WO2019239321A1 - Device for catching marine elements - Google Patents

Abstract

A device for catching submerged marine elements, comprising: a floating elongate upper structure (S); a catching net (F) extending downwards from said structure; and a control mechanism (P, C1-C5) for adjusting the vertical dimension of the net from the structure at different points along the structure, such as to adapt to the profile of the seabed.

Description

 title

 "Device for capturing marine elements"

Field of the invention

 The present invention relates generally to devices for capturing marine species, in particular undesirable marine species such as jellyfish.

Background of the invention

 Various types of nets are known for capturing the submerged marine elements. However, the elements located near an irregular seabed have difficulty in being captured, because to avoid such a net catching in the roughness of the bottom, it is necessary to maintain a certain distance between the bottom of the net and the seabed, inevitably preventing the capture of a number of elements. Summary of the invention

 The present invention aims to remedy these drawbacks.

 A device for capturing submerged marine elements is thus proposed, characterized in that it comprises:

 - an elongated, floating upper structure,

 - a catch net extending downwards from this structure,

 - a control mechanism to adjust the vertical dimension of the net from the structure at different points along said structure, so as to adapt to the profile of the seabed.

 The device also optionally includes the following additional characteristics, taken individually or in any technically compatible combination:

 * the device consists of a plurality of elements linked together.

 * the elements are modules each comprising a thread section and a mechanism for controlling the vertical dimension of the thread section.

 * the elements are connected to each other in a fixed manner.

 * the elements are linked together in an articulated manner.

 * the device includes one or more thrusters capable of moving the device directionally.

 * which the control mechanism comprises a plurality of lifting cables attached to the net or to a section of net at different heights.

* the control mechanism comprises in association with the or each plurality of cables a motorized lifting pulley provided with a plurality of grooves on which are wound a corresponding plurality of cables. * the attachment points of said plurality of cables (C1-C5) are located directly above the corresponding lifting pulley.

 * the device comprises at the height of each attachment point of a cable to the net a rod for forming a pocket section of the net.

 * the device also comprises an electronic control device capable of giving instructions to the control mechanism as a function of information on the depth of the body of water where the device is located in conjunction with position information of the device.

 * depth information is provided by a bathymetric map.

 * the bathymetric map is supplied dynamically from an external source.

* the device further comprises a control unit capable of controlling the propellant (s) as a function of a desired trajectory.

 * the trajectory is predefined.

 * the trajectory is defined according to the movement of another element moving on or in the water in the vicinity of the device.

 * the other element is an emerged motorized pilot vehicle.

 * the other item is a swimmer's equipment depending on the device.

 * the other element is a submerged motorized pilot vehicle.

 * the pilot craft is provided with means for the selective capture of submerged marine elements.

 * the device further comprises a detachable structure carrying at least one wheel and on which the top of the net is attached, for handling purposes.

Brief description of the drawings

 Other aspects, aims and advantages of the present invention will appear better on reading the following detailed description of a preferred embodiment of the latter, given by way of non-limiting example and with reference to the accompanying drawings, on which ones :

 FIG. 1 is a perspective view of a net catching device according to the invention,

 FIG. 2a is a top view of the device towed by a boat, the net being free,

 - Figure 2b is a top view of the device towed by a boat, with the net being lifted,

 FIG. 3 is a view of the schematic profile corresponding to FIG. 2b,

- Figure 4 is a side view of an upper structure of the device

 - Figure 5a is a side view of a transmission member fitted to the upper structure,

FIG. 5b is a front view of this same member, FIG. 6a is an elevation view in the fully deployed position of the device,

FIG. 6b is an elevation view in the locally raised position of the device,

FIG. 7 is a view on an enlarged scale of FIG. 5a,

 FIG. 8 is a view on an enlarged scale of FIG. 5b,

 FIG. 9 is a view on an intermediate scale of a transmission assembly comprising the transmission member of FIGS. 5a, 5b, 7 and 8,

 FIG. 10 is a partial elevation view showing part of the transmission member and its cooperation with a net,

 - Figure 1 1 is a view of another detail of the transmission assembly,

 - Figure 12 is an enlarged view of a detail of Figure 2a,

 - Figure 13 is a top view of a net catching device according to another embodiment,

 FIG. 14 is a side elevation view of the device of FIG. 13,

FIG. 15 is a front view of the device in FIGS. 13 and 14,

 - Figure 16 is a detail front view of a lower end of the thread of the device of Figures 13 to 15,

 - Figure 17 is a side view of another detail of a lower end of the thread of the device of Figures 13 to 16,

 FIG. 18 is a functional block diagram of control circuits fitted to the device,

 - Figures 19, 20 and 20 'illustrate three modes of piloting a device according to Figures 13 to 17,

 FIG. 21 illustrates an example of an imposed trajectory of the device in FIGS. 13 to 17,

 - Figures 22 to 24 are three top views in three different positions of a device according to a third embodiment of the invention,

 FIG. 25 is a front view of the device in FIGS. 22 and 25 in a deployed position,

 - Figures 26 to 28 are side elevational views of the device of Figures 22 to 25, in the three positions corresponding to Figures 22 to 24,

 - Figures 29 to 37 illustrate in profile different phases of a recovery operation of the elements collected with the device of Figures 13 to 17,

 FIG. 38a is a top view of a first embodiment of an underwater scooter according to the invention,

 FIG. 38b is a side view of the underwater scooter of FIG. 38a,

FIG. 38c is a front view of the underwater scooter in FIGS. 38a and 38b,

FIG. 38d is a top view of the underwater scooter in FIGS. 38a to 38c,

- Figure 38e is another front view of the scooter, FIG. 38f illustrates a detail of a device for controlling the scooter,

 - Figure 38g is another view of a detail of the control device,

 - Figures 39a to 39i, by similar views, a variant of the first embodiment of the underwater scooter illustrated in Figures 38a-38g,

 FIGS. 40a to 40j illustrate by similar views a variant of the embodiment of FIGS. 39a to 39i,

 - Figures 41a to 41g illustrate by similar views another variant of the embodiment of Figures 39a to 39i,

 - Figures 42a to 42g schematically illustrate a second embodiment of an underwater scooter according to the invention,

 FIGS. 43a to 43e schematically illustrate by similar views, in the closed position, a third embodiment of an underwater scooter according to the invention,

 FIGS. 44a to 44f schematically illustrate this same embodiment, in the open position,

 - Figures 45a-45c and 46a-46c illustrate similar views of a fourth embodiment of the invention,

 - Figures 47a-47i schematically illustrate a variant of the cover CO ’, produced in the form of a mechanical iris in a manner similar to the iris of photographic cameras, except that it is here conical in shape. It is implemented here on underwater drones.

Detailed description of the invention

 Net catching device

 We will now describe with reference to Figures 1 to 12 a net catching device according to the invention.

 This device comprises a net F which is attached to an elongated upper structure

S, here a rectilinear upper beam. The net F is preferably equipped with a set of weights spaced L along its lower edge.

 The beam is made for example of wood (bamboo), aluminum or plastic and designed so as to be floating.

 Net F has a mesh size suitable here for catching jellyfish. Depending on the morphology of the jellyfish in a given region, we adapt this mesh size.

 The upper structure S carries a plurality of transmission assemblies ET intended to locally raise the net F, here by commands carried out from a boat B which tows the device.

Each ET transmission assembly includes a pulley, respectively Pa-Pj, receiving a command from boat B via a respective control cable or cable Ca-Cj, the receiving pulley being rotatably mounted on an axis parallel to the longitudinal axis of the structure S (or also on an axis perpendicular to the vertical plane passing through the corresponding control cable Cx), a mechanism RA of 90 ° angle transmission (or with a different angle, depending on the orientation of the pulley Px) , and a lifting pulley P rotatably mounted about a horizontal axis perpendicular to the longitudinal direction of the elongated structure S.

 Each pulley P includes a set of grooves, here five grooves G1 to G5, of progressively increasing diameters. Five lifting control cables or cables, noted C1 to 5, are engaged with the respective grooves and, at their free end, are attached to the net at five different heights directly above the pulley considered.

 In this example, there are ten groups spaced laterally by five attachment points each.

 It is understood that the rotation of a pulley in the direction of lifting makes it possible to lift the corresponding region of the net F with a greater lifting at the bottom of the net, a less significant lifting at the top of the net, and lifting of intermediate amplitudes in three intermediate regions in the height direction.

 This ensures a local lifting of the net, depending on the irregularities of the seabed, avoiding wrinkling of the net, which could allow jellyfish or other already caught species to escape laterally.

 In particular, with the geometry adopted, the lifting of the bottom of the net is accompanied by a curvature located above the lifting point, on the contrary ensuring good retention of the species caught.

 The control of the localized lifting of the net F is carried out at the level of the boat B, using a set of drums Ta-Tj on which the respective cables Ca-Cj are wound.

 By operating one of the drums Tx, the corresponding pulley Px is rotated via the cable Cx, and the corresponding angle gear RA in turn allows the corresponding pulley P to rotate to operate the lifting.

 By reverse movements, we descend this region of the net.

 It is understood that thanks to the multiplicity of cables Cx and the transmission sets AND and groups of cables C1-C5 associated, it is possible to give at the bottom of the net F any desired profile, closely adapted to the profile of the seabed, in order to capture with a good effectiveness jellyfish or other species located relatively close to this bottom.

 The control of the net can be done manually, using cranks, or automatically.

 In this case, the boat is advantageously equipped with a sonar located in front of the net and capable of determining the profile of the seabed.

From this profile information, the drums Ta-Tj are controlled so as to adapt the profile of the bottom of the net F, in real time as the boat advances, to the profile of the bottom below the net, the speed of advance of the boat relative to the bottom and the horizontal distance between the sonar and the net being taken into account for this calculation.

 With particular reference to Figures 2b and 3, the equipment also comprises means for lifting the net at the end of the capture campaign, these means here comprising two cables or ropes Cr mounted on a specific drum Tr at the rear of the boat and capable to raise the bottom of the net F by simultaneously pulling it forward, preferably while the boat continues to advance, the net thus forming a pocket in which the captured elements are definitively trapped.

 Referring now to Figures 13 to 17, we will describe another embodiment of a capture device according to the invention, this device being autonomous, retaining the variable net profile of the above embodiment and being preferably modular construction.

 Thus the device here comprises a plurality of modules which can be connected to each other to form a complete device.

 Each module includes:

 - a supporting structure S made up of various structural parts S0-S11 assembled together, for example of aluminum, each structure being able to be attached to the structure of an adjacent module,

 - a pulley P with multiple grooves G1-G5 controlled by an electric motor to selectively raise and lower the thread section F of the module by acting at different heights of the thread section using a plurality of ropes F1-F5 for example in Nylon®,

- a set of PR thrusters mounted on the structure S opposite the pulley P,

- one or more FL floats, for example of plastic material filled with air, fixed to the structure S and dimensioned so as to ensure its flotation,

 - an electronic control card to control the pulley motor and the thrusters and communicate with a remote control unit as will be seen in detail below,

 - a battery to power the thrusters, the pulley motor and the electronic card, and

 - protective covers for the battery, the electronic card and the pulley motor.

As a variant of the use of floats, the structure S can itself house one or more air cavities to be unsinkable.

 As shown in Figure 16, the lower region of the net is equipped with a ballast bar L here consisting of several sections connected by ball joints J or flexible connections.

Ropes C1 to C5 are attached to net F at different levels (for example every meter) using clips. At each of the heights is fixed to the net a flexible rod or bar TF facilitating, as will be seen in the following figures, the formation of several pockets the one above the other according to the height of the net, to favor the retention of the captured elements.

 It is understood that by controlling each section of net individually, the profile of the bottom of the net can be adjusted so as to locally adapt to the profile of the bottom of the water.

 It will be noted that thrusters can be provided at the level of each module, or only on a part of the modules and typically the modules located at the ends of the device.

 The modules are assembled to each other at the level of their structures, by any suitable assembly device (bolting, pinching, deformed cooperation, etc.).

 The electronic control cards of the different modules are connected to each other by appropriate electrical conductors, one of these cards playing the role of master electronic system controlling the entire device. The whole is adequately marinized.

 Referring to Figure 17, there is shown a mechanism for the automatic lifting of the lowest section of the net in the event that it accidentally hangs a roughness on the ground. This mechanism comprises an actuating bar BA suspended from the flexible rod TF situated at the upper level by a rope F1 and comprising a finger DO directed towards the rear relative to the direction of movement (arrow F17) of the device. The mechanism also includes a moving part PM articulated on an axis AX1 secured to the ballast bar L and parallel to this bar. This moving part PM includes a part PM1 receiving the end of the finger DO and a part PM2 forming a removable hook taking the ballast bar L. Optionally, this moving part is biased by a spring operating in the direction of maintaining the attachment of the PM2 part on the ballast bar L.

 Finally, an elastic rope FE under tension connects the flexible rod TF of the upper stage to the ballast bar L.

 When during the movement according to arrow F17, the part BA strikes an obstacle, the finger DO urges the moving part to rotate it counterclockwise in Figure 17, so that the part PM2 stops catching the ballast bar L. The rope FE then pulls the ballast bar upwards, to immediately raise the section of the net F locally and prevent it from getting caught in the obstacle.

 We will now describe a certain number of possible aspects of controlling a capture device made up of one or more modules such as that described above.

 First of all, the electronic cards of the different modules are designed so that when they are connected together, one of the cards takes on the role of master and the others take on the role of slaves, in a manner perfectly known per se for skilled person in electronics.

A block diagram of the essential control functions of the device is shown in Figure 18. Advantageously, bathymetry data is stored in one of the electronic cards or in several cards, and the device comprises one or more geolocation units such as GPS units or local positioning units (LPS) using fixed beacons equipping the site to be processed.

 The device is able, depending on the current position of the device (or its future position taking into account the direction and the speed of advance), to control the height of each section of the net corresponding to each module so as to adjust it (with an appropriate margin of error if necessary) to the effective depth of the seabed below this section of net. The joints J fitted to the ballast bar L allow the different sections of net to adopt different heights without creating harmful constraints. The device advantageously comprises, using force sensors at the level of the attachment of the net, an overload detection circuit, making it possible to empty the net (see below) when it is full.

 The bathymetry data can be preexisting and loaded beforehand in the memory of the device, or this data can be acquired (or updated) and memorized on the fly, for example using Sonar type devices provided in the system. In this case, a position determination by GPS or other may not be necessary. In addition, high definition bathymetric maps can be generated for a specific site using a real-time bathymetric survey functionality as proposed, for example, under the trade name Raymarine RealBathy ™. (see for example httD: //www.ravmarine.com/element/ or https://echosondeurs.com/2Q18/12/06/ravmarine- element-avec-hypervieion /).

 See also the following resources:

- which shows how to register a card

bathymetric detail using the "Navionics SonarChart live" solution (here with a Simrad product described at http://ww2.simrad-yachting.com/fr-fr/Produits/NSS-Systeme- Sport / Simrad-NSS16-evo2 -en-en.aspx)

aisDÎayinq-all-charts-avaiiabie-for-downioad / and

show a "social" network of bathymetric maps on C-Map of Lowrance (see also https://youtu.be/7fclWtV0Glg?t=273 which illustrates the sonar log functionality of Lowrance using the playback functionality of Lowrance).

- the comparison of the above approaches on https://youtu.be/-SkxwlZ4kUE?t=138. Combined radar, sonar and lidar technologies can be used (see

The movement of the capture device can be carried out in different ways. Referring to Figure 19, a wireless link (radio, infrared, ultrasound, ...) between the capture device and equipment such as a jet ski allows the capture device to follow the jet ski, such tracking systems (tracking in Anglo-Saxon terminology) being known per se. It can be seen in Figure 19 that thanks to the flexible rods TF fitted to the net, collection pockets are formed at different heights.

 Figure 20 illustrates a similar approach, where the device follows an underwater robot itself equipped with a positioning device and advantageously with depth measurement sensors, which it transmits to the capture device to enable it to adjust the depth of the thread sections F.

 Finally with reference to Figure 20 ', a swimmer has equipment (bracelet, necklace, mask, hat, etc.) capable of generating and sending to the device for capturing waves (ultrasound for example) which, captured by this last, allow the device to move for example a few meters in front of the swimmer during its progression, thus avoiding elements such as jellyfish, being on the swimmer's trajectory because they will first be captured in the net.

 Figure 20 shows an example of a path that can be automatically followed by the device to fully cover a certain area. System direction changes are ensured by controlling each thruster individually. Again, preferably, one of the electronic cards acts as the master system for controlling the trajectory of the device.

 According to another option, the collection device can be remote-controlled by a supervisor either from the shore, or from a boat, so that it traverses under human command a desired area.

 We will now describe with reference to Figures 22 to 28 an alternative embodiment of the capture device.

 Here the structure is no longer strictly speaking modular but with variable geometry.

Thus there is a central section having substantially the same structure and the same components as the module described above, and two side sections simplified in the sense that they have neither propellants nor pulley, these functions being combined at the level of the central section . The two side sections are mounted on two arms hinged to the central section around vertical axes.

 The two lateral sections can be selectively folded down (Figures 24 and 28) or deployed to be laterally aligned with the central section (Figures 22, 25 and 26), or alternatively placed in an intermediate position, oblique to the central section (Figures 23 and 27).

This control of the lateral sections can be manual or motorized, and carried out if necessary automatically in response to the detection of lateral obstacles. It is thus possible to give the capture device a variable width, for example between 60 and 140 cm (with a central section width of 60 cm and side section widths of 40 cm each), to allow the device to for example, sneaking between boats in a port or mooring area.

 According to another variant, the device can consist of a series of modules linked together by arms capable of being fully deployed (and aligned) or folded in accordion, thereby giving the device a variable width with a very large amplitude and excellent adaptability to marine environments congested with boats.

 We will now describe with reference to Figures 29 to 37 a method for recovering and removing the contents of the net of the device described above. This process uses the light wheels fitted to the device in Figures 13 to 17, making it possible to bring the bring back to shore with little effort.

 More precisely, in a first step, the cables C1-C5 are pulled upwards so as to collect the pockets formed by the net at different heights (Figure 29).

 It is observed here that the top of the thread F is attached to a removable structure SA which is part of the structure S but which can be detached therefrom (the fixing being able to be carried out for example by screwing, clipping, etc.).

 Approaching the shore, the net is again extended (Figures 32 and 33) after having separated the clips CL for attaching the cables C1-C5 then the removable structure SA is separated from the collection device and moved towards the end opposite the net (side weight bar L) (Figures 34 to 36) for this time form a single pocket in which all the waste DE is accumulated. The ballast bar L can then be hung on the removable structure, and the assembly can be moved to a waste disposal area.

 The removable structure carrying the net F can then be again attached to the collection device, and the cables C1-C5 again hooked using clips CL at the different heights of the net.

 The capture device can be declined in various ways in terms of structure, dimensions, etc.

 In the modular version, a module can have a width of around 40 cm to 5 m, depending on the extent of the area to be covered.

Description of a specialized underwater scooter

 We know "sea scooters" such as those of the companies Seadoo and Yamaha (for example the Yamaha 500LI).

Manual means are also known (nets) for recovering undesirable elements located between two waters, in particular on bathing sites. In this description, a specialized underwater vehicle is proposed, comprising a cabin, a means of propulsion, a passage, means for selectively opening the passage to the flow of water upstream of the vehicle to recover elements located in the water. .

 Optionally, this machine includes the following additional characteristics, taken individually or in any combination that the skilled person will understand as being technically compatible:

 * the passage leads into the propulsion means to cut the elements taken by the inlet mouth.

 * the machine includes a recovery bag downstream of the propulsion means.

 * the passage leads into a recovery bag to recover the whole elements taken by the entrance mouth.

 * The machine includes a switching means for bringing the elements taken either to the propulsion means, or to the bag for recovering whole elements.

 * the passage includes a conduit extending along the machine and comprising an inlet mouth capable of being selectively closed by a cover.

 * the conduit extends under the machine.

 * the conduit extends around the machine.

 * the cover includes at least one articulated element.

 * the cover includes at least one element with variable geometry.

 * the cover is perforated.

 * the passage communicates with articulated walls forming, in the open position, a funnel projecting radially with respect to an axis of the machine.

 * the machine comprising a cockpit and means for selectively opening the passage from the cockpit.

 * the control means comprise at least one lever operable with an arm of the driver.

 * the control means comprise at least one lever (M) cooperating with a traction cable.

 * items include jellyfish.

 * the machine includes a front camera and a learning automation capable of selectively opening the passage when an element is detected.

 * the learning automation includes a neural network receiving as input images from the camera and manual control information for opening the passage.

 * the machine also comprises means for lighting the frontal region of the machine.

* the lighting means are capable of illuminating objects at the front of the machine at an oblique angle and / or from the sides and / or from below.

* the machine comprises means for adjusting the spectral distribution of the light produced, in the visible and / or in the IR and / or in the UV. * the spectral distribution of the light produced is automatically adjusted by learning means.

 * the machine includes means for acoustic detection of the elements.

 We will now describe this specialized "underwater scooter", which can be obtained by transforming a classic underwater scooter or by assembling an accessory on a classic underwater scooter, to catch jellyfish and if necessary cut them off with the propeller of the underwater scooter, and / or collect them in a submerged bag or "wet bag".

 Thus, the underwater scooter of the invention comprises a passage, in the form of a more or less long conduit or a funnel, provided upstream with an inlet mouth which is selectively openable by the driver of the underwater scooter:

 - by means of levers which can in particular be actuated at the elbows of the driver of the underwater scooter (see RC springs in the Figures),

 - And / or by means of levers, for example similar to bicycle brakes, at the level of the handlebars of the underwater scooter.

 Releasing these levers causes said mouth to close (that is, by default the mouth is in the closed position).

 Downstream, depending on the position of a movable member that will be called a “diversion member” (respectively in service or not), the conduit ends up:

 - either on the propeller of the underwater scooter (which cuts the jellyfish or other caught items) and, advantageously, then collects them in a collection bag ("wet bag") hung on the downstream of the propeller,

 - either directly on a “wet bag” collection bag which is placed upstream of the propeller (to collect the jellyfish / elements without cutting them up), said diversion device preventing the jellyfish / elements from being entrained by the current to the propeller.

 Said bag ("wet bag") can be unhooked (in both cases: whether it is positioned downstream or upstream of the propeller) to be emptied or replaced.

 The mouth of the conduit can open like a Chinese lantern with radial opening or like a classic cover, or even like a mechanical iris (see below with reference to the figures). In the case of the Chinese lantern with radial opening, the mouth is made up of thin metal rods (for example aluminum), each having the shape of a semicircle or otherwise curved, and flexible wires for example nylon connecting them perpendicular to them (thus completing a spherical grid), letting the water pass even when the mouth is in the closed position but playing the role of filter to prevent the elements (fish or algae for example) from passing.

In a first embodiment of the invention (see Figures 38x to 41x below), the duct is located in the vicinity (preferably below) of the motor of the underwater scooter (or of the original underwater scooter if it is a transformation) and occupies only part only from the cross section upstream of the propeller (as can be seen in the figure), in order to brake the underwater scooter less when the mouth is in the closed position).

 In another embodiment (see Figures 42x below), the conduit completely surrounds the motor of the underwater scooter (or the original underwater scooter if it is a transformation). In this case, the original underwater scooter is completely enclosed by the conduit and is located along the central axis of the conduit, leaving a tunnel between it and the conduit to let the jellyfish pass. The handlebar is here located outside the duct.

 In these first two embodiments, the opening of the mouth is actuated by levers at the elbows (see RC compression springs in the Figures) or by one or two levers, as mentioned above. When the levers are tightened at the elbows (Figures 38d or 42d), or when the lever (s) are tightened manually (Figure 41d), these thin semi-circular rods are pulled outwards (Figure 38g or 42g - the mouth goes into the open position) and when they are released they allow the mouth to close automatically (thanks to springs).

 In these first two embodiments, the conduit can be configured (by means of a diversion filter) to direct the jellyfish (or other caught elements) towards a submerged collection bag located upstream of the propeller (or otherwise to let them be driven further downstream and be cut off by the propeller, a submerged collection bag downstream of the propeller is then optional).

 In a third embodiment (with reference to FIGS. 43x and 44x), two levers at the level of the handlebars make it possible to pass into the open position, then the arcs of circle which form the protective grid tilt outwards and take on a 'funnel - more precisely, two funnel parts, one at the top and the other at the bottom, as shown in Figure 44b, in order to allow the driver to hold the handlebars (these two parts being connected by a flexible material ).

 These three embodiments satisfy the same object of the invention: that of allowing the driver of an underwater vehicle (a specialized or adapted underwater scooter) to target jellyfish (or other targets) and suck them up (via or not a conduit), the underwater vehicle being in the closed position by default (for safety reasons) and the driver must open it when he sees his prey.

Advantageously, the underwater vehicle is equipped with a camera and an image recognition system, by self-learning based on the memorization of the openings (made by the human driver) of said mouth in association with the images. respective captured by the camera. This learning is advantageously implemented by neural networks. The result of the learning is, once a sufficient level is reached, used to open said mouth (semi-) automatically: In a first phase, the corrections by the driver (s) make it possible to further refine the learning ; has a At a later stage, the learning result can be used in underwater vehicles which navigate without a driver in search of prey (jellyfish).

 We will now describe in more detail the principles of the various embodiments of the device for capturing and / or destroying jellyfish, all based on a device such as an underwater "scooter", and which we recall are the following :

 1. With an upstream mouth and a duct which does not include the underwater scooter (the upstream mouth being closed by default automatically by springs);

 2. With an upstream mouth and a conduit which includes the underwater scooter (idem);

3. With two half-funnels which are located just upstream of the propeller and which play themselves the role of mouth (which is also closed by default automatically with springs);

 4. Combination of 2 and 3, the opening of the upstream mouth being controlled by a "Machine Learning" device.

 We will now refer to the figures. On these, identical or similar elements or parts are designated as far as possible by the same reference signs.

 Figures 38a to 38f schematically illustrate the first embodiment of an underwater scooter provided in particular with a cabin CA, a handlebar G and a propeller H, in a manner known per se. The underwater scooter comprises levers L which can be actuated at the level of the driver's elbows and an upstream mouth BA closed by a cover CO here having a shape of the half Chinese lantern type with radial opening.

 Figure 38a is a top view which highlights the compression springs RC (not compressed in the figure) which are used to automatically return the levers L to their default position, so as to close the upstream mouth BA (position closed on Figures 38a to 38c).

 Figure 38b is a side view of the device of Figure 38a.

 Figure 38c is a front view in which we can clearly see the upstream mouth in the closed position.

 Figure 38d is a top view on which the levers L are tightened so as to compress the springs RC and open the upstream mouth BA.

 Figure 38e is a front view clearly showing the upstream mouth in the open position.

Figure 38f illustrates in detail a device D located on each side of the upstream mouth BA, which tends to hold the cover closed by means of a small compression spring RC ', the opening of the cover being done by means of a cable C which is pulled at the lever L which can be actuated at the driver's elbow.

Figure 38g shows the detail, compared to the top view of Figure 38d, of the device D located on each side of the upstream mouth which is detailed in Figure 38f (here when the lever L is pressed at the left elbow of the conductor, causing the cable C to be pulled to open the cover and the small spring RC 'to be compressed).

 Figures 39a to 39i illustrate a variant of the first embodiment with levers M on the handlebar G of the underwater vehicle (analogous to bicycle brake levers) and an upstream mouth BA in the form of a "circular cover" .

 Figure 39a is a top view which highlights the levers M whose respective cables C terminate on each side of the cover CO of the upstream mouth BA and allow its opening.

 Figure 39b is a side view of the device of Figure 39a. We see the openwork bag (“wet bag”) WB for recovering the elements.

 Figure 39c is a front view in which the cover is in the closed position.

Figure 39d is a side view where the levers M are tightened so as to open the cover. As detailed in Figure 39f, when a lever M is tightened, a cable C is pulled, causing the cover to rotate to open it while a torsion spring joint RT illustrated in Figure 39g tends to keep closed.

 Figure 39e is a front view showing the upstream mouth BA ’in the open position.

The aforementioned Figure 39f illustrates in detail the device located at the bottom of the upstream mouth, which tends to keep the upstream mouth BA closed by means of the torsion spring RT, the opening of the upstream mouth being done by means of the cable C which is pulled at the level of the lever M which can be actuated by the driver (at least one lever must be actuated to open the upstream mouth).

 Figure 39g to 39i show details of the RT torsion spring joint which tends to return the upstream mouth to the closed position.

 Figures 40a to 40j illustrate a variant of the embodiment of Figures 39a to 39i in which the upstream mouth BA and the cover CO are of semi-circular shape. Advantageously, provision is made in this case for two or more joints with torsion springs.

 Figures 41a to 41g illustrate another variant of the embodiment of Figures 39a to 39i, in which the upstream mouth BA is of the same shape as that of Figures 38a to 38g.

 Figures 42a to 42g schematically illustrate a second embodiment of the invention, with a duct CD which includes the engine MO of the machine, and levers L and an upstream mouth BA identical to those of Figures 38a to 38g.

 Figures 43a to 43e schematically illustrate, in the closed position, a third embodiment with levers M similar to those of Figures 39a to 39i.

Figure 43a is a top view which highlights the torsion spring joint RT1 (the detail of which is presented in Figure 43d) making it possible to urge an upper half-funnel E1 towards its closed position. Figure 43b is a side view which highlights the torsion spring joint RT2 (the detail of which is presented in Figure 43e) allowing the opening of the lower half-funnel E2, the torsion spring tending to close it .

 Figure 43c is a front view, which shows in particular the absence of an upstream mouth in this embodiment.

 Figures 43d and 43e illustrate in detail the torsion spring joint RT2 and the cable C allowing it to be stressed, with a slide CL (on which the cable can slide) and a stop of the cable head BT.

 Figures 44a to 44f schematically show this same embodiment, but in the open position. We see the two half-funnels E1, E2 which are open following the fact that the driver has tightened the levers M. These figures differ in terms of the dimensions of the half-funnels, which can be diverse. Figure 44f also shows two fixed parts E3 and E4 of the funnel, on which the mobile parts E1 and E2 are mounted.

 Figures 45a-45c and 46a-46c illustrate a fourth embodiment of the invention, combining a capture function by mouth before BA and movable cover CO and a capture function by funnel E1, E2.

 Figures 47a-47i schematically illustrate a variant of the CO ’cover, produced in the form of a mechanical iris in a manner analogous to the irises of photographic cameras, except that it is here conical in shape. It is implemented here on underwater drones.

 Preferably, this mechanical iris is designed to let water pass even when it is closed (and it opens to if necessary also let the jellyfish pass).

 Figures 50a-50c and 51a-51f illustrate another embodiment of the underwater scooter, where elements identical or similar to those of the previous figures are designated by the same reference signs. Figures 50a-50c and 51a-51c illustrate the underwater scooter with the capture grid in the open position and in the closed position, respectively. Figures 51d, 51e and 51f are top, front and side views of a gate opening control mechanism.

 This underwater scooter is similar to that of Figures 44x except that it comprises a single upper grid E1, actuable using a lever MA mounted on a lever LE pivoting on a support SU while being urged by a RR return spring. The lever comprises a grid retaining hook CR, which is pivotally mounted in PI in the vicinity of the propellant and which is acted upon by a spring (not shown) making it possible to cause the opening of the grid when the hook actuated by the lever releases that -this.

Advantageously, the underwater scooter according to any one of the above embodiments is equipped with lighting means intended to improve the visual detection of jellyfish, in particular in murky waters and / or in low light situations. These means may include one or more projectors placed offset by relative to the pilot or camera's axis of vision (see below), typically by being placed lower and / or laterally, and if necessary in front, so as to illuminate the objects from the side or from below, thus generating a contrast which greatly facilitates the visual detection of jellyfish.

 The spectral distribution of the light is adapted if necessary to obtain a high contrast. A person skilled in the art will know how to do the tests necessary for this purpose, depending on the marine environment and the properties. The underwater scooter can in this respect be provided with control means making it possible to vary this spectral distribution (reinforcement of particular visible wavelengths, reinforcement in the non-visible ranges IR and / or UV).

 According to another advantageous aspect, the light produced comprises a component in wavelengths capable of causing a phenomenon of luminescence or phosphorescence of the species sought (typically in the UV domain to activate the GFP proteins), again in order to facilitate their visual detection.

 According to another aspect, the visual detection of jellyfish can be supplemented by detection by sonar-type means, with an acoustic wave transmitter, an acoustic wave receiver and processing means (see in particular "Detection of Jellyfish using Acoustic Sensor ", S. S Samsuri, MR Arshad, A.AManaf, MIH Yaacob, 4th International Conférence on Underwater System Technology: Theory and Applications 2012 (USYS'12), 5th & 6th December 2012, Shah Alam, MALAYSIA.

 We will describe a learning system to optimize the catch of jellyfish.

 Such a system aims to multiply the jellyfish capture service on a large number of underwater drones equipped with a detection program based on learning, this system allowing, before launching each new mission, to revalidate the reliability of these drones and, if necessary, to refine the learning in the event of non-validation.

 This system can be used with the embodiments described above, or also with other embodiments, which possibly result from the combination of these with each other.

 This learning detection system is preferably based on a neural network and makes it possible to selectively open the mouth before BA when detecting one or more jellyfish in an image taken by a front camera CM of the craft.

In a vehicle thus equipped, the joysticks M or levers L continue to be able to be used by the driver to manually open the front mouth cover and / or the funnel in the event of a detection fault by the detection system and catch still the unrecognized jellyfish, this action being recognized by opening sensors constituting inputs of the learning system and making it possible to contribute to correcting the learning carried out until then (by carrying out a feedback on the neural network). When a sufficiently reliable level of detection is reached, the neural network constituting the detection software system is transferred to autonomous jellyfish hunting drones (it can be updated by additional learning).

 Learning can also be implemented in order to determine the spectral distribution of the light which is best suited to detection, this spectral distribution can then be adjusted automatically.

 A device according to the invention thus makes it possible both to capture the jellyfish and to learn to recognize them by network of neurons receiving as input the frontal images of the CM camera and the signals for manual control of the mouth and / or the 'funnel.

 Of course, the present invention can be implemented with different variants, modifications and additions. In particular :

 - to increase the capture surface (typically up to several tens of square meters, or even more), a large number of autonomous devices (drones) Ei, Ej can be coupled together, as illustrated in Figures 47g to 47i. In this case, the drone movement control devices are synchronized so as to generate a coherent movement;

 - the device can be supplemented with a bag for recovering captured jellyfish, whether they are intact or crushed by the propeller (either upstream of the propeller, or downstream of the latter). This bag has the shape of a net, the mesh of which is chosen according to the nature of the elements recovered;

 - in the embodiment of Figures 45x and 46x, assuming a progression of the machine by advancing along its main axis, when a jellyfish reaches the mouth upstream BA while it has remained closed, the driver operates at least one of the joysticks M, this having the double effect of catching the jellyfish that the upstream mouth has missed, and of retroacting on the learning system so that it learns that the image contained an unrecognized jellyfish.

 The above inventions apply generally to the cleaning of bodies of water, typically marine areas, in particular for capturing harmful or dangerous species, eliminating algae, eliminating waste, but also for fishing.

 It will be noted that the closing grids of the underwater scooter can be operated in “opening on order” mode or in “closing on order” mode depending on the nature of the operation carried out and the nature of the elements present - for example opening on order. to catch a jellyfish while avoiding catching fish).

Furthermore, provision may be made for an underwater scooter as described above to be coupled to a net capture device as described above, by a wireless link (for example by modulated ultrasound) or by cable, so that the operator-driven underwater scooter acts as the pilot for the net catching device, with an appropriate monitoring system. The underwater scooter can also be instrumented with sensors to give the net capture device depth and / or obstacle presence information (to possibly stop the progression of the device if necessary).

 Alternatively, the underwater scooter can be made autonomous to operate in drone mode.

 In this case, its depth of movement can take into account (in addition to other factors if necessary) bathymetry information sent to it by the electronic card of the net capture device.

The JFB (drone) is equipped with an obstacle detector and can zigzag in front of the Meridia in a wider corridor than that foreseen by the latter. When used in this sense, when it detects something to pick up a little nearby (that is to say outside the corridor of the Mer-maid), it deflects the trajectory of the Mer-maid so that 'he picks it up. Thus, thanks to the joint use of the two, there is a wider cleaning corridor than that which the Mer-maid alone would take.

Claims

claims

1. Device for capturing submerged marine elements, characterized in that it comprises:

 - an elongated upper structure (S), floating,

 - a catch net extending downwards from this structure,

 - a control mechanism to adjust the vertical dimension of the net from the structure at different points along said structure, so as to adapt to the profile of the seabed.

2. Device according to claim 1, which consists of a plurality of elements interconnected.

3. Device according to claim 2, wherein the elements are modules each comprising a thread section and a mechanism for controlling the vertical dimension of the thread section.

4. Device according to claim 2 or 3, wherein the elements are connected together in a fixed manner.

5. Device according to claim 2 or 3, wherein the elements are interconnected in an articulated manner.

6. Device according to one of claims 1 to 5, which comprises one or more thrusters capable of moving the device in a directional manner.

7. Device according to one of claims 1 to 6, wherein the control mechanism comprises a plurality of lifting cables attached to the net or to a section of net at different heights.

8. The device of claim 7, wherein the control mechanism comprises in association with the or each plurality of cables a motorized lifting pulley (P) provided with a plurality of grooves on which are wound a corresponding plurality of cables.

9. Device according to claim 5, wherein the attachment points of said plurality of cables are located directly above the corresponding lifting pulley.

10. Device according to one of claims 1 to 9, which comprises at the height of each attachment point of a cable to the net a rod for forming a pocket section of the net.

1 1. Device according to one of claims 1 to 10, which further comprises an electronic control device capable of giving instructions to the control mechanism based on depth information of the body of water where the device is located in conjunction with device position information.

12. Device according to claim 1 1, wherein the depth information is provided by a bathymetric map.

13. Device according to claim 12, in which the bathymetric map is supplied dynamically from an external source.

14. Device according to claim 6, further comprising a control unit capable of controlling the propellant (s) as a function of a desired trajectory.

15. Device according to claim 14, in which the trajectory is predefined.

16. Device according to claim 14, in which the trajectory is defined as a function of the movement of another element moving on or in the water in the vicinity of the device.

17. Device according to claim 16, in which the other element is an emerged motorized pilot vehicle.

18. Device according to claim 16, in which the other element is a swimmer's equipment according to the device.

19. Device according to claim 16, in which the other element is a submerged motorized pilot vehicle.

20. Device according to claim 19, in which the pilot machine is provided with means for the selective capture of submerged marine elements.

21. Device according to one of claims 1 to 20, further comprising a detachable structure carrying at least one wheel and on which the top of the net is attached, for handling purposes.