FR3088614A1 - IMPROVED SELF-CONTAINED SURFACE BOAT - Google Patents

Description

Improved autonomous surface boat

Technical area

The invention is in the field of aquatic drones, and more particularly in that of unmanned surface vehicles (USV, for English Unmanned Surface Vehicles).

These drones, also sometimes referred to as Autonomous Surface Vehicles (ASV) are vehicles capable of navigating without a crew on the surface of the water.

For reasons of simplicity, this patent application will use the word boat to designate such vehicles, without systematically recalling that it is an unmanned boat.

State of the prior art

Such autonomous surface vehicles are known, and more particularly the SPYBOAT® vehicle developed by the company CT2MC in its version known to date.

The known vehicle makes it possible to take water samples in a bottle placed on the deck of the boat, by means of a cannula which, when deployed, extends by passing aft of the boat.

However, the known vehicle is not entirely satisfactory.

Indeed, the removal of liquid is only possible at the bow or stern of the boat, except to harm the stability of the boat.

Statement of the invention

An object of the invention is in particular to remedy all or part of the aforementioned drawbacks.

According to a first aspect of the invention, there is provided an autonomous surface boat comprising a hull and a deck having an upper face, comprising a work location arranged to receive a work module characterized in that work replacement has a hole crossing right under the hull.

According to this characteristic of the invention, it is possible to carry out, by means of the working modules, measurements, analyzes or samples from an intermediate part of the boat, between the bow and the stern, and this without damaging the stability of the boat.

Advantageously, the working module can comprise a winding drum winch with motorized axis and a working head, the working head being connected to a movable end of the cable.

- Preferably, the boat may also include an additional location arranged to receive a camera module, said camera module being provided with a camera positioned on a camera support arm, the camera support arm being articulated on the camera module .

According to one possibility, the boat can also include a control module configured to control the camera support arm.

The boat may also include a cap.

For example, the cap may be arranged to be removably attached to the bridge, for example by means of velcro.

The cap can be fitted with an anti rollover system.

The cover can be fitted with solar modules.

Advantageously, the solar modules can be formed from flexible photovoltaic panels covering the cap.

According to a second aspect of the invention, an autonomous surface catamaran is proposed comprising:

- two boats according to the first aspect of the invention, or one or more of its improvements,

- a gangway designed to be removably attached to the decks of the two boats.

The catamaran can also include a sampling module supported by the gangway.

The sampling module is advantageously provided with a motorized reel which is arranged at the front of the gangway.

According to one possibility, the two boats according to the first aspect of the invention are of identical conformation, in particular with regard to their hull and bow.

Description of the figures

Other advantages and peculiarities of the invention will appear on reading the detailed description of implementations and embodiments in no way limiting, with regard to the appended drawings in which:

FIG. 1 is a schematic plunging perspective view of a boat according to a first embodiment of the invention, seen from port side,

FIG. 2 is a schematic plunging perspective view of the boat shown in the figure, fitted with its modules, seen from port side,

FIG. 3 is a schematic plunging perspective view of the boat shown in FIG. 1, seen from starboard,

- Figure 4 includes a sub-figure 4a showing a perspective view of a working place of the boat, associated with oblong sockets, and a sub-figure 4b presenting a top view of working replacement,

- Figure 5 is a perspective view of a module shown in Figure 2,

- Figure 6 is a schematic plunging perspective view of a catamaran according to a first embodiment, seen from the port side from the bow.

Description of embodiments

As the embodiments described below are in no way limitative, it is possible in particular to consider variants of the invention comprising only a selection of described characteristics, subsequently isolated from the other described characteristics, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art. This selection comprises at least one characteristic, preferably functional without structural details, or with only part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art .

In the figures, an element appearing in several figures retains the same reference.

Description of the monohull version

FIG. 1 illustrates, in a perspective view, a boat 100 according to an embodiment of the invention.

Boat 100 can be used to carry out in situ monitoring and measurement of water quality.

Monitoring missions can be carried out in inland, coastal or offshore waters.

The boat 100 comprises a hull 110, a deck 120 having an upper face 122 of the deck, and a cap 130 (not shown).

The overall dimensions of the boat 100 are 1000 mm in length, 297 mm in width and 161 mm in height.

The bridge 120 comprises, along the longitudinal axis of the bridge 120, from the stern to the bow:

- a system location 140, on the stern side, arranged to receive the power, control and transmission systems,

- two working locations 150, respectively 160, one 160 of the locations being arranged longitudinally more forward than the other 150 of the locations, each of

-Two working places being arranged to receive a working module, respectively 250, 260 (FIG. 2),

- an additional location 170, on the bow side, arranged to receive a camera module or part of a bathymetry module.

The boat 100 also comprises two twin-engines 180.

The boat is equipped with regulatory navigation beacons which makes it ready for future legislative developments to regulate the movement of drones in existing traffic.

The system location

The system location 140 is arranged to include a system module 240, comprising a power supply module (not shown), a control module (not shown) and a communication module (not shown).

The power supply module includes a 12 Ah, 12 Ah LiFePO4 type battery.

The battery has battery charging connectors.

The power supply module also includes an energy switch, of the emergency stop type.

The control and communication module includes:

- a BeagleBone Black Wireless nanocomputer, configured to host integrated piloting and control programs for the boat's organs,

- a data transmission card, LOPY4 type, configured to transmit data according to LoRa, Sigfox, Wifi, Bluetooth standards,

- a transmitter / receiver module, type FRS-RECEPTEUR-X8R, for the remote control,

The nanocomputer controls the engine part and is configured to drive the modules and recover data from the modules.

The nanocomputer has a USB type socket to allow data transfer.

The command and communication module communicates with the modules via an equipped card which controls the equipment: brushless motor (VARO8628), echologger, GPS, boat motor, fpv camera, radio transmission.

The control and communication module can be connected by radio frequency to a boat control remote control.

-5Working place

A plug and play harness to IP67 standard, preferably to IP68 standard, connects the power supply module and the control module to each of the modules that can be accommodated in the work locations 150, respectively 160.

As is better visible in the figure, each of the working locations 150, respectively 160, has a hole 152, respectively 162.

The working location 150 is more precisely shown in sub-figures 4a and 4b.

The work location 150 is associated with two oblong sockets 154, respectively 156.

The two oblong sockets 154, respectively 156, allow a working module to be connected to the communication and central power modules by a “plug and play” type beam verifying the IP67 standard, preferably the IP68 standard.

More generally, each of the modules that can be housed in a location can be connected to the communication and central power supply modules by means of such an oblong socket, connected to such bundles.

The working location 150 comprises a U-shaped seat 158, arranged to receive a support part of a working module and at least partially surrounding the bore 152.

The particular form of replacement for work 150 makes it possible to embark a diving material having a certain mass without affecting the stability of the boat 100.

General presentation of a work module

With reference to FIG. 5, a working module 280 is presented, to which the working modules 250 and 260 respectively conform.

The work module 280 is equipped with an electronic card which if necessary embeds motor controls, and communication with the nanocomputer.

A work module is arranged to cooperate, physically, with a work location 150 and electronically with its two associated oblong sockets.

The work module complies with IP67 standard, preferably IP68 standard.

A work module includes:

- a support part 282, arranged to be received by the seat of a work location,

- a working part 284 (not shown), provided with a working head.

The support part 282 comprises two parallel panels, respectively 283 and 284, serving to support a motor 285, to the axes of a screw system for engine actuation (not shown) and to two axes of pulleys, respectively 287 and 288 .

- 6The motor 285 drives, by means of a belt (not shown), the slicing screw and a winding cylinder 289 provided with cheeks 290, 291 on each side to delimit a winding zone.

The slicing screw is used to guide an electric wire, a pipe or any rope to allow a regular and optimized winding.

The pulleys 287, respectively 288, make it possible to unwind the electric wire, the pipe or any rope centrally with respect to the bore 152 in, to round off the angles of the trajectory of the electric wire, the pipe or n ' no matter what rope and increase the engine force.

The axis of the winding cylinder 289 is received on the seat 158 in a direction substantially transverse to the longitudinal direction.

The support part 282 can comprise power and control connectors, to be connected to one and / or the other of the two oblong sockets 154, respectively 156.

The reel with a rotating joint system on its axis allows a connection connection with the boat's electrical circuit, the bottle system for sampling or any other system on the boat.

The work head can be connected to the movable end of the cable (or hose). Thus, the working head can be lowered to a deployed position, or raised to a retracted position, through the hole 152 provided in the working location. The cable length is now 7 m, to cover the vast majority of uses, but can easily be increased as required.

The probes are of different types and some multi parameters.

For example the Tripod® probe to measure ph, redox, dissolved oxygen temperature and conductivity, turbidity probe.

As part of a sampling module, a working module can have an outlet for sampled liquid.

The additional location

Referring to Figure 3, a camera module (not shown) can be received at the additional replacement level 170, on the bow side.

The camera module can include a camera (not shown) of FPV type, for English First Person View.

The camera can be arranged on a camera support arm (not shown), itself articulated on a base of the camera module. The arm can be controlled by actuator motors of the arm which can be controlled from the control module.

-7The control module can be configured to submerge the camera support arm.

Alternatively, or in combination, a bathymetry module can be received at the additional location 170, on the bow side.

The bathymetry module includes an echo sounder module allowing to provide information on the geography of the bottom of the basins.

The hairdo

The cap 130 (not shown) has the function of allowing the automatic turning of the boat. It is a polystyrene element fixed by velcro on the deck.

The cover 130 is equipped with solar panels to increase the autonomy of the boat. The solar panels can be flexible photovoltaic panels.

Description of the catamaran version

According to another aspect of the invention, a catamaran 1000 is proposed according to an embodiment of the invention.

As illustrated in Figure 6, the catamaran includes:

a boat 100 starboard in accordance with the previous description of an embodiment of a boat according to the invention, or one or more of its improvements,

- a 100 ’port boat in accordance with the previous description of an embodiment of a boat according to the invention, or one or more of its improvements.

- a gangway 1010 arranged to be removably attached to the deck 120, respectively 120 ’, of the boat 100, respectively 100’.

Insofar as the two hulls have a conformation which can be strictly identical to each other, the boat 100 can be placed on the port side and the boat 100 ’can be placed on the starboard side.

One of the nanocomputers present in system replacement 140, respectively 140 ’, is configured to function as a master nanocomputer, while the other of the nanocomputers is configured to function as a slave nanocomputer.

Gateway 1010 includes:

- a central part 1012, and

- three gangway supports, 1014, 1016, 1018, arranged transversely, from the stern towards the bow.

The central part 1012 has a generally rectangular conformation.

--Each of the three gateway supports 1014, 1016, 1018 has on the one hand a central part and on the other hand two lateral parts.

The central part of each of the gateway supports has an elongated rectangular shape shaped to fit around a lower part of the central part 1012.

The lateral parts of each of the gangway supports have a rectangular shape which is shaped to come to marry and be fixed, in a removable manner, on an upper part of the bridge 120, respectively 120 ’.

Also, each of the three gangway supports supports the central part 1012 and rests on the two boats 100 and 100 ’.

In the embodiment shown:

- the lateral parts of the gangway support 1014 are fixed, longitudinally, at the stern, and cover the oblong sockets for system replacement 140, respectively 140 ’,

- The lateral parts of the gangway support 1016 are fixed, longitudinally, between the two working locations 140 and 150, respectively 140 ’and 150’, and cover the oblong sockets of the working location 150, respectively 150 ’.

- The lateral parts of the gangway support 1018 are fixed, longitudinally, between the two working locations 150 and 160, respectively 150 ’and 160’, and cover the oblong sockets of the working location 160, respectively 160 ’.

The central part of the bridge

The central gateway 1012 can be provided with a so-called main sampling module (not shown).

The main sampling module has power and control connectors, to be connected to one and / or the other of the two oblong sockets available.

The sampling module is equipped with a peristaltic pump (not shown), a motorized reel (not shown) which supplies the vial system (500 ml or 1000 ml) via a rail (not shown) fitted with a distributor .

The motorized reel of the sampling module is advantageously placed at the front of the gangway 1010, and thus avoids being subjected to turbulence generated by the blades of the propellers when they are in operation.

Of course, the invention is not limited to the examples which have just been described and numerous modifications can be made to these examples without departing from the scope of the invention. In addition, the different characteristics, forms, variants and embodiments of the invention can

- 9be associated with each other in various combinations insofar as they are not incompatible or mutually exclusive of each other.

- 10 Nomenclature

100, 100 ’ boat 110 shell 120, 120 ’ deck of boat 100, respectively of boat 120 ’ 122 upper deck 120 130 headdress (not shown) 140, 140 ’ system location of boat 100, respectively of boat 100 ’ 150, 160, 150 ’, 160’ working places of boat 100, respectively of boat 100 ’ 152 piercing 154, 156 oblong grips 158 seat 170 additional location of boat 100, respectively of boat 100 ’ 180 motors 250, 260, 280 working modules 282 support part of the working module 284 working part of the working module. 1010 bridge 1012 central part of gateway 1010 1014, 1016, 1018 gateway support

Claims (10)

Claims 1. Autonomous surface boat (100) comprising a hull and a deck (120) having an upper face (122), comprising: - A work location (150, 160) arranged to receive a work module (250, 260) (probes) characterized in that the work replacement comprises a through hole as far as under the hull. 2. Boat according to the preceding claim, wherein the working module comprises a winding drum winch with motorized axis and a working head, the working head being connected to a movable end of the cable. 3. Boat according to any one of the preceding claims, further comprising an additional location (170) arranged to receive a camera module, said camera module being provided with a camera positioned on a camera support arm, the camera support arm. camera being articulated on the camera module. 4. Boat according to any one of the preceding claims, further comprising a cap arranged to be removably attached to the deck (by means of velcro). 5. Boat according to the preceding claim, wherein the cap is provided with an anti rollover system. 6. Boat according to claim 4 or 5, wherein the cap is provided with solar modules. 7. Boat according to the preceding claim, wherein the solar modules are formed of flexible photovoltaic panels covering the cover. 8. Self-contained surface catamaran (100) comprising: - two boats (100 and 100 ’) according to any one of the preceding claims, - a gangway designed to be removably attached to the decks of the two boats. 9. Catamaran according to the preceding claim, further comprising a sampling module supported by the bridge. 10. Catamaran according to the preceding claim, in which the sampling module is 5 with a motorized reel which is arranged at the front of the gangway.