EP3717346B1 - Schwimmendes wasserfahrzeug mit abnehmbarem messkiel - Google Patents

Schwimmendes wasserfahrzeug mit abnehmbarem messkiel Download PDF

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Publication number
EP3717346B1
EP3717346B1 EP18826770.2A EP18826770A EP3717346B1 EP 3717346 B1 EP3717346 B1 EP 3717346B1 EP 18826770 A EP18826770 A EP 18826770A EP 3717346 B1 EP3717346 B1 EP 3717346B1
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EP
European Patent Office
Prior art keywords
keel
bulb
craft
hull
quille
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EP18826770.2A
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English (en)
French (fr)
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EP3717346A1 (de
Inventor
Sébastien GRALL
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Exail SAS
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iXBlue SAS
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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 to a floating maritime vehicle according to claim 1.
  • measuring devices For maritime exploration, we use measuring devices, usually sonars, which are under water. These measuring devices can be towed at the stern of a ship, but it has also been proposed to use craft or drones comprising such measuring devices and having means of propulsion and autonomous and/or remote-controlled navigation. These craft or drones are relatively small in size and in the case of drones, do not have a crew.
  • Boats or floating drones may have appendages under their hull to perform various sometimes combined functions: anti-drift, ballast or equipment support.
  • these appendages will be referred to generically as “keel”.
  • the keel is used for these anti-drift and ballast functions in order to counter the capsizing torque exerted by the sails.
  • the keel On mechanically propelled boats or floating drones, the keel is used for these anti-drift functions but not for ballast. Indeed, the transverse stability of boats or floating drones with mechanical propulsion is above all provided by the very shape of the hull and more specifically its great width. For this reason the keels, generally called “keels”, present on mechanically propelled boats are shallow.
  • the exploration drone is generally brought to the exploration site by a ship which picks it up at the end of the exploration. Between periods of exploration when it is put to sea, the drone is reassembled on the ship.
  • the keel can be a hindrance during maneuvers for recovering or launching the drone and, also, for its storage on the ship.
  • these keels which are located under the hull of the boat or the 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 solutions commonly adopted consists in having these keels liftable, i.e. thanks to a mechanical means and a guidance system, the keel can be totally or partially retracted inside the hull of the boat or the drone.
  • these pins are so large that when lifted they protrude from the top surface of the deck upwards. In this case, they form a catch in the wind and they clutter the decks.
  • craft or drones include an appendix or a series of appendages arranged high above the deck and/or the superstructures.
  • These overhead appendages which can be called “mature” or kiosk, these terms being equivalent in the context of the invention, are used for functions necessary for boats or drones such as supporting various equipment: navigation lights, communication antennas, radars, roofs..., engine exhausts, ventilation inlets/outlets, tank vents...
  • motorized vessels have hulls of a different shape from that of sailboats and these motorized vessels do not have a ballast keel because they do not have to counter a torque created by the wind on a sail of a mast.
  • Other relevant prior art documents are considered to be US 2015/210359 A1 , ES 2 528 566 A1 and EP 1 876 094 A2 .
  • the present invention proposes a maritime machine which comprises a removable keel facilitating the launching and recovery maneuvers as well as the storage, but also being able to allow several modes of navigating the gear according to the position of the keel.
  • the keel in the raised position no longer has any impact on windage and is no longer a hindrance on deck thanks to the fact that it is raised in the kiosk or mast which has an internal keel storage space which receives the part of the raised keel which would otherwise protrude from the deck or superstructures. Due to its submerged positioning, the keel is equipped with measuring devices.
  • the qualifier of maritime for the maritime machine must be taken in a broad sense which can concern as well a machine adapted to the sea or the ocean as for the lakes, rivers or other bodies of water.
  • a drone intended to carry out maritime explorations with measurements carried out by measurement equipment installed in the bulb of the keel has been considered.
  • the floating/surface drone 1 of the invention has been shown which is mechanically propelled, in this case with a propeller 8, and which comprises a hull 2 very narrow fusiform.
  • This very narrow hull does not give transverse stability to the craft 1 which has a very tapered shape and which means that with this tapered bow hull a wave-piercing craft is obtained.
  • the hull 10, the topsides and the deck 4 are therefore configured to be of the “perce vague” type.
  • a keel 3 with a bulb 6 Towards the bottom of the hull 2, at the lower part of the hull 10, is installed a keel 3 with a 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 part 5 of the keel 3.
  • the keel 3 with bulb 6 comprises, preferably in the bulb 6, a ballast which 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 measuring equipment, 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 progress with regard to its length.
  • Hull 2 with keel 3 minimizes pitching movements.
  • the hull 2 is capable of exceeding the hull speed limit with very little energy and of going into overspeed without however being of a so-called “planing” shape.
  • the gear 1 the total length of which 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 therefore differs from traditional mechanically propelled ships which have a geometry which provides them with form stability aimed at maintaining the horizontal trim 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 deck 4 are of relatively low height, or at the very least have a low proper mass, so that the center of gravity of the The machine with its keel lowered is very low and so that it offers little wind resistance.
  • 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 due to 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 mast or other overhead appendage dedicated to the use of the wind for propulsion
  • the machine can however include a kiosk 9 or a mature serving in particular to carry the radio and/or optical equipment and/or wind generator and/or sensors, as well as to raise as high as possible any air intakes useful for certain operating modes of the drone.
  • the outer walls of the hull 2 and the kiosk 9, preferably in their non-submerged parts, include 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 kiosk 9, can be chosen according to requirements.
  • metals can be used for the shell 2 and/or the kiosk 9 to keep a radar echo or else composite materials, in particular fiberglass, in the opposite case.
  • the machine 1 which is not a scale 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
  • 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 includes mechanical propulsion means 8 and an internal energy source. It is therefore not a towed device and/or connected by a cable to a ship or other equipment whether floating or not. In a variant implementation, it can be towed.
  • the resistance to progress is reduced both in calm water and in rough water and a reduction in the movements generated on the machine 1 by the agitation of the waves.
  • the shape of the machine 1 and of its keel 3 makes it possible to improve the flows around the acoustic transducers and avoids the formation of bubbles having a masking effect at the level of the acoustic transducers. This results in a reduction of “noise” which, in traditional ships, interferes with acoustic measurements.
  • This drone is therefore mechanically propelled and at least one electric or internal combustion/chemical reaction or even mixed motor is used, which can actuate a propeller 8 or, in variants, several propellers or one or more turbines.
  • the keel 3 can be lowered and raised, preferably more or less raised, in particular to be able to choose the draft of the craft.
  • the keel 3 has been raised and the bulb 6 remains under the hull 2, the greater part of the height of the connecting part 5 of the keel 3 having slid inside the hull of the machine and even, for the upper end of the connecting part 5, having won a keel storage space 13 located inside the kiosk 9, as can be seen better in the figure 5 .
  • the kiosk 9 or mature therefore comprises at least one hollow part large enough to contain the part of the keel protruding from the deck or the superstructures when the keel 3 is in the raised/high position.
  • Booth 9 can have an aerodynamic shape and other functions than the only storage function of at least an upper part of the lifted keel.
  • the keel 3 is also removable and interchangeable. It is also preferred that the bulb 6 of the keel 3 be interchangeable with the keel so that the drone can be used with different configurations of acoustic transducers of various bulbs.
  • the hull has a keel well into which the keel is lowered in the down position/out 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 area for the 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, provision is made for the keel to pass through at least two passages adjusted and arranged at different heights in order to allow a effective guidance in raising and lowering the keel and stabilizing it along a vertical axis (or close to the vertical) that is stable once in place and locked at the desired height.
  • the adjusted passage 14 at the bottom corresponds to the passage of the keel 3 through the bottom of the hull 2, this passage allowing the sliding of the keel 3 which can be sealed.
  • the adjusted passage 15 at the top corresponds to the passage of the keel 3 through an internal steerage 12 of the machine 1, this passage allowing the sliding of the keel 3 possibly also being sealed.
  • Guide means are therefore provided between the pin and the pin well and, possibly, the pin storage space of the kiosk.
  • the machine therefore has means for guiding the keel which can be a sheath, slides, bearings, slides, etc.
  • the connecting part 5 of the keel 3 which is located between, at the bottom, 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 keel storage space 13 of the kiosk, also has/have a uniform cross-section over its/their height and which, in addition, is adjusted to that of the connection part 5 of the keel to allow the keel guidance.
  • this guide can, as in the example shown in the figures, be limited to two or more guide passages 14, 15 where there are adjustments 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 up all the forces other than those oriented parallel to the movement of raising and lowering the keel so that a connection of the type "slide".
  • the skittle 3 can be raised to come and settle at least partly in a storage space 13 of the skittle inside the kiosk 9 or the mature.
  • 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).
  • magnetic locking means not shown for the high position.
  • intermediate positions in height of the keel can also be locked using magnetic locking means (not shown).
  • the last remaining degree of freedom, in raising and lowering the keel, is thus locked by magnetic locking means making it possible to lock the keel at determined heights with respect 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 amplitude of maximum vertical displacement of the keel.
  • the magnetic locking means consist of functional pairs, each comprising two magnetically complementary parts which can attract and/or repel each other and/or become magnetically inactive depending on commands.
  • One of the two parts is an electromagnet and the controls are carried out via electric currents.
  • the magnetic locking means have been completely shown only for 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 part 5 of the keel 3 and with the steerage 12.
  • the magnetic locking means 11 has been unlocked to begin raising the keel and in order to make the two parts 11a and 11b of the magnetic locking means 11 which have separated better visible.
  • These two parts 11a and 11b form a magnetic suction cup here arranged in relation to the fitted passage 15 through the steerage 12.
  • a similar magnetic locking means (not shown) is implemented between the upper end of the connecting part 5 of the keel 3 and the kiosk 9 in order to be able to lock the keel in the raised/high position and that for this, the same part 11b can be used for the locks in the lowered position and in the raised position.
  • Keel locks at intermediate heights between the two extremes above are 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 an electromagnet arranged in the keel can circulate in front of the plate during the ascents and descents of the keel, the activation of the electromagnet causing an attraction with the plate blocking the movement 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 hull, possibly protected in a recess in the hull, and does not pass through the keel well.
  • the bulb can also go up through the well, either that the well is configured to allow passage to the bulb, or that the bulb can be aligned with the connecting part of the keel, for example by tilting, and get into the template projected from this connecting part, the keel well being of a shape adjusted to the template of the connecting part of the keel.
  • a descent stop is provided, preventing the keel from descending beyond a determined limit.
  • This downhill stop may be a wider part of the upper end of the keel and which abuts against a stop arranged at the lower end of the keel well or, as in the figures, arranged in relation to the passage 15 to through the steerage 12.
  • This abutment of the keel can be an element attached to the upper end of the keel.
  • the abutment can also be used as a high recessed 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 magnetic attraction or repulsion depending on the methods of implementation.
  • the mechanical guidance and the abutments and stops are designed so that the only forces to which the electromagnets are subjected are oriented in the axis of up/down movement of the keel.
  • electromagnet arranged in the keel can circulate in front of the plate during the ascents and descents of the keel, the activation of the electromagnet causing an attraction with the plate blocking the movement 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 hull, possibly protected in a recess in the hull, and does not pass through the keel well.
  • the bulb can also go up through the well, either that the well is configured to allow passage to the bulb, or that the bulb can be aligned with the connecting part of the keel, for example by tilting, and get into the template projected from this connecting part, the keel well being of a shape adjusted to the template of the connecting part of the keel.
  • a descent stop is provided, preventing the keel from descending beyond a determined limit.
  • This downhill stop may be a wider part of the upper end of the keel and which abuts against a stop arranged at the lower end of the keel well or, as in the figures, arranged in relation to the passage 15 to through the steerage 12.
  • This abutment of the keel can be an element attached to the upper end of the keel.
  • the abutment can also be used as a high recessed 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 magnetic attraction or repulsion depending on the methods of implementation.
  • the mechanical guidance and the abutments and stops are designed so that the only forces to which the electromagnets are subjected are oriented in the axis of up/down movement of the keel.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Toys (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Claims (11)

  1. Schwimmendes Wasserfahrzeug (1) mit mindestens einem Schiffsrumpf (2) mit darauf angeordnetem Deck (4), wobei sich der Schiffsrumpf (2) zwischen einem Bug und einem Heck in einer Längsrichtung des Fahrzeugs (1) erstreckt, wobei das Fahrzeug (1) an seinem unteren Teil einen abnehmbaren Kiel (3) und an seinem oberen Teil einen oberhalb des Decks errichteten Aufbau (9) aufweist, wobei der Kiel (3) unter dem Schiffsrumpf (2) hinuntergelassen und durch den Schiffsrumpf (2) heraufgezogen werden kann, wobei der Kiel (3) ein unteres Ende und ein oberes Ende aufweist, wobei das obere Ende des Kiels in hinuntergelassener Position des Kiels mit dem Schiffsrumpf verbunden ist, wobei das Fahrzeug (1) ein Erkundungsfahrzeug und eine einteilige Drone mit motorisiertem mechanischem Antrieb ist und sein Schiffsrumpf (2) eine schlanke und spindelartige Form hat und das Fahrzeug wellenschneidend ist, wobei das Fahrzeug (1) eine Gesamtlänge von weniger als 20 m und mehr als 2,5 m und ein Verhältnis zwischen Gesamtbreite und Gesamtlänge von weniger als 0,2 hat, wobei der hinuntergelassene Kiel (3) einen Ballast aufweist, der dem Fahrzeug (1) Querstabilität gibt, wobei der Kiel ein Meßkiel mit mindestens einem Meßgerät ist und der Aufbau (9) innen einen Lagerraum (13) für den Kiel aufweist und der Kiel (3) und der Lagerraum (13) des Aufbaus (9) für den Kiel so ausgerichtet sind, daß der Kiel (3) durch Translation mindestens teilweise in den Lagerraum (13) des Aufbaus (9) für den Kiel nach oben heraufgezogen werden kann.
  2. Fahrzeug (1) gemäß Anspruch 1, wobei der Kiel (3) an seinem unteren Ende einen längsgerichteten länglichen Körper (6) aufweist, der mit dem oberen Ende des Kiels (3) durch ein Verbindungsteil (5) des Kiels verbunden ist, das eine längsgerichtete Ausdehnung hat, die kleiner als die längsgerichtete Ausdehnung des Körpers (6) ist, und wobei der Körper (6) unter der Schal bleibt, wenn der Kiel (3) in die Kajüte (9) hochgezogen ist.
  3. Fahrzeug (1) gemäß Anspruch 2, wobei das Verbindungsteil (5) des Kiels (3) einen über seine Höhe gleichmäßigen Querschnitt aufweist.
  4. Fahrzeug (1) gemäß Anspruch 2 oder Anspruch 3, wobei der Körper (6) eine nach oben und zum Schiffsrumpf (2) hin gerichtete Oberseite und eine nach unten gerichtete Unterseite aufweist und wobei der Schiffsrumpf (2) im Bereich der Verbindung des Schiffsrumpfs (2) mit dem Kiel (3) eine Verstärkung aufweist, wobei die Verstärkung mindestens die Oberseite des Körpers (6) aufnehmen kann, wenn der Kiel hochgezogen ist.
  5. Fahrzeug (1) gemäß einem der Ansprüche 1 bis 4, wobei es einen Mechanismus zum Hochziehen und Absenken des Kiels (3) aufweist, wobei der Mechanismus mindestens motorisiert ist.
  6. Fahrzeug (1) gemäß einem der Ansprüche 1 bis 5, wobei es ein Mittel (11) zum Verriegeln des Kiels in der hinuntergelassenen Position aufweist.
  7. Fahrzeug (1) gemäß einem der Ansprüche 1 bis 6, wobei es Mittel (11b) zum Verriegeln des Kiels in der hochgezogenen Position aufweist.
  8. Fahrzeug (1) gemäß Anspruch 6 oder Anspruch 7, wobei das Verriegelungsmittel (11) magnetisch und gesteuert ist, wobei das magnetische Verriegelungsmittel mindestens zwei komplementäre und untereinander magnetisch wirkende Teile (11a, 11b) aufweist, wobei eins der Teile auf der Seite des Kiels (3) und das andere, funktionsmäßig komplementäre Teil auf der Schiffsrumpfseite (2, 12) und eventuell auf der Seite des Aufbaus (9) angeordnet ist.
  9. Fahrzeug (1) gemäß einem der Ansprüche 2 bis 8, wobei der Körper (6) ein Bugende und ein Heckende aufweist und wobei der Körper (6) am unteren Ende des Verbindungsteils (5) des Kiels kippbar ist, um den Körper (6) und das Verbindungsteil (5) des Kiels zueinander axial auszurichten und wobei die Form des zur Längsausdehnung des Körpers senkrechten Querschnitts des Körpers (6) und die Form des Querschnitts des Verbindungsteils (5) dazu ausgelegt sind, ein Heraufholen des Körpers und mindestens eines der beiden Enden des Körpers (6), des Bugendes oder des Heckendes, in den Lagerraum (13) des Aufbaus (9) zu ermöglichen.
  10. Fahrzeug (1) gemäß Anspruch 1, wobei der Kiel (3) an seinem unteren Ende einen sich längs erstreckenden und durch ein Verbindungsteil (5) des Kiels mit dem oberen Ende des Kiels (3) verbundenen Körper (6) aufweist, wobei das Verbindungsteil eine Längserstreckung hat, die kleiner als die Längserstreckung des Körpers (6) ist, und wobei der Körper (6) ein Bugende und ein Heckende aufweist und wobei der Körper am unteren Ende des Verbindungsteils (5) des Kiels kippbar ist, um den Körper (6) und das Verbindungsteil (5) des Kiels zueinander axial auszurichten und wobei die Form des zur Längsausdehnung des Körpers senkrechten Querschnitts des Körpers (6) und die Form des Querschnitts des Verbindungsteils (5) dazu ausgelegt sind, ein Heraufholen des Körpers und mindestens eines der beiden Enden des Körpers (6), des Bugendes oder des Heckendes, in den Lagerraum (13) des Aufbaus (9) zu ermöglichen.
  11. Fahrzeug (1) gemäß einem der Ansprüche 2 bis 10, wobei das Fahrzeug dazu bestimmt ist, akustische Messungen auszuführen, und akustische Meßsysteme aufweist, die Sende- und Empfangswandler für akustische Wellen aufweisen, und wobei mindestens die Sende- und Empfangswandler für akustische Wellen im Körper des Kiels angeordnet sind.
EP18826770.2A 2017-12-01 2018-11-30 Schwimmendes wasserfahrzeug mit abnehmbarem messkiel Active EP3717346B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1761547A FR3074474B1 (fr) 2017-12-01 2017-12-01 Engin maritime flottant a quille de mesure amovible
PCT/FR2018/053056 WO2019106314A1 (fr) 2017-12-01 2018-11-30 Engin maritime flottant a quille de mesure amovible

Publications (2)

Publication Number Publication Date
EP3717346A1 EP3717346A1 (de) 2020-10-07
EP3717346B1 true EP3717346B1 (de) 2023-01-25

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US11521500B1 (en) * 2018-10-17 2022-12-06 Amazon Technologies, Inc. Unmanned aerial systems with range finding
FR3119368B1 (fr) * 2021-02-04 2023-12-22 Ixblue Navire autonome motorisé monocoque à quille lestée transformable en trimaran
CN114044095A (zh) * 2021-11-19 2022-02-15 四方智能(武汉)控制技术有限公司 用于流域测量的无人船
WO2024088616A1 (en) * 2022-10-24 2024-05-02 Fnv Ip B.V. Vessel for use in subsea surveying and method of acquiring subsea survey data

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WO2019106314A1 (fr) 2019-06-06
CA3083954A1 (fr) 2019-06-06
US11319037B2 (en) 2022-05-03
EP3717346A1 (de) 2020-10-07
FR3074474A1 (fr) 2019-06-07
US20210171166A1 (en) 2021-06-10
FR3074474B1 (fr) 2022-04-08

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