting portion of the keel comprises the first piece of the locking means and the machine comprises at least one second complementary piece, the first and the second corresponding pieces coming into functional correspondence when the keel is lowered and / or reassembly, the first and second parts can at least attract according to a locking control, the functional correspondence is a vis-à-vis the first and second parts for a magnetic interaction between them,
- la quille peut comporter des positions intermédiaires entre la position descendue et la position remontée, the keel may comprise intermediate positions between the lowered position and the raised position,
- la/les positions intermédiaires sont verrouillables,  the intermediate positions are lockable,
- la seconde pièce est dans le kiosque pour permettre le verrouillage de la quille en position remontée,  the second piece is in the kiosk to allow locking of the keel in the raised position,
- la seconde pièce est dans la coque ou en relation de proximité avec cette dernière, notamment dans la partie basse du puit de quille de la coque, pour permettre le verrouillage de la quille en position descendue,  the second piece is in the hull or in close relation with the hull, in particular in the lower part of the keel well of the hull, to allow the keel to be locked in the lowered position,
- le verrouillage est actif, la commande de verrouillage devant être maintenue pour maintenir le verrouillage,  - the lock is active, the lock control must be maintained to maintain the lock,
- le verrouillage est passif, l’arrêt de la commande de déverrouillage assurant le verrouillage,  the locking is passive, the stop of the unlocking control ensuring the locking,
- le déverrouillage est actif, la commande de déverrouillage devant être maintenue pour maintenir le déverrouillage,  the unlocking is active, the unlocking control must be maintained to maintain the unlocking,
- le déverrouillage est passif, l’arrêt de la commande de verrouillage assurant le déverrouillage,  the unlocking is passive, the stop of the locking control ensuring the unlocking,
- au moins une des deux pièces du moyen de verrouillage magnétique est un électroaimant, la commande étant assurée par un courant électrique,  at least one of the two parts of the magnetic locking means is an electromagnet, the control being provided by an electric current,
- le bulbe comporte une extrémité de proue et une extrémité poupe et le bulbe est basculant à l’extrémité inférieure de la partie de liaison de la quille afin de mettre en continuité axiale d’alignement le bulbe et la partie de liaison et la forme en section transversale du bulbe, ladite section étant perpendiculaire à l’extension longitudinale du bulbe, et la forme de la section transversale de la partie de liaison de la quille sont adaptées afin de permettre la remontée du bulbe au moins dans le puit de quille, - le bulbe comporte une extrémité de proue et une extrémité poupe et le bulbe est basculant à l’extrémité inférieure de la partie de liaison de la quille afin de mettre en continuité axiale d’alignement le bulbe et la partie de liaison et la forme en section transversale du bulbe, ladite section étant perpendiculaire à l’extension longitudinale du bulbe, et la forme de la section transversale de la partie de liaison de la quille sont adaptées afin de permettre la remontée du bulbe et d’au moins une des deux extrémités de proue ou de poupe du bulbe dans l’espace de stockage du kiosque, - The bulb has a bow end and a stern end and the bulb is tilting at the lower end of the connecting portion of the keel to align axial alignment of the bulb and the connecting portion and the shape in transverse section of the bulb, said section being perpendicular to the longitudinal extension of the bulb, and the shape of the cross section of the connecting portion of the keel are adapted to allow the bulb to be raised at least in the keel well, - The bulb has a bow end and a stern end and the bulb is tilting at the lower end of the connecting portion of the keel to align axial alignment of the bulb and the connecting portion and the shape in transverse section of the bulb, said section being perpendicular to the longitudinal extension of the bulb, and the shape of the cross section of the connecting portion of the keel are adapted to allow the bulb to rise and at least one of the two ends bow or stern of the bulb in the kiosk storage space,
- l’adaptation entre les formes en section de la partie de liaison de la quille et du bulbe correspond au fait que le bulbe basculé est inclus dans la prolongation vers le bas du gabarit de la partie de liaison de la quille,  the adaptation between the sectional shapes of the connecting part of the keel and the bulb corresponds to the fact that the tilted bulb is included in the extension downwards of the jig of the connecting portion of the keel,
- au moins une partie inférieure du bord arrière de la partie de liaison de la quille est ouverte afin de loger dans le gabarit de la partie de liaison une partie du bulbe basculé,  at least one lower part of the rear edge of the keel connection part is opened in order to accommodate in the jig of the connecting part a part of the tilted bulb,
- la partie de liaison de la quille est remontée en totalité dans la coque,  the connecting part of the keel is raised entirely in the hull,
- la partie de liaison de la quille est remontée en totalité dans le kiosque,  - the connecting part of the keel is reassembled entirely in the kiosk,
- le bulbe basculant est remonté en totalité dans la coque,  - the rocking bulb is reassembled in its entirety in the hull,
- le bulbe basculant est remonté en totalité dans le kiosque,  - the rocking bulb is reassembled in its entirety in the kiosk,
- la partie de liaison de la quille et le bulbe comportent un moyen de verrouillage en position basculée du bulbe et en position non-basculée du bulbe,  the connecting part of the keel and the bulb comprise a locking means in the tilted position of the bulb and in the non-tilted position of the bulb,
- le/les moyens de verrouillage en position basculée et/ou non-basculée du bulbe sont électromagnétiques,  the locking means in the tilted and / or tilted position of the bulb are electromagnetic,
- dans la position non-basculée du bulbe, l’extension longitudinale du bulbe est sensiblement parallèle à l’extension longitudinale de l’engin,  in the non-tilted position of the bulb, the longitudinal extension of the bulb is substantially parallel to the longitudinal extension of the machine,
- dans la position basculée du bulbe, l’extension longitudinale du bulbe est sensiblement parallèle à la partie de liaison de la quille,  in the tilted position of the bulb, the longitudinal extension of the bulb is substantially parallel to the connecting portion of the keel,
- la quille à bulbe pouvant basculer comporte des organes de basculement du bulbe qui sont motorisés et commandés,  the tilting bulb keel comprises bulb tilting members which are motorized and controlled,
- la quille peut comporter un ou plusieurs volets mobiles,  the keel may comprise one or more movable flaps,
- la partie inférieure de la quille comporte un ou plusieurs volets de bord de fuite afin d’agir dynamiquement sur l’assiette transversale de l’engin,  the lower part of the keel comprises one or more trailing edge flaps in order to act dynamically on the transverse attitude of the machine,
- les volets de bord de fuite sont mobiles,  - the trailing edge flaps are movable,
- les volets de bord de fuite sont escamotables afin de rentrer dans le gabarit externe général de la partie de liaison de la quille et pouvoir être remontés dans au moins le puit de quille,  the trailing edge flaps can be retracted in order to fit into the external external jig of the binding part of the keel and be able to be reassembled in at least the keel well,
- le ou les volets mobiles de la quille peuvent être pilotés afin d’influer sur la stabilité transversale de l’engin,  the movable flap (s) of the keel can be piloted in order to influence the transverse stability of the machine,
- le ou les volets mobiles peuvent être asservis à une centrale d’attitude de l’engin. DESCRIPTION DETAILLEE D’UN EXEMPLE DE RÉALISATION - The movable shutter or sliders can be enslaved to a central attitude of the machine. DETAILED DESCRIPTION OF AN EXEMPLARY EMBODIMENT
La description qui va suivre en regard des dessins annexés, donnés à titre d’exemples non limitatifs, fera bien comprendre en quoi consiste l’invention et comment elle peut être réalisée.  The following description with reference to the accompanying drawings, given as non-limiting examples, will make it clear what the invention consists of and how it can be achieved.
Sur les dessins annexés :  In the accompanying drawings:
- la figure 1 représente une vue en perspective d’un drone dont la quille est descendue,  FIG. 1 represents a perspective view of a drone whose keel is lowered,
- la figure 2 représente une vue en perspective du drone de la figure 1 dont la quille est remontée,  FIG. 2 represents a perspective view of the drone of FIG. 1, the keel of which is raised,
- la figure 3 représente une vue en coupe transversale passant par la quille du drone de la figure 1 et dont la quille est descendue,  FIG. 3 represents a cross-sectional view passing through the keel of the drone of FIG. 1 and whose keel is lowered,
- la figure 4 représente une vue en une vue en coupe transversale d’un détail agrandi de la quille et du drone de la figure 1 , et  FIG. 4 represents a view in cross-sectional view of an enlarged detail of the keel and the drone of FIG. 1, and
- la figure 5 représente une vue en coupe transversale passant par la quille du drone de la figure 1 et dont la quille est remontée.  - Figure 5 shows a cross-sectional view passing through the keel of the drone of Figure 1 and whose keel is raised.
Dispositif  Device
A titre d’exemple de réalisation, on a considéré un drone destiné à effectuer des explorations maritimes avec des mesures effectuées par des équipements de mesure installés dans le bulbe de la quille.  As an exemplary embodiment, a drone intended to carry out maritime explorations with measurements carried out by measuring equipment installed in the bulb of the keel was considered.
Sur la figure 1 , on a représenté le drone 1 flottant/de surface de l’invention qui est à propulsion mécanique, en l’espèce avec une hélice 8, et qui comporte une coque 2 fusiforme très étroite. Cette coque très étroite ne donne pas de stabilité transversale à l’engin 1 qui a une forme très effilée et qui fait qu’avec cette coque à étrave effilée on obtient un engin perce-vague. La carène 10, les œuvres mortes et le pont 4 sont donc configurés pour être du de type « perce vague ».  FIG. 1 shows the floating / surface drone 1 of the invention which is mechanically propelled, in this case with a propeller 8, and which comprises a very narrow fusiform shell 2. This very narrow hull does not give transverse stability to the craft 1 which has a very tapered shape and that with this tapered bow hull we obtain a piercing-wave craft. The hull 10, the dead works and the bridge 4 are thus configured to be of the type "vague bore".
Vers le bas de la coque 2, à la partie inférieure de la carène 10, est installée une quille 3 à bulbe 6. Le bulbe 6 étant à l’extrémité inférieure de la quille 3, celui-ci 6 est relié à la coque par une partie de liaison 5 de la quille 3. La quille 3 à bulbe 6 comporte, de préférence dans le bulbe 6, un lest qui donne de la stabilité transversale à l’engin 1. Ce lest est un matériau lourd spécifique, par exemple plomb ou tungstène, et/ou correspond à des équipements, notamment de mesure, installés dans le bulbe 6.  Toward the bottom of the hull 2, at the bottom of the hull 10, is installed a keel 3 bulb 6. The bulb 6 being at the lower end of the keel 3, the latter 6 is connected to the hull by a connecting portion 5 of the keel 3. The keel 3 bulb 6 preferably comprises in the bulb 6, a ballast that gives transverse stability to the machine 1. This ballast is a specific heavy material, for example lead or tungsten, and / or corresponds to equipment, in particular measurement, installed in the bulb 6.
L’engin 1 comporte également, dans cet exemple, un gouvernail 7.  The machine 1 also comprises, in this example, a rudder 7.
Grâce à la forme très étroite de la coque 2 aussi visible sur les figures 1 à 3 et 5, l’engin 1 a une très faible résistance à l’avancement eu égard à sa longueur. La coque 2 avec la quille 3 permet de minimiser les mouvements de tangage. La coque 2 est capable de dépasser avec très peu d’énergie la vitesse limite de carène et de passer en survitesse sans pour autant être d’une forme dite « planante ». Thanks to the very narrow shape of the hull 2 also visible in Figures 1 to 3 and 5, the machine 1 has a very low resistance to advancement with respect to its length. The hull 2 with the keel 3 makes it possible to minimize the pitching movements. The hull 2 is able to exceed with very little energy the limit speed of hull and to pass in overspeed without being of a form called "Planing".
L’engin 1 dont la longueur totale est inférieure à 20 mètres et qui a une longueur minimale d’au moins 2,5 mètres, présente un rapport largeur totale sur longueur totale inférieur à 0,2. De préférence, le drone de l’exemple représenté a une longueur comprise entre 2,5 m et 20 m.  The machine 1 whose total length is less than 20 meters and which has a minimum length of at least 2.5 meters, has a total width to total length ratio of less than 0.2. Preferably, the drone of the example shown has a length of between 2.5 m and 20 m.
L’engin 1 de surface de l’invention avec sa coque fusiforme se distingue donc des navires à propulsion mécanique traditionnels qui ont une géométrie qui leur apporte une stabilité de forme visant à maintenir l’assiette horizontale du navire lors du déplacement des masses emportées et lors des mouvements générés par la mer ou l’océan.  The surface craft 1 of the invention with its fusiform hull is therefore different from traditional mechanical propulsion vessels which have a geometry that gives them a stability of shape to maintain the horizontal attitude of the ship during the displacement of the masses carried and during movements generated by the sea or the ocean.
Les éléments de l’engin 1 disposés au-dessus de la ligne de flottaison et notamment ceux sur le pont 4 sont d’une hauteur relativement réduite, ou à tout le moins ont une masse propre réduite, afin que le centre de gravité de l’engin avec sa quille descendue soit très bas et afin qu’il offre peu de prise au vent. L’engin ne comporte pas de voile, de mât ou de gréement ou tout autre équipement destiné à se servir de la force du vent. Il a donc un écho radar faible du fait de sa forme, sa taille et de la faible hauteur des parties émergées.  The elements of the machine 1 arranged above the waterline and in particular those on the deck 4 are of a relatively small height, or at least have a reduced mass, so that the center of gravity of the gear with its keel lowered is very low and so it offers little grip wind. The craft does not include a sail, mast or rigging or any other equipment intended to use the force of the wind. It therefore has a weak radar echo because of its shape, its size and the low height of the emerged parts.
Bien que l’engin n’utilise pas le vent pour sa propulsion et donc qu’il ne comporte pas de mat ou autre appendice en hauteur dédié à l’utilisation du vent pour la propulsion, l’engin peut cependant comporter un kiosque 9 ou une mature servant notamment à porter les équipements radios et/ou optiques et/ou génératrice éolienne et/ou capteurs, ainsi qu’à remonter aussi haut que possible les éventuelles prises d’air utiles à certains modes de fonctionnement du drone.  Although the machine does not use the wind for its propulsion and therefore it does not include a mat or other appendage in height dedicated to the use of wind for propulsion, the machine may however comprise a booth 9 or a mature used in particular to carry the radio and / or optical equipment and / or wind generator and / or sensors, and to go up as high as possible possible air intakes useful to certain modes of operation of the drone.
Les parois extérieures de la coque 2 et du kiosque 9, de préférence dans leurs parties non immergées, comportent des trappes de visite permettant d’accéder à l’intérieur de certains des compartiments de l’engin 1.  The outer walls of the hull 2 and the kiosk 9, preferably in their non-immersed parts, comprise inspection hatches allowing access to the interior of some of the compartments of the machine 1.
Les matériaux constituant l’engin, en particulier sa coque 2 et son kiosque 9, peuvent être choisis en fonction des besoins. Par exemple on peut utiliser pour la coque 2 et/ou le kiosque 9 des métaux pour conserver un écho radar ou alors des matériaux composites, notamment fibre de verre, dans le cas contraire.  The materials constituting the machine, in particular its hull 2 and its booth 9, can be chosen according to the needs. For example one can use for the shell 2 and / or kiosk 9 metals to retain a radar echo or composite materials, including fiberglass, otherwise.
L’engin 1 , qui n’est pas un modèle réduit d’un navire existant, est en l’espèce un drone destiné à réaliser des mesures acoustiques sonar, les systèmes de mesures acoustiques, en particuliers les transducteurs d’émission et de réception d’ondes acoustiques, sont disposés dans le bulbe 6 de la quille 3. En outre, la quille 3, en particulier son bulbe 6, comporte également une centrale d’attitude qui permet des corrections précises des mesures acoustiques du fait que cette centrale d’attitude est positionnée au plus près des transducteurs acoustiques. Cet engin 1 est autonome en ce qu’il comporte des moyens de propulsion mécaniques 8 et une source d’énergie interne. Il ne s’agit donc pas d’un dispositif remorqué et/ou relié par un câble à un navire ou un autre équipement flottant ou non. Dans une variante de mise en œuvre, il peut être remorqué. The machine 1, which is not a model of an existing ship, is in this case a drone intended to carry out sonar acoustic measurements, the acoustic measurement systems, in particular the transmission and reception transducers. acoustic waves, are arranged in the bulb 6 of the keel 3. In addition, the keel 3, in particular its bulb 6, also comprises an attitude unit which allows precise corrections of the acoustic measurements because this central d attitude is positioned as close as possible to the acoustic transducers. This machine 1 is autonomous in that it comprises mechanical propulsion means 8 and an internal source of energy. It is not therefore a device towed and / or connected by a cable to a ship or other equipment floating or not. In an implementation variant, it can be towed.
Grâce à la forme de la coque 2 de l’engin 1 , on diminue la résistance à l’avancement aussi bien en eau calme qu’en eau agitée et on obtient une diminution des mouvements générés sur l’engin 1 par l’agitation des vagues. La forme de l’engin 1 et de sa quille 3 permet d’améliorer les écoulements autour des transducteurs acoustiques et évite la formation de bulles ayant un effet masquant au niveau des transducteurs acoustiques. Il en résulte une diminution des « bruits » qui, dans les navires traditionnels, parasitent les mesures acoustiques.  Thanks to the shape of the hull 2 of the machine 1, the resistance to travel is reduced both in calm water and agitated water and we obtain a decrease in the movements generated on the machine 1 by the agitation of waves. The shape of the machine 1 and its keel 3 improves the flow around the acoustic transducers and prevents the formation of bubbles having a masking effect at the acoustic transducers. The result is a decrease in "noises" which, in traditional ships, interfere with acoustic measurements.
Ce drone est donc propulsé mécaniquement et on utilise au moins un moteur électrique ou à combustion interne/réaction chimique ou même mixte, qui peut actionner une hélice 8 ou, dans des variantes, plusieurs hélices ou une ou plusieurs turbines.  This drone is propelled mechanically and uses at least one electric motor or internal combustion / chemical reaction or even mixed, which can actuate a propeller 8 or, in variants, several propellers or one or more turbines.
La quille 3 peut être descendue et remontées, de préférence plus ou moins remontée, pour notamment pouvoir choisir le tirant d’eau de l’engin. Sur la figure 2, la quille 3 a été remontée et le bulbe 6 reste sous la coque 2, la plus grande partie de la hauteur de la partie de liaison 5 de la quille 3 ayant coulissé à l’intérieur de la coque de l’engin et même, pour l’extrémité supérieure de la partie de liaison 5, ayant gagné un espace de stockage 13 de quille situé à l’intérieur du kiosque 9, comme on peut mieux le voir sur la figure 5.  The keel 3 can be lowered and reassembled, preferably more or less reassembled, in particular to choose the draft of the machine. In Figure 2, the keel 3 has been raised and the bulb 6 remains under the shell 2, most of the height of the connecting portion 5 of the keel 3 having slid inside the hull of the gear and even, for the upper end of the connecting portion 5, having gained a keel storage space 13 located inside the kiosk 9, as can be seen better in Figure 5.
Le kiosque 9 ou mature comporte donc au moins d’une partie creuse suffisamment volumineuse pour contenir la partie de la quille dépassant du pont ou des superstructures lorsque la quille 3 est en position remontée/haute.  The kiosk 9 or mature therefore comprises at least a hollow portion sufficiently large to contain the portion of the keel protruding from the deck or superstructures when the keel 3 is in up / down position.
Le kiosque 9 peut avoir une forme aérodynamique et d’autres fonctions que la seule fonction de stockage d’au moins une partie supérieure de la quille remontée.  The kiosk 9 may have an aerodynamic shape and other functions that the only function of storing at least an upper portion of the keel raised.
Dans un mode de réalisation préféré, la quille 3 est en outre démontable et interchangeable. Il est également préféré que le bulbe 6 de la quille 3 soit interchangeable de la quille de manière à ce que le drone puisse être utilisé avec différentes configurations de transducteurs acoustiques de divers bulbes.  In a preferred embodiment, the keel 3 is further removable and interchangeable. It is also preferred that the bulb 6 of the keel 3 is interchangeable from the keel so that the drone can be used with different configurations of acoustic transducers of various bulbs.
La coque comporte un puit de quille dans lequel la quille est descendue en position basse/sortie de la quille.  The hull has a keel well in which the keel is lowered into the lower position / exit of the keel.
Ce puit de quille peut être matérialisé par une colonne creuse ajustée aux taille et forme de la quille ou correspondre à une zone plus large de passage de la quille, voire correspondre à un large compartiment interne de l’engin. Dans le cas où le puit de quille n’est pas une colonne ajustée à la quille, comme dans l’exemple représenté sur les figures, on prévoit que la quille traverse au moins deux passages ajustés et disposés à des hauteurs différentes afin de permettre un guidage effectif en montée et descente de la quille et la stabiliser le long d’un axe vertical (ou voisin de la verticale) stable une fois en place et verrouillée à la hauteur désirée. Sur les figures 3 et 5, on peut voir que le passage ajusté 14 du bas correspond au passage de la quille 3 à travers le fond de la coque 2, ce passage permettant le coulissement de la quille 3 pouvant être étanchéifié. Toujours sur les figures 3 et 5, on peut voir que le passage ajusté 15 du haut correspond au passage de la quille 3 à travers un entrepont 12 interne de l’engin 1 , ce passage permettant le coulissement de la quille 3 pouvant éventuellement aussi être étanchéifié. This keel well can be materialized by a hollow column adjusted to the size and shape of the keel or correspond to a wider zone of passage of the keel, or even correspond to a large internal compartment of the machine. In the case where the keel well is not a column adjusted to the keel, as in the example shown in the figures, it is expected that the keel passes through at least two adjusted passages and arranged at different heights to allow effective guidance up and down the keel and stabilize along a vertical axis (or close to the vertical) stable once in place and locked at the desired height. In Figures 3 and 5, it can be seen that the fitted passage 14 of the bottom corresponds to the passage of the keel 3 through the bottom of the shell 2, this passage allowing the sliding of the keel 3 can be sealed. Still in FIGS. 3 and 5, it can be seen that the fitted passage 15 at the top corresponds to the passage of the keel 3 through an internal tweezer 12 of the machine 1, this passage allowing the sliding of the keel 3 which may also be sealed.
Des moyens de guidage sont donc prévus entre la quille et le puit de quille et, possiblement, l’espace de stockage de quille du kiosque. L’engin dispose donc de moyens de guidage de la quille qui peuvent être un fourreau, des glissières, des paliers, des coulisses...  Guiding means are therefore provided between the keel and the keel well and, possibly, the keel storage space of the kiosk. The machine thus has means for guiding the keel which can be a sheath, slides, bearings, slides ...
De préférence, la partie de liaison 5 de la quille 3 qui est située entre, en bas, le bulbe 6 et, en haut, l’extrémité supérieure de la quille, a une section uniforme sur sa hauteur et le puit de quille de la coque et, possiblement, l’espace de stockage 13 de quille du kiosque, a/ont aussi une section uniforme sur sa/leur hauteur et qui, en plus, est ajustée à celle de la partie de liaison 5 de la quille pour permettre le guidage de la quille. Cet ajustement entre la quille, en particulier la partie de liaison de la quille, et le puit de quille et, éventuellement, de l’espace de stockage de quille du kiosque, participe à la solidarisation stable entre les deux et évite que la quille « batte » par rapport à la coque. En variante, ce guidage peut, comme dans l’exemple représenté sur les figures, être limité à deux ou plus passages de guidage 14, 15 où se situent des ajustements avec la quille 3.  Preferably, the connecting portion 5 of the keel 3 which is located between, below, the bulb 6 and, at the top, the upper end of the keel, has a uniform section over its height and the keel well of the hull and, possibly, the kiosk keel storage space 13, also have a uniform section on its height and which, in addition, is adjusted to that of the connecting portion 5 of the keel to allow the keel guidance. This adjustment between the keel, in particular the binding portion of the keel, and the keel well and, possibly, the kiosk keel storage space, contributes to the stable connection between the two and prevents the keel bat "in relation to the hull. Alternatively, this guidance may, as in the example shown in the figures, be limited to two or more guide passages 14, 15 where adjustments are made with the keel 3.
La quille relevable est ainsi guidée mécaniquement dans le puit de quille et, éventuellement, dans l’espace de stockage de quille du kiosque, afin de reprendre tous les efforts autres que ceux orientés parallèlement au mouvement de remontée et de descente de la quille de sorte que l’on réalise entre la quille et le navire une liaison de type « glissière ».  The lifting keel is thus mechanically guided in the keel well and, possibly, in the keel storage space of the kiosk, in order to take all the efforts other than those directed parallel to the movement of raising and lowering of the keel so that between the keel and the ship is made a "slide" type connection.
Comme visible sur la figure 3, la quille 3 peut être remontée pour venir s’installer au moins en partie dans un espace de de stockage 13 de quille à l’intérieur du kiosque 9 ou de la mature.  As can be seen in FIG. 3, the keel 3 can be raised to settle at least partly in a keel storage space 13 inside the kiosk 9 or the mature one.
En position haute de la quille, au moins en partie remontée dans le kiosque, la quille peut être verrouillée en place à l’aide de moyens de verrouillage magnétiques (non représentés pour la position haute). Eventuellement, des positions intermédiaires en hauteur de la quille peuvent également être verrouillées à l’aide de moyens de verrouillage magnétiques (non représentés).In the high position of the keel, at least partially raised in the kiosk, the keel can be locked in place using magnetic locking means (not shown for the high position). Optionally, intermediate positions in height of the keel can also be locked with magnetic locking means (not shown).
Le dernier degré de liberté restant, en montée et descente de la quille, est ainsi verrouillé par des moyens de verrouillage magnétiques permettant de bloquer la quille à des hauteurs déterminées par rapport à la coque. Ces hauteurs déterminées sont au moins la position descendue de la quille et la position remontée de la quille correspondant à l’amplitude de déplacement vertical maximal de la quille. The last remaining degree of freedom, ascent and descent of the keel, is thus locked by magnetic locking means for locking the keel at heights determined relative to the hull. These determined heights are at least the lowered position of the keel and the raised position of the keel corresponding to the maximum vertical displacement amplitude of the keel.
Les moyens de verrouillage magnétiques sont constitués de paires fonctionnelles, chacune comportant deux pièces magnétiquement complémentaires pouvant s’attirer et/ou se repousser et/ou devenir inactives magnétiquement en fonction de commandes. Une des deux pièces est un électroaimant et les commandes s’effectuent par l’intermédiaire de courants électriques.  The magnetic locking means consist of functional pairs, each having two magnetically complementary parts that can attract and / or repel and / or become magnetically inactive as a function of commands. One of the two parts is an electromagnet and the controls are carried out by means of electric currents.
Pour simplifier les figures on a représenté complètement les moyens de verrouillage magnétiques seulement pour le verrouillage en position descendue de la quille 3. Ainsi, sur la figure 3 où la quille 3 est verrouillée magnétiquement en position descendue, le moyen de verrouillage magnétique 11 est disposé en relation avec l’extrémité supérieure de la partie de liaison 5 de la quille 3 et avec l’entrepont 12. Sur la figure 4, on a déverrouillé le moyen de verrouillage magnétique 11 pour commencer à remonter la quille et afin de rendre mieux visibles les deux pièces 11a et 11 b du moyen de verrouillage magnétique 11 qui se sont séparées. Ces deux pièces 11 a et 11 b forment une ventouse magnétique ici disposée en relation avec le passage ajusté 15 à travers l’entrepont 12.  To simplify the figures, the magnetic locking means are completely represented only for the locking in the lowered position of the keel 3. Thus, in FIG. 3, where the keel 3 is locked magnetically in the lowered position, the magnetic locking means 11 is arranged in relation to the upper end of the connecting portion 5 of the keel 3 and with the bridge 12. In Figure 4, the magnetic locking means 11 has been unlocked to start raising the keel and to make it more visible the two parts 11a and 11b of the magnetic locking means 11 which have separated. These two pieces 11a and 11b form a magnetic suction cup here disposed in relation to the fitted passage 15 through the tweezers 12.
On comprend qu’un moyen de verrouillage magnétique similaire (non représenté) est mis en œuvre entre l’extrémité supérieure de la partie de liaison 5 de la quille 3 et le kiosque 9 afin de pouvoir verrouiller en position remontée/haute la quille et que pour cela on peut utiliser la même pièce 11 b pour les verrouillages en position descendue et en position remontée.  It is understood that a similar magnetic locking means (not shown) is implemented between the upper end of the connecting portion 5 of the keel 3 and the kiosk 9 in order to lock in the up / down position the keel and that for this we can use the same part 11 b for locking in the down position and in the raised position.
Dans des variantes, on peut prévoir en plus, à titre de sécurité, des moyens de blocage mécaniques activables et désactivables manuellement et en particulier pour la position haute/remontée de la quille, ces moyens de blocage étant par exemple une goupille venant faire prise entre les parois de la partie de liaison 5 et du kiosque 9.  In variants, provision may additionally, as security, mechanical locking means activatable and deactivatable manually and in particular for the up / down position of the keel, these locking means being for example a pin coming between the walls of the connecting part 5 and the kiosk 9.
Des verrouillages de la quille à des hauteurs intermédiaires entre les deux extrêmes précédents sont possibles, soit à des hauteurs prédéterminées, des moyens de verrouillage ponctuels étant installés à ces hauteurs prédéterminées, soit à des hauteurs quelconques. Dans ce dernier cas, une plaque ferromagnétique verticale est disposées le long du puit de quille et un électroaimant disposé dans la quille peut circuler en face de la plaque lors des montées et descente de la quille, l’activation de l’électroaimant provoquant une attraction d’avec la plaque bloquant le déplacement de la quille à toute position voulue en hauteur. Locking of the keel at intermediate heights between the two preceding extremes is possible, either at predetermined heights, punctual locking means being installed at these predetermined heights, or at any height. In the latter case, a vertical ferromagnetic plate is arranged along the keel well and a electromagnet disposed in the keel can flow in front of the plate during the raising and lowering of the keel, the activation of the electromagnet causing an attraction with the plate blocking the displacement of the keel at any desired position in height.
Les verrouillages des électroaimants peuvent être sur le mode « libre sous tension » ou « fermé sous tension » selon les modes de mise en œuvre.  The interlocks of the electromagnets can be in the "free under voltage" or "closed under voltage" mode depending on the modes of implementation.
Dans une modalité simplifiée de mise en œuvre, le bulbe reste sous la coque, éventuellement protégée dans un renfoncement de la coque, et ne passe pas par le puit de quille. Dans une modalité plus évoluée, le bulbe peut aussi remonter par le puit, soit que le puit soit configuré pour laisser le passage au bulbe, soit que le bulbe puisse s’aligner avec la partie de liaison de la quille, par exemple par basculement, et se mettre dans le gabarit projeté de cette partie de liaison, le puit de quille étant de forme ajustée au gabarit de la partie de liaison de la quille.  In a simplified mode of implementation, the bulb remains under the shell, possibly protected in a recess of the hull, and does not pass through the keel well. In a more advanced mode, the bulb can also go up through the well, either the well is configured to allow passage to the bulb, or the bulb can align with the connecting portion of the keel, for example by tilting, and to get into the projected jig of this connecting part, the keel well having a shape adjusted to the jig of the connecting portion of the keel.
La descente et la montée de la quille à travers la coque et le puit de quille, et de et vers l’espace de stockage de quille du kiosque, met en œuvre une motorisation avec un moyen mécanique (non représenté) de remontée forcée : treuil, vérin hydraulique, crémaillère, vis sans fin... et, possiblement aussi de descente forcée et dans ce dernier cas, le verrouillage en position de hauteur de la quille peut être assuré par le moyen mécanique.  The descent and the rise of the keel through the hull and the keel well, and from and to the keel storage space of the kiosk, implements a motorization with a mechanical means (not shown) of forced ascent: winch , hydraulic jack, rack, worm ... and, possibly also forced descent and in the latter case, the lock in height position of the keel can be provided by the mechanical means.
De préférence, à titre de sécurité, on prévoit une butée de descente, empêchant la quille de descendre au-delà d’une limite déterminée. Cette butée de descente peut être une partie plus large de l’extrémité supérieure de la quille et qui vient buter contre un arrêt disposé à l’extrémité inférieure du puit de quille ou, comme sur les figures, disposé en relation avec le passage 15 à travers l’entrepont 12. Cette butée de la quille peut être un élément rapporté vers l’extrémité supérieure de la quille. La butée peut aussi servir de palier haut d’encastrement en position basse de la quille. La butée peut supporter soit le ou les électro-aimants, soit des pièces magnétiques sur lesquelles les électro- aimants peuvent agir magnétiquement par attraction ou répulsion magnétique selon les modalités de mise en œuvre. Le guidage mécanique et les butées et arrêts sont conçus de telle sorte que les seuls efforts auxquels sont soumis les électroaimants sont orientés dans l’axe de déplacement en montée/descente de la quille.  Preferably, as security, a downstop is provided, preventing the keel from going down beyond a determined limit. This downstop may be a wider part of the upper end of the keel and which abuts against a stop disposed at the lower end of the keel well or, as in the figures, disposed in relation to the passage 15 to 12. This keel abutment may be an element attached to the upper end of the keel. The abutment can also be used as a high landing bearing in the lower position of the keel. The abutment can support either the electromagnet (s) or magnetic parts on which the electromagnets can act magnetically by attraction or magnetic repulsion according to the implementation modalities. The mechanical guidance and stops and stops are designed so that the only forces to which the electromagnets are subjected are oriented in the axis of movement up / down the keel.

Claims

REVENDICATIONS
1. Engin (1 ) maritime flottant comportant au moins une coque (2) surmontée d’un pont (4), la coque (2) étant allongée entre une proue et une poupe suivant une direction longitudinale de l’engin (1 ), l’engin (1 ) comportant à sa partie inférieure une quille (3) amovible et à sa partie supérieure un kiosque (9) érigé au- dessus du pont, la quille (3) pouvant être descendue sous la coque (2) et remontée à travers la coque (2), la quille (3) comportant une extrémité inférieure et une extrémité supérieure, en position descendue de la quille l’extrémité supérieure de la quille se raccordant à la coque, caractérisé en ce que l’engin (1 ) est un drone monocoque à propulsion mécanique motorisée et sa coque (2) est fusiforme et effilée et l’engin est perce-vague, l’engin (1 ) ayant une longueur totale inférieure à 20 mètres et supérieure à 2,5 mètres présentant un rapport largeur totale sur longueur totale inférieur à 0,2, la quille (3) descendue comportant un lest donnant de la stabilité transversale à l’engin (1 ), et 1. Machine (1) floating maritime having at least one hull (2) surmounted by a bridge (4), the hull (2) being elongated between a bow and a stern in a longitudinal direction of the machine (1), the machine (1) comprising at its lower part a keel (3) removable and at its upper part a kiosk (9) erected above the bridge, the keel (3) can be lowered under the hull (2) and reassembled through the hull (2), the keel (3) having a lower end and an upper end, in the lowered position of the keel the upper end of the keel connecting to the hull, characterized in that the machine (1 ) is a power-driven unibody UAV and its hull (2) is fusiform and tapered and the craft is a wave-piercing machine, the craft (1) having a total length of less than 20 meters and greater than 2.5 meters a ratio total width over total length less than 0.2, the keel (3) descen due having a ballast giving transverse stability to the craft (1), and
en ce que le kiosque (9) comporte intérieurement un espace de stockage (13) de quille et en ce que la quille (3) et l’espace de stockage (13) de quille du kiosque (9) sont disposés en alignement afin que la quille (3) puisse être remontée par translation vers le haut, au moins en partie dans l’espace de stockage (13) de quille du kiosque (9).  in that the kiosk (9) internally comprises a keel storage space (13) and in that the keel (3) and the keel storage space (13) of the kiosk (9) are arranged in alignment so that the keel (3) can be raised upwardly, at least partly in the keel storage space (13) of the kiosk (9).
2. Engin (1 ) selon la revendication 1 , caractérisé en ce que la quille (3) comporte à son extrémité inférieure un bulbe (6) allongé longitudinalement et relié à l’extrémité supérieure de la quille (3) par une partie de liaison (5) de la quille d’extension longitudinale inférieure à l’extension longitudinale du bulbe (6), et en ce que lorsque la quille (3) est remontée dans le kiosque (9), le bulbe (6) reste sous la coque. 2. Machine (1) according to claim 1, characterized in that the keel (3) has at its lower end a bulb (6) longitudinally elongate and connected to the upper end of the keel (3) by a connecting portion (5) of the keel longitudinal extension lower than the longitudinal extension of the bulb (6), and in that when the keel (3) is raised in the kiosk (9), the bulb (6) remains under the hull .
3. Engin (1 ) selon la revendication 2, caractérisé en ce que la partie de liaison (5) de la quille (3) a une section transversale uniforme sur sa hauteur. 3. Machine (1) according to claim 2, characterized in that the connecting portion (5) of the keel (3) has a uniform cross section over its height.
4. Engin (1 ) selon la revendication 2 ou la revendication 3, caractérisé en ce que le bulbe (6) comporte une face supérieure tournée vers le haut et la coque (2) et une face inférieure tournée vers le bas et en ce que la coque (2) comporte un renfoncement au niveau du raccordement de la coque (2) à la quille (3), ledit renfoncement pouvant loger au moins la face supérieure du bulbe (6) lorsque la quille est remontée. 4. Machine (1) according to claim 2 or claim 3, characterized in that the bulb (6) has an upper face facing upwards and the shell (2) and a lower face facing downwards and in that the shell (2) comprises a recess at the connection of the shell (2) to the keel (3), said recess being able to accommodate at least the upper face of the bulb (6) when the keel is raised.
5. Engin (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce qu’il comporte un mécanisme de remontée et de descente de la quille (3), ledit mécanisme étant au moins motorisé. 5. Machine (1) according to any one of the preceding claims, characterized in that it comprises a mechanism for raising and lowering the keel (3), said mechanism being at least motorized.
6. Engin (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce qu’il comporte un moyen de verrouillage (11 ) de la quille en position descendue. 6. Engine (1) according to any one of the preceding claims, characterized in that it comprises a locking means (11) of the keel in the lowered position.
7. Engin (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce qu’il comporte un moyen de verrouillage (11 b) de la quille en position remontée. 7. Machine (1) according to any one of the preceding claims, characterized in that it comprises a locking means (11b) of the keel in the raised position.
8. Engin (1 ) selon la revendication 6 ou la revendication 7, caractérisé en ce que le moyen de verrouillage (11 ) est magnétique et commandé, le moyen de verrouillage magnétique comportant au moins deux pièces complémentaires (11 a, 11 b) et interagissant magnétiquement entre elles, une des pièces étant disposée côté quille (3) et l’autre pièce, fonctionnellement complémentaire, étant disposée côté coque (2, 12,) et, éventuellement, côté kiosque (9). 8. Machine (1) according to claim 6 or claim 7, characterized in that the locking means (11) is magnetic and controlled, the magnetic locking means comprising at least two complementary parts (11a, 11b) and interacting magnetically with one another, one of the pieces being disposed on the keel side (3) and the other piece, functionally complementary, being arranged on the hull side (2, 12,) and, optionally, on the kiosk side (9).
9. Engin (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce que le bulbe (6) comporte une extrémité de proue et une extrémité poupe et en ce que le bulbe (6) est basculant à l’extrémité inférieure de la partie de liaison (5) de la quille afin de mettre en continuité axiale d’alignement le bulbe (6) et la partie de liaison (5) de la quille et en ce que la forme en section transversale du bulbe (6), ladite section étant perpendiculaire à l’extension longitudinale du bulbe, et la forme de la section transversale de la partie de liaison (5) sont adaptées afin de permettre la remontée du bulbe et d’au moins une des deux extrémités de proue ou de poupe du bulbe (6) dans l’espace de stockage (13) du kiosque (9). 9. Machine (1) according to any one of the preceding claims, characterized in that the bulb (6) has a bow end and a stern end and in that the bulb (6) is tilting at the lower end of the connecting portion (5) of the keel for axially aligning the bulb (6) and the connecting portion (5) of the keel and in that the cross-sectional shape of the bulb (6), said section being perpendicular to the longitudinal extension of the bulb, and the shape of the cross-section of the connecting part (5) are adapted to allow the recovery of the bulb and at least one of the two ends of bow or stern bulb (6) in the storage space (13) of the kiosk (9).
10. Engin (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce que l’engin est destiné à réaliser des mesures acoustiques et il comporte des systèmes de mesures acoustiques comportant des transducteurs d’émission et de réception d’ondes acoustiques, et au moins les transducteurs d’émission et de réception d’ondes acoustiques sont disposés dans le bulbe de la quille. 10. Machine (1) according to any one of the preceding claims, characterized in that the machine is intended to perform acoustic measurements and it comprises acoustic measurement systems comprising acoustic wave emission and reception transducers and at least acoustic wave transmit and receive transducers are disposed in the keel bulb.
EP18826770.2A 2017-12-01 2018-11-30 Floating maritime vessel comprising a detachable measuring keel Active EP3717346B1 (en)

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FR1761547A FR3074474B1 (en) 2017-12-01 2017-12-01 FLOATING MARITIME DEVICE WITH REMOVABLE MEASURING KEEL
PCT/FR2018/053056 WO2019106314A1 (en) 2017-12-01 2018-11-30 Floating maritime vessel comprising a detachable measuring keel

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CN114044095A (en) * 2021-11-19 2022-02-15 四方智能(武汉)控制技术有限公司 Unmanned ship for basin measurement

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US11319037B2 (en) 2022-05-03
FR3074474A1 (en) 2019-06-07
CA3083954A1 (en) 2019-06-06
WO2019106314A1 (en) 2019-06-06
EP3717346B1 (en) 2023-01-25
US20210171166A1 (en) 2021-06-10

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