WO2020117084A1 - Système flottant robotisé - Google Patents

Système flottant robotisé Download PDF

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Publication number
WO2020117084A1
WO2020117084A1 PCT/RU2018/000776 RU2018000776W WO2020117084A1 WO 2020117084 A1 WO2020117084 A1 WO 2020117084A1 RU 2018000776 W RU2018000776 W RU 2018000776W WO 2020117084 A1 WO2020117084 A1 WO 2020117084A1
Authority
WO
WIPO (PCT)
Prior art keywords
floating
water
floating platform
platform
underwater
Prior art date
Application number
PCT/RU2018/000776
Other languages
English (en)
Russian (ru)
Inventor
Евгений Игоревич ЕСАУЛОВ
Original Assignee
Евгений Игоревич ЕСАУЛОВ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Евгений Игоревич ЕСАУЛОВ filed Critical Евгений Игоревич ЕСАУЛОВ
Priority to PCT/RU2018/000776 priority Critical patent/WO2020117084A1/fr
Publication of WO2020117084A1 publication Critical patent/WO2020117084A1/fr

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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 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
    • B63B39/061—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water by using trimflaps, i.e. flaps mounted on the rear of a boat, e.g. speed boat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/34—Pontoons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
    • B63B34/60—Arrangements for towing, e.g. for use with water-skis or wakeboards

Definitions

  • the invention relates to the field of watercraft floating self-propelled robotic systems of modular design, designed for training and water sports, recreational water shows and other cultural events.
  • the disadvantage of the considered system is the limitation of its functionality.
  • the pontoon is fixed to the shore, and the system can only be located near the coastal zone without the possibility of movement. To change the location of the system, it is necessary to carry out its dismantling, transportation and installation in a new place, which can be time-consuming. Also, this system is exposed to wind waves that cause the pontoon to deviate from a stable equilibrium position, which does not allow the system to be used for sporting events that require maintaining a strictly defined position of the pontoon on water.
  • Aquaglide and Wibit floating pontoon systems have similar drawbacks: http://www.nauticexpo.rU/prod aquaiglide / product-25285-465025 html # product- item 465015. https://www.wibitsports.com/open-water / (viewed 11/01/2018).
  • a known floating system used in the complex for monitoring open water bodies (patent of the Russian Federation> ⁇ ° 133834, published October 27, 2013), which contains a floating platform made in the form of a multi-command radio-controlled antenna through a catamaran having a propeller with a rising rudder to move it on water, while the catamaran is equipped with autonomous batteries with LED charge indicators, surface means for the fence WATER.
  • the disadvantages of this system is the limitation of its functionality.
  • the floating platform can only move due to the radio control function at the current time, while positioning in accordance with predetermined coordinates is not provided.
  • the system is exposed to wind and ship waves, which causes the platform to deviate from a stable equilibrium position.
  • a known floating system used as an attraction (international application JV "2018145188, published 16.08.2018), containing a floating platform with mounted attachments, which can be equipped with engines or propulsors.
  • the technical result of the invention is to expand the functionality of floating self-propelled systems and to achieve the possibility of using sports facilities and equipment for various water sports, entertainment shows and other cultural events.
  • the invention allows to solve the problem of the automated delivery of water sports facilities and the required equipment to the application area, with the maximum increase in the speed of their installation on water at a given point in geographical coordinates in the required position in azimuth with dynamic positioning and operation there in a strictly specified position relative to the horizontal and vertical coordinate axes with compulsory retention in a state of equilibrium with a disturbing effect.
  • ORS floating robotic system
  • an underwater robotic module attached to a floating platform and equipped with means of stabilization and stability of the floating platform on the water along the trim and roll when a deflection moment occurs
  • ORS contains navigation, communication and control.
  • the floating platform is equipped with: one or more floating elements, ensuring its positive buoyancy; a set of batteries and / or a diesel generator for powering all types of on-board electrical equipment (including lighting, electronic and control systems, as well as monitoring, control and communication systems, executive hydraulic and / or electromechanical systems); as well as fixtures for installation:
  • surface mounted equipment in the form of sports facilities and other equipment, including those designed for arranging water sports racing tracks and areas for other water competitions, as well as entertaining water shows using special effects (at least light, fire and laser shows, as well as fireworks, fountains, etc.) and other cultural events;
  • one pontoon can be used, or individual floating streamlined elements fastened to each other in a single structure, including with on-board systems, subsystems and equipment placed in them, switched among themselves using transitional electrical connectors.
  • an underwater robotic module which includes interceptors mounted across the incoming flow of the plate (plate), which can purposefully control the separation of the flow and ensure the reduction of oscillations and the balance of the floating platform under external disturbing influences, including:
  • - horizontally oriented transverse interceptors preferably equipped with hydraulic or electromechanical drives connected to a control system for the angles of their position relative to the floating platform
  • - vertically oriented transverse interceptors which ensure, together with horizontally oriented interceptors, the stability of the floating platform along the trim during the performance of the main stabilization functions of the floating platform at sea and on lakes, equipped, in some cases, with electromechanical or hydraulic rotary drives that change their position angle by 90 degrees relatively vertically oriented longitudinal interceptors, to ensure free linear movement during the movement of the ORS at the heading and / or the use of ORS on the rivers;
  • ORS including those used for the operation of surface equipment for various information purposes and some types of sports facilities, can be additionally or separately equipped with underwater devices for passive stabilization, in the form of at least one tank installed under the bottom of the underwater platform on a pull-out stand and acting as an external ballast tank of a given volume and shape, filled with water through water inlet and outlet openings (windows), equipped, including remotely adjustable shutters for water inlet, when the tank is installed in a working position under water, before the PRS performs the main stabilization functions in point of operation, and water release upon completion of the main functions of stabilization.
  • the indicated capacity can be formed by closed vertically and horizontally oriented longitudinal and transverse interceptors.
  • these tanks become external ballast tanks, which keep the volume of water filled in them from interacting with the water surrounding the tank, while creating an improvement in the balancing qualities of the floating platform.
  • the fastening of a separately installed tank to a floating platform can be with an electromechanical or hydraulic drive, providing a change in the depth of installation of the tank, including in the state closest to the floating platform to ensure free movement of the floating platform when moving along the course from one dislocation point to another.
  • ORS movement of ORS on the water at a given course and its dynamic positioning in the point of application is carried out through the use of underwater rotary (running / steering) propulsion devices mounted on the body of the floating platform and connected to the on-board power supply system and on-board control system, which in turn has an orientation subsystem and satellite navigation.
  • ORS navigation is carried out due to at least one antenna of the GLONASS / GPS / GALILEO satellite signals receiver and signals of ground-based differential correction systems installed on a floating platform.
  • several antennas can be used located on the sides of the floating platform and spaced a sufficient distance for more accurate positioning of the ORS.
  • the azimuthal orientation of the platform is provided by the onboard azimuthal system.
  • the coastal / ship block is a certain set of control, data storage and other systems necessary for the operation and management of the complex.
  • anchors can be used that are mounted on a floating platform and equipped with an electromechanical drive system for lowering and lifting, including those controlled remotely by an operator.
  • a floating robotic system comprises a floating platform 1, surface equipment 2 and an underwater robotic module 3.
  • PRS is a modular design and can be created with different dimensions of the working surface and displacement of the floating platform 1 to accommodate sports facilities and other surface mounted equipment of various functionality and dimensions, including without changing the composition of the equipment of the underwater module 3.
  • Floating platform 1 can include onboard mechanical fasteners for attaching several similar floating platforms to itself and creating a single design that can significantly increase the functionality of the developed system by increasing its application options, for example, two sports facilities for performing synchronized jumps by two participants simultaneously.
  • the floating platform 1 can be equipped with rescue and survival equipment in the open sea in the form of a set of rescue equipment and rafts and perform the functions of a floating rescue station on the water.
  • floating platform 1, being, in fact, a small ship, it can preferably have known ship systems such as fire and diesel / electric power plants with a gas exhaust system that is resistant to flooding with sea water, as well as radar, sound warning systems and other required information systems.
  • Surface equipment 2 installed on a floating platform 1 includes at least:
  • ramps of various designs used both for the movement of water equipment and athletes from the bottom up, and for the movement of athletes from top to bottom for the implementation of jumps and tricks in the air phase of movement, equipped, including remotely controlled subsystems, to change the angle / radius of the working part ramps with hydraulic or electromechanical drives, lighting equipment for the surface structure and its application area, connected to the onboard control system, pump station and / or power unit, and equipment for special effects.
  • Certain types of ramps can be equipped with an elevator for lifting an athlete with sports equipment to the top of the ramp;
  • Surface sports facilities as a special case of surface equipment in the form of ramps installed on a floating platform, have a special profile of the working part surfaces with lateral stiffening ribs of the required shape, together creating a gutter-like structure that acts as a guiding alignment to drive at least the watercraft, jet skis (Jetski) and racing boats, as well as athletes using the appropriate sports equipment, to ensure technical retention means and athletes with lateral sliding due to the action of centrifugal forces that appear, for example, when the desired radius deviates when entering the target section of the ramp and aquaplaning.
  • Jetski jet skis
  • racing boats as well as athletes using the appropriate sports equipment
  • the listed surface mounted sports facilities can be of different designs, not limited by the list, and can be used to implement new water sports disciplines or in a new quality of such sports disciplines and water sports shows as:
  • wakeboarding (trick riding a wakeboard), which is a combination of water skiing, snowboarding, skateboarding and surfing and combining water skiing slalom, acrobatics and jumping and incorporating two disciplines: a wakeboard boat; cable-wakeboarding electric traction.
  • a wakeboard boat a mechanized cable-towing unit with electric traction for cable wakeboarding is provided in a ramp installed on a floating platform of the PRS;
  • Jetski jet skis
  • Ramps can be made on the basis of: frames created from durable materials that perform the role of the supporting structure, including with variable geometry for changing the angle / radius of the working part of the ramp, and a “bedspread” made of durable; but flexible transparent plastic of a specially molded form, at the end of which it is lowered under water and encircled by a floating platform in the form of a "skirt" at a depth, preferably more than one meter, to perform the functions:
  • a protective casing in the event of a collision of a water technical device or an athlete with the platform structure, for example, when an unsuccessful approach to the working part of the ramp or a failure of the jump and a vertical fall of the technical equipment or athlete performing a jump provides protection from contact with the frame of the ramp and the design of the floating platform, to which this sports facility is attached.
  • the design of the working part of some ramps can provide a change in the angle / radius of their working part, including remotely controlled mode via communication channels and is made of several lifting mechanisms in the form, as an option, of articulated multi-link elements, the lower part of which is rigidly connected to the lower part of the structure which, in turn, is attached to a floating platform and provides, with the help of, preferably electromechanical or hydraulic drives, vertical movement of the upper horizontal slats supporting the working part of the ramp, which in turn is made of a solid sheet or multi-link tape made of durable materials that take on the greatest load when sliding technical equipment or sports equipment with an athlete.
  • the working part of the ramp can be equipped with sliding coatings of plastic materials or roller tracks.
  • Underwater robotic module 3 for active stabilization of the horizontal position of the floating platform 1 is installed under the bottom of the floating platform.
  • the underwater robotic module 3 may include at least one electromechanical or hydraulic drive with a control subsystem connected to an element of the stabilization system (interceptor) * of the pump station or the power supply unit of the drive.
  • the electromechanical drive unit or the pumping station is fed by cable from an on-board electric generator or on-board batteries.
  • the underwater module 3 is preferably equipped with longitudinal and transverse vertically oriented and horizontally oriented underwater interceptors in the form of plates of a given strength, area and geometric shape, mounted at a predetermined distance from each other on separate mountings with hydraulic or electromechanical drives attached to them, connected in turn with On-board control system of ORS, pump station and / or power unit.
  • the general underwater design of the interceptors can form figures similar to honeycombs, in which each interceptor, oriented vertically and horizontally (including mounted longitudinally and transversely), will receive due to the drives the angle of its position specified by the computer program relative to the mount in the underwater module.
  • the frames can have locks with an electromechanical or hydraulic drive that automatically close the frames together underwater after setting them in the working position.
  • the tilt of the floating platform is controlled by an onboard orientation system (not shown in the figure), which includes gyroscopes, including laser and other sensors in the orientation system, connected to a control system and a stabilization system that controls the power of hydraulic pumps and / or electromechanical drives connected to the interceptors.
  • an onboard orientation system (not shown in the figure), which includes gyroscopes, including laser and other sensors in the orientation system, connected to a control system and a stabilization system that controls the power of hydraulic pumps and / or electromechanical drives connected to the interceptors.
  • Assembling ORS is carried out, for example, on shore, on board a ship or on a pier.
  • data is transferred and the mission is uploaded to the on-board electronic control system of the ORS, including tasks about its required location on the race track or in the area of the water sports competition or water show.
  • the ORS descends into the water, after which the launch of control programs and propulsors and the fulfillment of the mission are ensured.
  • ORS independently passes to a point of the set geographical coordinates and is established in a given position in azimuth.
  • remote by the operator
  • autonomous control of equipment and executive systems installed on its board is carried out.
  • the ORS Upon completion of the mission, the ORS returns in an autonomous or remotely controlled mode to the specified parking or disassembly point.
  • a set of universal transport and operational containers is created, which will ensure the safe transportation and storage of all elements of the ORS.
  • ORS is a remote-controlled / autonomous water-based robotic system with positive buoyancy that performs the following tasks:

Landscapes

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

Abstract

L'invention concerne un système flottant robotisé (SFR), possédant une structure modulaire et comprenant: une plateforme à flottabilité positive, des modules amovibles surnageants avec un équipement et des structures sportives, des sources d'alimentation électrique autonomes disposées sur la plateforme flottante, des propulseurs immergés de marche et directionnels, un système de positionnement dynamique, des modules amovibles surnageant fixés à la plateforme flottante et dont certains sont équipés de systèmes de changement d'angle/rayon de tremplins, et un module immergé robotisé fixé à la plateforme flottante et comprenant des moyens de contrôle et de maintien d'une position donnée de la plateforme flottante en termes de différence de tirant d'eau et de gîte afin de garantir l'équilibre et la stabilité de la plateforme flottante sur l'eau en cas de couple de déviation; le SFR comprend des moyens de navigation, d'orientation, de communication et de commande. Le résultat technique de la présente invention consiste en un élargissement des capacités fonctionnelles des systèmes flottants pour effectuer des entraînements sportifs et des compétitions sur l'eau, des spectacles récréatifs et autres activtés de divertissement culturelles et grand public.
PCT/RU2018/000776 2018-12-03 2018-12-03 Système flottant robotisé WO2020117084A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/RU2018/000776 WO2020117084A1 (fr) 2018-12-03 2018-12-03 Système flottant robotisé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/RU2018/000776 WO2020117084A1 (fr) 2018-12-03 2018-12-03 Système flottant robotisé

Publications (1)

Publication Number Publication Date
WO2020117084A1 true WO2020117084A1 (fr) 2020-06-11

Family

ID=70974781

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/RU2018/000776 WO2020117084A1 (fr) 2018-12-03 2018-12-03 Système flottant robotisé

Country Status (1)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3934531A (en) * 1974-07-18 1976-01-27 Allen Rudolph A Ocean going cargo transport system
WO2006084942A1 (fr) * 2005-02-14 2006-08-17 Reinikkala, Juha Capsule de sauvetage
EP2679482A2 (fr) * 2010-09-11 2014-01-01 José Nieto León Ensemble d'éléments et de pièces pour le montage, l'agrandissement et la reconversion modulaire rapide et réversible d'embarcations, de radeaux, de passerelles, de ponts flottants et de structures flottantes provisoires comprenant plusieurs flotteurs, particulièrement pour des urgences dans un environnement aquatique
US20140090288A1 (en) * 2012-10-01 2014-04-03 Caleb Freeman Remote Control Fishing Robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3934531A (en) * 1974-07-18 1976-01-27 Allen Rudolph A Ocean going cargo transport system
WO2006084942A1 (fr) * 2005-02-14 2006-08-17 Reinikkala, Juha Capsule de sauvetage
EP2679482A2 (fr) * 2010-09-11 2014-01-01 José Nieto León Ensemble d'éléments et de pièces pour le montage, l'agrandissement et la reconversion modulaire rapide et réversible d'embarcations, de radeaux, de passerelles, de ponts flottants et de structures flottantes provisoires comprenant plusieurs flotteurs, particulièrement pour des urgences dans un environnement aquatique
US20140090288A1 (en) * 2012-10-01 2014-04-03 Caleb Freeman Remote Control Fishing Robot

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