WO2022167490A1 - Autonomous motorised monohull ship with weighted keel transformable into a trimaran - Google Patents

Autonomous motorised monohull ship with weighted keel transformable into a trimaran Download PDF

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Publication number
WO2022167490A1
WO2022167490A1 PCT/EP2022/052494 EP2022052494W WO2022167490A1 WO 2022167490 A1 WO2022167490 A1 WO 2022167490A1 EP 2022052494 W EP2022052494 W EP 2022052494W WO 2022167490 A1 WO2022167490 A1 WO 2022167490A1
Authority
WO
WIPO (PCT)
Prior art keywords
stabilization system
ship
hull
roll stabilization
vessel
Prior art date
Application number
PCT/EP2022/052494
Other languages
French (fr)
Inventor
Sébastien GRALL
Original Assignee
Ixblue
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ixblue filed Critical Ixblue
Priority to EP22702995.6A priority Critical patent/EP4288332A1/en
Priority to US18/264,225 priority patent/US20240092463A1/en
Publication of WO2022167490A1 publication Critical patent/WO2022167490A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
    • B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
    • 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
    • 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
    • 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
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • 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
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B63B2041/003—Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels

Definitions

  • TITLE Monohull motorized autonomous vessel with weighted keel convertible into a trimaran
  • the present invention generally relates to the field of aquatic activities and in particular to measurements of marine spaces and of the seabed by on-board sensors. It relates, more particularly, to an autonomous vessel, or drone, motorized monohull with a weighted keel that can be transformed into a trimaran thanks to a removable anti-roll stabilization system. It can be applied to any aquatic environment: ocean, sea, lake, river...
  • Document FR17 61547 describes a floating maritime device with a removable measuring keel.
  • the motorized machine has a removable keel at the bottom of its hull and at the top of its deck a kiosk erected above the deck.
  • the keel of the craft can be lowered under the hull and raised through the hull into a keel storage space in the kiosk.
  • the unusual implementation of a weighted keel for such a motorized vessel is due to the fact that the vessel is wave-piercing and tapered while having a kiosk at the top.
  • the presence of the weighted keel makes it possible to lower the center of gravity of the ship when it is lowered and makes it possible to stabilize the ship at least with regard to the list and the risks of lateral tipping.
  • the weighted keel must therefore be lowered and the ship then has a relatively large draft of about two meters of water or even a little more.
  • the vessel cannot sail in shallow waters except by raising the weighted keel.
  • This then results in instability, in particular heeling, or even a risk of capsizing/overturning.
  • One solution would be to increase the weight of the ballast at the lower end of the keel to achieve a sufficient lowering of the center of gravity as the keel is raised.
  • this is achieved at the expense of the ship's payload, among other disadvantages.
  • this may still require the weighted keel not to be completely raised, to the detriment of reducing the draft.
  • an autonomous motorized wave-piercing surface vessel with a tapered hull comprising a deck, the vessel comprising a kiosk erected on said deck, the vessel further comprising under the hull a weighted keel intended to lower the center of gravity of the vessel to stabilize the vessel at least against rolling, the keel being removable and being able to be placed in several positions including a low position in which the center of gravity of the vessel is lowered and a raised or extracted position in which the center of gravity of the vessel is raised.
  • the vessel can sail as a monohull or as a trimaran, the hull comprising a removable attachment device for an anti-roll stabilization system intended to counter at least the roll, the anti-roll stabilization system roll comprising an elongated link arm terminated at its two lateral ends by two floats, the link arm comprising a fixing member, the fixing member being configured to be fixed in a removable manner on the fixing device in order to transform the vessel as a trimaran, the two floats being arranged respectively to port and starboard of the hull, and in that the vessel is a monohull in the absence of the anti-roll stabilization system.
  • the deck corresponds to the upper level, out of the water, in the open air, of the hull of the ship,
  • the vessel is an exploration vessel
  • the removable weighted keel is a measuring keel comprising at least measuring instruments
  • the hull of the ship is substantially fusiform with a tapered bow to form a wave-piercing ship
  • the bridge has a convex surface towards the top
  • the vessel has a forward or bow end and an aft or stern end
  • the monohull vessel has a total width to total length ratio of less than 0.2 and a maximum length of less than 20 meters, said length and width being respectively considered along the longitudinal direction of the craft and a horizontal transverse direction perpendicular to the direction longitudinal,
  • the ship presents a ratio of the height above the waterline of the hull and excluding its possible appendages, excluding the kiosk, on the height below the waterline of the hull and excluding its possible appendages, therefore excluding keel, which is less than 0.8 and greater than 0.1,
  • the connecting arm comprises at least one joint which can be locked
  • the anti-roll stabilization system itself can float and is stable with both floats in the water
  • the anti-roll stabilization system itself can float and is stable with the two floats in the water and the link arm at least partly under the water,
  • the anti-roll stabilization system itself can float can navigate
  • the anti-roll stabilization system itself which can float and can navigate moves by its own means, the floats comprising propulsion devices,
  • the anti-roll stabilization system itself which can float and can navigate and comprising propulsion devices, comprises a means of directional control by differential control of the propulsion devices of the two floats,
  • the floats include directional control devices, in particular rudders,
  • the floats have adjustable buoyancy
  • the adjustable buoyancy of the floats makes it possible to raise or lower the link arm of the anti-roll stabilization system, in particular when it is not fixed to the ship,
  • the anti-roll stabilization system itself which can float and can navigate and comprising propulsion components, is remote-controlled,
  • the anti-roll stabilization system itself which can float and can navigate and comprising propulsion components and which is remote-controlled, is remote-controlled by wire or radio-controlled or remote-controlled by modulated light beam, possibly combined,
  • At least one of the automatisms of the anti-roll stabilization system allows automatic docking of the anti-roll stabilization system on the ship's hull
  • At least one of the anti-roll stabilization system automations is an autopilot to follow a programmed trajectory
  • the automatic anti-roll stabilization system is an obstacle avoidance system which makes it possible to avoid collisions with any obstacle detected by perception devices, in particular lidar, cameras, radar, sonar, etc.
  • the anti-roll stabilization system comprises means of perception and sensors
  • the floats of the anti-roll stabilization system comprise means of perception and sensors
  • the link arm of the anti-roll stabilization system comprises means of perception and sensors
  • At least one of the ship's automatic systems is an autopilot allowing it to follow a programmed trajectory
  • At least one of the ship's automated systems is an obstacle avoidance system which makes it possible to avoid collisions with any obstacle detected by perception devices, in particular lidar, cameras, radar, sonar, etc.
  • At least one of the automatisms of the ship is a mission planner, making it possible to carry out sequentially a series of autonomous behaviors, in particular for carrying out a mission of hydrography, oceanography, underwater acoustic positioning, underwater communication bridge marine ⁇ ->surface, all measures at sea...
  • the ship and the anti-roll stabilization system include additional equipment intended to allow automated docking of the anti-roll stabilization system on the ship,
  • the ship and the anti-roll stabilization system include additional equipment intended to allow automated separation of the anti-roll stabilization system from the ship,
  • the fixing member and the fixing device comprise an automated locking-unlocking means controlled by additional equipment of the ship and of the anti-roll stabilization system, in order to allow automated docking or automated separation between the ship and the anti-roll stabilization system,
  • the fixing device is placed at the front of the kiosk
  • the attachment device is arranged on the deck of the hull, the connecting arm passing through the top of the hull, on the deck,
  • the link arm fixing device is located on the underside of the link arm
  • the fixing device is arranged on at least one of the two lateral sides of the hull, the connecting arm passing through the underside of the hull,
  • the link arm fixing device is located on the upper face of the link arm
  • the connecting arm is configured to pass through the top of the hull, on the deck,
  • the connecting arm fixing device is median and is arranged along the arm approximately at equal distance from the two floats
  • the connecting arm fixing device is offset laterally in relation to the midpoint of the connecting arm located at an equal distance from the two floats and one of the two floats has greater buoyancy than the other float,
  • the connecting arm attachment member is median and is arranged along the arm substantially at equal distance from the two floats and the two floats have identical buoyancy
  • At least one of the connecting arm fixing device and the fixing device is adjustable in height
  • the ship is a monohull when the weighted keel is in the down position and the ship is a trimaran when the weighted keel is in the up position or extracted,
  • the height of the kiosk is approximately 1.5 meters measured from its base on the bridge
  • the kiosk has an aerodynamic shape
  • the kiosk has a height ratio (measured from its base) to width (in the transverse direction to the axis of movement of the ship) greater than 3,
  • the kiosk includes a skittle storage space
  • the keel and the keel storage space of the kiosk have main axes in alignment and which are vertical
  • the keel and the keel storage space of the kiosk have main axes in alignment and which are inclined with respect to the vertical
  • the main axis of the kiosk and the main axis of the kiosk storage space of the kiosk are parallel and preferably collinear
  • the kiosk has the keel storage space in its lower part and equipment in the upper part,
  • the hull has a keel well allowing passage downhill and uphill of the keel
  • the removable weighted keel is translatable and can be lowered under the hull in the low position of the keel and be raised at least partially in a keel storage space of the kiosk in the high position of the keel,
  • the removable weighted keel is removable from the ship, the dismounted keel being in the extracted position
  • the vessel has a means of locking the keel in the low position
  • the vessel has a means of locking the keel in the high position
  • the propulsion units of the floats include propellers or turbines
  • the motorized vessel has propeller(s) or turbine(s) propulsion units,
  • the ship has navigation devices, including a rudder,
  • the drone includes remote-controlled and/or pre-programmed computer navigation equipment
  • the removable attachment device and the attachment member comprise electrical connectors allowing the transmission of at least electrical energy between the vessel and the anti-roll stabilization system
  • the removable fixing device and the fixing device comprises electrical connectors allowing the transmission of data
  • the weighted keel has a bulb or gondola at its lower end
  • the bulb is elongated longitudinally
  • a keel connecting part is extended between, upwards, the upper end of the keel, and, downwards, the bulb
  • the keel connecting part has a constant cross section over its height
  • the cross section of the keel connecting part is circular, ovoid or fusiform
  • the keel connecting part has a longitudinal extension less than the longitudinal extension of the bulb
  • the maximum width of the keel connecting part is less than or equal to the maximum width of the bulb, the maximum length of the connecting part being less than the maximum length of the bulb,
  • the ratio of the maximum width of the connecting part to the maximum width of the bulb is between 0.05 and 0.5
  • the bulb is raised against the hull, - in the high position of the keel, the bulb is raised in a recess in the hull, against the hull,
  • the bulb includes at least measuring instruments
  • the ship is intended to carry out acoustic measurements and it comprises acoustic measurement systems comprising transducers for transmitting and receiving acoustic waves, and at least the transducers for transmitting and receiving acoustic waves are arranged in the bulb of the keel,
  • the ship has an attitude measurement unit comprising attitude measurement sensors and at least attitude measurement sensors are arranged in the bulb of the keel,
  • the weighted keel comprises at least one keel fin
  • the keel fin is removable or retractable
  • the keel fin(s) are positioned towards the lower end of the weighted keel
  • the keel fin(s) are placed on the bulb or the gondola
  • the kiosk has a front end oriented towards the front end of the ship
  • the kiosk has an aft end facing the aft end of the ship
  • the connecting arm comprises a notch intended to receive one of the two front or rear ends of the kiosk, the edges of the notch being applied against said end from the kiosk,
  • the assembly of the notch link arm on the kiosk vessel is similar to a straight tail assembly, the link arm partly enclosing the kiosk,
  • the removable hull fixing device and the anti-roll stabilization system connecting arm fixing device are each in two parts, a front part and a rear part,
  • the vessel has a lifting chainplate
  • the lifting chainplate is on the deck, located at the rear of the kiosk,
  • the lifting chainplate is on the deck, located at the front of the kiosk,
  • the anti-roll stabilization system comprises at the front of the link arm a pin intended to be plugged into the lifting chainplate of the ship arranged at the rear of the kiosk, the lifting chainplate and the pin forming a respective front part of the fastening device and of the fastening member in two parts,
  • the shell's removable fastening device has a straight tail
  • the fixing member of the anti-roll stabilization system connecting arm comprises an elongated groove
  • the fastening device comprises a straight shank, arranged at the rear of the lifting chainplate, and the fastening member comprises a groove provided at the underside of the link arm of the anti-roll stabilization system, the groove being widened towards the front of the link arm and narrowed towards the rear of the link arm, the straight tail and the groove forming a part respective rear of the fixing device and of the fixing member in two parts,
  • the removable fixing device of the hull and the fixing device of the link arm of the anti-roll stabilization system are each in two parts, a front part and a rear part, and for a link arm passing from above from the hull and from the stern of the ship, the anti-roll stabilization system comprises at the front of the connecting arm a pin intended to be plugged into a chainplate for lifting the ship arranged on the deck at the stern of the kiosk, the lifting chainplate and the pin forming a respective front part of the fixing device and of the fixing member in two parts, and the fixing device comprises a straight shank, arranged at the rear of the lifting chainplate , and the fixing member has an elongated groove disposed at the underside of the link arm of the anti-roll stabilization system, the groove being widened towards the front of the link arm and narrowed towards the rear of the link arm , the straight tail and the groove e forming a respective rear part of the fixing device and of the fixing member in two parts,
  • the notch intended to receive one of the two front or rear ends of the kiosk also applies against the side parts of the kiosk adjacent to said end of the kiosk ,
  • the notch intended to receive one of the two front or rear ends of the kiosk makes it possible to better counter the torsional forces applied to the anti-roll stabilization system in particular those applying in a horizontal plane,
  • the fixing device is placed partly on or in the kiosk,
  • the kiosk also comprises guide rails for the notched connecting arm
  • the notched link arm and possibly the kiosk are configured so that the same anti-roll stabilization system can be applied against the fore or aft end from the kiosk,
  • the connecting arm is configured to pass through the top of the hull, on the deck, and the fixing device is arranged under the deck of the hull, in a recess comprising a removable deck cover, the cover having to be opened to allow the attachment of the connecting arm fixing device to the fixing device,
  • the connecting arm is configured to pass through the underside of the hull by pressing against the hull
  • the connecting arm is configured to pass over the top of the hull by pressing against the deck
  • the fixing member and the fixing device implement fixing by a controllable locking-unlocking means
  • the fastening member and the fastening device implement fastening by a remote-controlled locking-unlocking means
  • the fixing member and the fixing device implement fixing by means of magnetic locking-unlocking for locking and electromagnetic for unlocking.
  • the invention also relates to an anti-roll stabilization system intended to transform a monohull surface vessel into a trimaran.
  • the anti-roll stabilization system is removable and comprises an elongated connecting arm terminated at its two lateral ends by two floats, the connecting arm comprising a fixing member, the fixing member being configured to be fixed in a removable manner on a fixing device of the monohull surface vessel in order to transform it into a trimaran.
  • the anti-roll stabilization system includes one or more of the characteristics described concerning it
  • the anti-roll stabilization system can float and is stable with both floats in the water
  • the anti-roll stabilization system can navigate by moving under its own power, the floats comprising propulsion components,
  • the anti-roll stabilization system is remote controlled
  • the anti-roll stabilization system includes a pin and a groove
  • the pin and the groove of the anti-roll stabilization system are intended to be fixed respectively to a lifting chainplate and to a straight tail of the ship,
  • the monohull surface vessel intended to receive the anti-roll stabilization system comprises a kiosk erected on a deck of the ship's hull and the link arm of the anti-roll stabilization system, which is intended to pass through the top of the ship's hull in s' applying to the deck of said ship, comprises a notch intended to receive one of the front or rear ends of the kiosk, the edges of the notch being intended to bear against one of the two front or rear ends of the kiosk.
  • the invention finally consists of a kit for transforming into a trimaran an autonomous motorized wave-piercing monohull surface vessel with a tapered hull, the hull comprising a deck, the vessel comprising a kiosk erected on said deck, the vessel further comprising under the hull a weighted keel intended to lower the center of gravity of the ship to stabilize the ship at least against rolling, the keel being removable and being able to be placed in several positions including a low position in which the center of gravity of the ship is lowered and an elevated or extracted position in which the ship's center of gravity is raised.
  • the kit comprises an anti-roll stabilization system comprising an elongated connecting arm terminated at its two lateral ends by two floats, the connecting arm comprising a fixing member, the fixing member being configured to be fixed in a removable manner on the fixing device in order to transform the vessel into a trimaran, the two floats then being positioned respectively on the port and starboard side of the hull.
  • the connecting arm comprising an attachment member which can be attached to a belt to hull intended to enclose the hull
  • the kit then comprises an anti-roll stabilization system and at least one belt for the hull, the anti-roll stabilization system comprising an elongated connecting arm terminated at its two lateral ends by two floats, the connecting arm comprising a fixing member, the said at least one hull belt comprising a removable fixing device to the fixing member, the said at least one hull belt being configured to be tightened around the hull, the member of fixing being configured to be fixed in a removable manner on the fixing device in order to transform the vessel into a trimaran, the two floats being arranged respectively on the base side and starboard of the hull.
  • the kit further includes at least one kiosk belt configured to be tightened around the kiosk and attachable in a removable manner to the link arm of the anti-roll stabilization system.
  • FIG. 1 shows a forward perspective of the ship in the monohull configuration with its weighted keel in the low position, the anti-roll stabilization system being shown in isolation, at a distance from the stern of the ship,
  • FIG. 2 shows a forward perspective of the vessel in the monohull configuration with its weighted keel in the down position, with the anti-roll stabilization system being installed on the vessel (or, conversely, uninstallation if the anti-roll stabilization system becomes removed from the ship), the anti-roll stabilization system approaching the ship from the stern of the said ship,
  • FIG. 3 shows a front perspective view of the vessel in the trimaran configuration with its weighted keel which can be raised, the anti-roll stabilization system being fixed to the vessel,
  • FIG. 4 shows a rear perspective view of the vessel in the trimaran configuration with its weighted keel which can be raised, the anti-roll stabilization system being fixed to the vessel,
  • FIG. 5 shows a side perspective view of the ship in the trimaran configuration, the anti-roll stabilization system being shown cut away to show the relationship between the removable hull attachment device and the attachment member of the connecting arm of the anti-roll stabilization system which are each in two parts, a front part forward of the link arm and a rear part rearward of the link arm, a cartridge enlarging the rear part, and
  • FIG. 6 shows a bottom view of the anti-roll stabilization system allowing visualization of the elongated groove intended to cooperate with the right tail of the deck of the ship's hull.
  • the present invention relates to the field of navigation and underwater exploration by a wave-powered monohull surface vessel comprising a removable/retractable weighted keel and a kiosk, the keel being able to be raised and lowered.
  • a wave-powered monohull surface vessel comprising a removable/retractable weighted keel and a kiosk, the keel being able to be raised and lowered.
  • a vessel has been described in patent application FR17 61547 to which reference may be made if desired.
  • the invention allows the vessel to be used in very shallow waters, typically waters less than four meters deep.
  • the invention makes it possible to stabilize the ship while the weighted keel is raised/retracted while the ship without implementing the invention risks capsizing due to the raising of the keel and therefore its center of gravity.
  • the monohull ship can be transformed into a trimaran by adding an anti-roll stabilization system comprising two floats and a connecting arm connecting them. These floats ensuring the transverse stability of the vessel and it is then possible to sail with the keel in the raised/retracted position.
  • an electric thruster is added to each float and a rechargeable electric battery + electric converter assembly takes place in the floats and the connecting arm. It can be noted that the increase in the weight of the ship due to the addition of the anti-roll stabilization system can be compensated by an increase in the volume of buoyancy provided by the floats themselves.
  • the invention may be in the form of a kit, the elements of which are fixed to the hull of the ship in a structure provided for this purpose.
  • the propulsion system of the anti-roll stabilization system can connect to the management device of the ship which then comes to take control and command of the propulsion floats. Recharging of the rechargeable electric battery of the anti-roll stabilization system can be ensured by a ship's electrical generator, typically from the ship's main engine alternator.
  • the kit's thruster anti-roll stabilization system can be equipped with means of communication and automation allowing it to be a remote-controlled vehicle in itself.
  • the kit's remote-controlled, thruster-driven anti-roll stabilization system may be able to approach the vessel under its own power, typically from astern, and attach and connect autonomously, both mechanically and externally. electrically, to the vessel, allowing the vessel to continue its mission with the weighted keel raised to the raised position.
  • the implementation of the motorized, remote-controlled, fixable and automatically connectable kit can also provide a function other than that of allowing the vessel transformed into a trimaran to navigate with its keel up: it can allow the emergency recovery of a vessel broken-down.
  • one of the difficulties of autonomous vehicles is that in the event of a breakdown, they require the deployment of means of recovery which generates costs and/or which prohibits the mother ship from continuing its mission.
  • the kit's thruster anti-roll stabilization system which then becomes an emergency recovery kit, can be launched from the coast, from the mother ship or even from another ship already transformed into a trimaran from where one recovers the thruster anti-roll stabilization system after lowering her weighted keel to restore her stability.
  • the vessel is an autonomous, unmanned floating/surface drone that features a very narrow wave-piercing spindle-shaped hull.
  • the drone is remote-controlled and/or pre-programmed and/or totally autonomous depending on its degree of autonomy.
  • the drone is therefore mechanically propelled and at least one electric or internal combustion or chemical or even mixed reaction motor is used, which actuates the propeller or, in variants, several propellers or one or more turbines.
  • the ship includes a kiosk 14 erected on deck 19 but does not include a sail, mast or rigging or any other equipment intended to use the force of the wind to directly propel it.
  • This keel has a bulb 13 or gondola at its lower end.
  • the bulb 13 is connected to the hull 11 by a connecting part 12 of the keel.
  • the bulbous keel comprises, preferably in the bulb 13, a ballast intended to reinforce the transverse stability of the ship 10.
  • This ballast is a specific heavy material, for example lead or uranium, and/or corresponds to equipment, in particular for measuring , installed in the bulb.
  • the measuring equipment in particular transducers for transmitting and receiving acoustic waves of the SONAR type, and an attitude unit are arranged in the bulb of the keel.
  • the bulb can also comprise a housing for an underwater vehicle with thruster and means of navigation, which can leave and return to the bulb. It is thus possible to obtain precise corrections of the acoustic measurements because the attitude unit is positioned as close as possible to the acoustic transducers.
  • the ship 10 has a very low resistance to progress both in calm water and in rough water, given its length.
  • the hull 11 is capable of exceeding the speed limit of the hull with very little energy and is capable of overspeeding without however being of a so-called "planing" shape.
  • This shape of the hull 11 and the remoteness of the bulb or gondola 13 from the keel with respect to the hull 11 also makes it possible to improve the flows in the vicinity of the acoustic transducers and avoids the formation of bubbles having a masking effect at the level acoustic transducers. This results in a reduction of “noise” which, in traditional ships, interferes with acoustic measurements.
  • the keel 12, 13 is removable/raisable and it can therefore be lowered and raised and even, in certain embodiments, dismantled relatively simply to be exchanged with another keel.
  • the upper end of the keel passes into a keel storage space located inside booth 14.
  • the keel is lowered.
  • the keel 12, 13 can be lowered to give a depth of two meters of draft to the vessel 10.
  • FIG. 1 there is shown behind the ship and separated from the ship 10, the anti-roll stabilization system 1 intended to transform the ship 10 into a trimaran 20.
  • This the anti-roll stabilization system 1 is of the arm type. link 3 upwards, out of the water.
  • the connecting arm 3 comprises at its two lateral ends two floats 2 which comprise thrusters 5.
  • the removable attachment device of the hull like the attachment member of the link arm of the anti-roll stabilization system are each in two parts, a front part and a rear part, with reference to the orientation of the fore and aft ends of the vessel.
  • this comprises a front part which is a lifting plate 21 arranged on the deck 19 of the hull 11, behind the kiosk 14. Still for the removable fixing device, this comprises a rear part which is a straight tail 22 arranged on the deck 19 of the hull 11, behind the lifting chainplate 21.
  • the straight tail 22 has the general shape of a mushroom with an enlarged head upwards and a foot narrower than the head.
  • an elongated groove 6 arranged longitudinally (in relation to the front and rear ends of the ship) in the middle of the lower face of the connecting arm 3 of the anti-roll stabilization system 1 (FIG. 6) and which is used both for guiding the anti-roll stabilization system during its installation and for maintaining/fixing it once the system has been installed, the groove corresponds to the rear part of the fixing member of the link arm 3.
  • a connecting arm 3 is implemented with a notch 4 allowing support of the connecting arm 3 against the lateral sides of the kiosk 14.
  • the anti-roll stabilization system 1 the connecting arm 3 of which is configured to pass over the top of the hull 11 of the vessel 10, is being installed and docks the vessel from the rear of the latter .
  • the anti-roll stabilization system 1 came to dock the ship from the stern, the link arm passing over the top of the deck and the two thruster floats passing to port and starboard of the ship respectively.
  • the anti-roll stabilization system 1 is therefore attached to the rear of the kiosk 14.
  • an anti-roll stabilization system 1 which comprises two thrusters 5 per float 2, one at the front and one at the rear to show the possibility of having several thrusters per float.
  • the thrusters 5 are preferably steerable if the anti-roll stabilization system does not have rudders on the floats.
  • the ship has been transformed into a trimaran 20 and the weighted keel will be able to be raised, the bulb or gondola 13 remaining under the hull 11, the greater part of the height of the connecting part 12 of the keel being able to slide in a keel well of the hull and the upper end of the keel which can fit into a keel storage space located inside the kiosk 14.
  • the keel is removable and/or the bulb 13 is removable and is interchangeable, allowing the vessel to be used with different configurations of acoustic transducers of various bulbs.
  • the hull attachment device which is on the deck is covered in the absence of the anti-roll stabilization system, and the cover can be removed when installing the anti-roll stabilization system .
  • the cover can be sliding or tilting while remaining integral with the ship.
  • FIG. 5 one can better see the relations between the elements of the ship and the anti-roll stabilization system fixed on the deck 19 of the ship, aft and against the kiosk 14.
  • the elongated groove 6 of the link arm was slid over the right tail 22 of the ship.
  • Figure 6 one can better see the shape of the groove 6 which is wider at the front, notch 4 side, than at the rear of the connecting arm 3 in order to also form a means of guiding and positioning the system of anti-roll stabilization on the ship's hull deck.
  • the anti-roll stabilization system is preferably remote-controlled, but it may also comprise automation devices, in particular for the installation (transformation of the vessel into a trimaran) and the uninstallation (vessel returning to a monohull) of the anti-roll stabilization system. roll on the ship.
  • the keel up controls can be conditioned by the presence of the anti-roll stabilization system fixed to the vessel.
  • the anti-roll stabilization system 1 of the invention can also find an occasional application in the rescue and recovery of a ship that has broken down and is floating and, this, even if the anti-roll stabilization system is not attached to the ship.
  • Other means of attaching the roll stabilization system to the vessel are provided in such rescue and recovery conditions and, for example, in the case of a steel-hulled vessel, the roll stabilization system includes magnetic means, preferably electromagnetic for easy removability, allowing the anti-roll stabilization system to be magnetically “glued” to the hull.
  • the anti-roll stabilization system is preferably remote-controlled, but it may also include automation devices, in particular for rescue and recovery.
  • the removable fastening means of the type of straps which can enclose the hull in the manner of a lasso or a collar can also be used when transforming the normally floating vessel into a trimaran, kiosk upwards. These lasso straps or a collar are then functionally similar to the shell belt.
  • the remote-controlled and motorized anti-roll stabilization system can be equipped with means of perception and sensors and be on its own an autonomous surface vehicle capable, without the ship, of carrying out very shallow water missions on its own.

Abstract

Disclosed is a motorised wave-piercing ship (10, 20) with hull (11, 19) with a deck (19), the ship (10, 20) comprising a conning tower (14) and, under the hull (11), a weighted keel (12, 13), the keel (12, 13) being removable and being able to be placed in a low position and a high or extracted position. According to the invention, the ship (10, 20) can sail as a monohull (10) or as a trimaran (20), the hull (11, 19) comprising a device for removable attachment of an anti-roll stabilisation system (1) comprising an elongate connection arm (3) terminated at its two lateral ends by two floats (2), the connection arm (3) comprising an attachment member, the attachment member being configured to be removably attached on the attachment device in order to transform the ship (10) into a trimaran (20), and the ship (10, 20) is a monohull (10) in the absence of the anti-roll stabilisation system (1).

Description

TITRE : Navire autonome motorisé monocoque à quille lestée transformable en trimaran TITLE: Monohull motorized autonomous vessel with weighted keel convertible into a trimaran
Domaine technique Technical area
La présente invention concerne de manière générale le domaine des activités aquatiques et notamment des mesures des espaces marins et des fonds sous-marins par des capteurs embarqués. Elle se rapporte, plus particulièrement, à un navire autonome, ou drone, motorisé monocoque à quille lestée transformable en trimaran grâce à un système de stabilisation anti-roulis amovible. Elle peut s’appliquer à tout milieu aquatique : océan, mer, lac, rivière... The present invention generally relates to the field of aquatic activities and in particular to measurements of marine spaces and of the seabed by on-board sensors. It relates, more particularly, to an autonomous vessel, or drone, motorized monohull with a weighted keel that can be transformed into a trimaran thanks to a removable anti-roll stabilization system. It can be applied to any aquatic environment: ocean, sea, lake, river...
Arrière-plan technologique Technology background
On connait par le document FR17 61547 un engin maritime flottant à quille de mesure amovible. L’engin motorisé comporte à la partie inférieure de sa coque une quille amovible et à la partie supérieure de son pont un kiosque érigé au-dessus du pont. La quille de l’engin peut être descendue sous la coque et remontée à travers la coque dans un espace de stockage de quille du kiosque. Document FR17 61547 describes a floating maritime device with a removable measuring keel. The motorized machine has a removable keel at the bottom of its hull and at the top of its deck a kiosk erected above the deck. The keel of the craft can be lowered under the hull and raised through the hull into a keel storage space in the kiosk.
La mise en œuvre inhabituelle d’une quille lestée pour un tel navire motorisé est dû au fait que le navire est du type perce-vague et effilé tout en ayant un kiosque vers le haut. La présence de la quille lestée permet d’abaisser le centre de gravité du navire lorsqu’elle est descendue et permet de stabiliser le navire au moins au regard de la gite et des risques de basculement latéral. The unusual implementation of a weighted keel for such a motorized vessel is due to the fact that the vessel is wave-piercing and tapered while having a kiosk at the top. The presence of the weighted keel makes it possible to lower the center of gravity of the ship when it is lowered and makes it possible to stabilize the ship at least with regard to the list and the risks of lateral tipping.
Pour pouvoir assurer cette stabilisation la quille lestée doit donc être descendue et le navire présente alors un tirant d’eau relativement important d’environ deux mètres d’eau voir un peu plus. Il en résulte que le navire ne peut pas naviguer dans des eaux peu profondes sauf à remonter la quille lestée. Il en résulte alors une instabilité, notamment gite, voir même un risque de chavirage/retournement. Une solution serait d’augmenter le poids du lest à l’extrémité inférieure de la quille pour obtenir un abaissement suffisant du centre de gravité alors que la quille est remontée. Toutefois cela s’obtient au détriment de la charge utile embarquable par le navire entre autres inconvénients. En outre, cela peut tout de même nécessiter que la quille lestée ne soit pas totalement remontée, au détriment de la réduction du tirant d’eau. To be able to ensure this stabilization, the weighted keel must therefore be lowered and the ship then has a relatively large draft of about two meters of water or even a little more. As a result, the vessel cannot sail in shallow waters except by raising the weighted keel. This then results in instability, in particular heeling, or even a risk of capsizing/overturning. One solution would be to increase the weight of the ballast at the lower end of the keel to achieve a sufficient lowering of the center of gravity as the keel is raised. However, this is achieved at the expense of the ship's payload, among other disadvantages. In addition, this may still require the weighted keel not to be completely raised, to the detriment of reducing the draft.
Il est donc souhaitable de disposer de moyens moins contraignants permettant de stabiliser le navire alors que la quille lestée est remontée, voire même retirée afin de permettre au navire, la navigation dans des eaux très peu profondes. It is therefore desirable to have less constraining means making it possible to stabilize the ship while the weighted keel is raised, or even withdrawn in order to allow the ship to navigate in very shallow waters.
On verra que l’invention peut aussi trouver une application occasionnelle en sauvetage et récupération d’un navire qui serait en panne. It will be seen that the invention can also find an occasional application in salvage and recovery of a broken down ship.
Dans ce domaine on connait également les documents suivants : FR 3 074474 A1 , US 4 898 113, CN 107 878 669, WO 2014/047639, US 2014/261126 et CN 106 976 527. In this field, the following documents are also known: FR 3 074474 A1, US 4 898 113, CN 107 878 669, WO 2014/047639, US 2014/261126 and CN 106 976 527.
Exposé de l’invention Disclosure of Invention
On propose selon l’invention, un navire de surface autonome motorisé perce-vague à coque effilée, la coque comportant un pont, le navire comportant un kiosque érigé sur ledit pont, le navire comportant en outre sous la coque une quille lestée destinée à abaisser le centre de gravité du navire pour stabiliser le navire au moins contre le roulis, la quille étant amovible et pouvant être placée dans plusieurs positions dont une position basse dans laquelle le centre de gravité du navire est abaissé et une position haute ou extraite dans laquelle le centre de gravité du navire est remonté. According to the invention, an autonomous motorized wave-piercing surface vessel with a tapered hull is proposed, the hull comprising a deck, the vessel comprising a kiosk erected on said deck, the vessel further comprising under the hull a weighted keel intended to lower the center of gravity of the vessel to stabilize the vessel at least against rolling, the keel being removable and being able to be placed in several positions including a low position in which the center of gravity of the vessel is lowered and a raised or extracted position in which the center of gravity of the vessel is raised.
Selon l’invention, le navire peut naviguer en tant que monocoque ou en tant que trimaran, la coque comportant un dispositif de fixation amovible d’un système de stabilisation anti-roulis destiné à contrer au moins le roulis, le système de stabilisation anti-roulis comportant un bras de liaison allongé terminé à ses deux extrémités latérales par deux flotteurs, le bras de liaison comportant un organe de fixation, l’organe de fixation étant configuré pour être fixé d’une manière amovible sur le dispositif de fixation afin de transformer le navire en trimaran, les deux flotteurs étant disposés respectivement à bâbord et tribord de la coque, et en ce que le navire est un monocoque en l’absence du système de stabilisation anti-roulis. According to the invention, the vessel can sail as a monohull or as a trimaran, the hull comprising a removable attachment device for an anti-roll stabilization system intended to counter at least the roll, the anti-roll stabilization system roll comprising an elongated link arm terminated at its two lateral ends by two floats, the link arm comprising a fixing member, the fixing member being configured to be fixed in a removable manner on the fixing device in order to transform the vessel as a trimaran, the two floats being arranged respectively to port and starboard of the hull, and in that the vessel is a monohull in the absence of the anti-roll stabilization system.
D’autres caractéristiques non limitatives et avantageuses du navire conforme à l’invention, prises individuellement ou selon toutes les combinaisons techniquement possibles, sont les suivantes : Other non-limiting and advantageous characteristics of the vessel according to the invention, taken individually or in all technically possible combinations, are the following:
- le navire ne comporte pas de propulsion éolienne, - the vessel does not have wind propulsion,
- le pont correspond au niveau supérieur, hors d’eau, à l’air libre, de la coque du navire,- the deck corresponds to the upper level, out of the water, in the open air, of the hull of the ship,
- le navire est un navire d’exploration, - the vessel is an exploration vessel,
- la quille lestée amovible est une quille de mesure comportant au moins des instruments de mesure, - the removable weighted keel is a measuring keel comprising at least measuring instruments,
- la coque du navire est sensiblement fusiforme avec une étrave effilée afin de former un navire perce-vague, - the hull of the ship is substantially fusiform with a tapered bow to form a wave-piercing ship,
- le pont présente une surface convexe vers le haut, - the bridge has a convex surface towards the top,
- le navire comporte une extrémité avant ou proue et une extrémité arrière ou poupe,- the vessel has a forward or bow end and an aft or stern end,
- la proue du navire est effilée en pointe, - the bow of the ship is tapered to a point,
- la proue du navire est effilée en lame de couteau, - the bow of the ship is tapered into a knife edge,
- la poupe du navire est plane, - the stern of the ship is flat,
- le navire monocoque présente un rapport largeur totale sur longueur totale inférieur à 0,2 et une longueur maximale inférieure à 20 mètres, lesdites longueur et largeur étant respectivement considérées suivant la direction longitudinale de l’engin et une direction transversale horizontale perpendiculaire à la direction longitudinale, - the monohull vessel has a total width to total length ratio of less than 0.2 and a maximum length of less than 20 meters, said length and width being respectively considered along the longitudinal direction of the craft and a horizontal transverse direction perpendicular to the direction longitudinal,
- le navire présente un rapport de la hauteur au-dessus de la ligne de flottaison de la coque et hors ses éventuels appendices, hors kiosque, sur la hauteur en dessous de la ligne de flottaison de la coque et hors ses éventuels appendices, donc hors quille, qui est inférieur à 0,8 et supérieur à 0,1 , - the ship presents a ratio of the height above the waterline of the hull and excluding its possible appendages, excluding the kiosk, on the height below the waterline of the hull and excluding its possible appendages, therefore excluding keel, which is less than 0.8 and greater than 0.1,
- le navire a une longueur d’au moins 2,5 mètres et une longueur maximale de 20 mètres, - lorsque le trimaran est vertical, les deux flotteurs sont à l’eau, - the vessel has a length of at least 2.5 meters and a maximum length of 20 meters, - when the trimaran is vertical, the two floats are in the water,
- les deux flotteurs ont une flottabilité identique, - the two floats have identical buoyancy,
- les deux flotteurs ont des flottabilités différentes, - the two floats have different buoyancy,
- le bras de liaison est rigide, - the connecting arm is rigid,
- le bras de liaison comporte au moins une articulation pouvant être bloquée, - the connecting arm comprises at least one joint which can be locked,
- le système de stabilisation anti-roulis en lui-même peut flotter et est stable avec les deux flotteurs à l’eau, - the anti-roll stabilization system itself can float and is stable with both floats in the water,
- pour un bras de liaison prévu pour passer par le dessous de la coque, le système de stabilisation anti-roulis en lui-même peut flotter et est stable avec les deux flotteurs à l’eau et le bras de liaison au moins en partie sous l’eau, - for a link arm intended to pass through the underside of the hull, the anti-roll stabilization system itself can float and is stable with the two floats in the water and the link arm at least partly under the water,
- pour un bras de liaison prévu pour passer par le dessus de la coque, sur le pont, le système de stabilisation anti-roulis en lui-même peut flotter et est stable avec les deux flotteurs à l’eau et le bras de liaison hors d’eau, - for a link arm designed to pass through the top of the hull, on the deck, the anti-roll stabilization system itself can float and is stable with the two floats in the water and the link arm off water,
- le système de stabilisation anti-roulis en lui-même pouvant flotter peut naviguer,- the anti-roll stabilization system itself can float can navigate,
- le système de stabilisation anti-roulis en lui-même pouvant flotter et pouvant naviguer se déplace par remorquage, - the self-floating and sailable anti-roll stabilization system moves by towing,
- le système de stabilisation anti-roulis en lui-même pouvant flotter et pouvant naviguer se déplace par ses propres moyens, les flotteurs comportant des organes de propulsion, - the anti-roll stabilization system itself which can float and can navigate moves by its own means, the floats comprising propulsion devices,
- le système de stabilisation anti-roulis en lui-même pouvant flotter et pouvant naviguer et comportant des organes de propulsion, comporte un moyen de contrôle directionnel par contrôle différentiel des organes de propulsion des deux flotteurs, - the anti-roll stabilization system itself which can float and can navigate and comprising propulsion devices, comprises a means of directional control by differential control of the propulsion devices of the two floats,
- les flotteurs comportent des dispositifs de contrôle directionnel, notamment des gouvernails, - the floats include directional control devices, in particular rudders,
- les flotteurs comportent des ailerons, - the floats have fins,
- les flotteurs ont une flottabilité réglable, - the floats have adjustable buoyancy,
-les flotteurs comportent des moyens de ballastage afin de rendre réglable la flottabilité,-the floats include ballasting means in order to make the buoyancy adjustable,
- la flottabilité réglable des flotteurs permet de monter ou descendre le bras de liaison du système de stabilisation anti-roulis, en particulier lorsqu’il n’est pas fixé sur le navire, - the adjustable buoyancy of the floats makes it possible to raise or lower the link arm of the anti-roll stabilization system, in particular when it is not fixed to the ship,
- le système de stabilisation anti-roulis en lui-même pouvant flotter et pouvant naviguer et comportant des organes de propulsion, est télécommandé, - the anti-roll stabilization system itself which can float and can navigate and comprising propulsion components, is remote-controlled,
- le système de stabilisation anti-roulis en lui-même pouvant flotter et pouvant naviguer et comportant des organes de propulsion et qui est télécommandé, est télécommandé par fil ou radiocommandé ou télécommandé par rayon lumineux modulé, éventuellement combinés,- the anti-roll stabilization system itself which can float and can navigate and comprising propulsion components and which is remote-controlled, is remote-controlled by wire or radio-controlled or remote-controlled by modulated light beam, possibly combined,
- le système de stabilisation anti-roulis comporte des automatismes, - the anti-roll stabilization system includes automatic controls,
- au moins un des automatismes du système de stabilisation anti-roulis permet un accostage automatique du système de stabilisation anti-roulis sur la coque du navire, - at least one of the automatisms of the anti-roll stabilization system allows automatic docking of the anti-roll stabilization system on the ship's hull,
- au moins un des automatismes système de stabilisation anti-roulis est un autopilote permettant de suivre une trajectoire programmée, - at least one of the anti-roll stabilization system automations is an autopilot to follow a programmed trajectory,
- au moins un des automatismes système de stabilisation anti-roulis est un système d’évitement d’obstacle qui permet d’éviter les collisions avec tout obstacle détecté par des dispositifs de perception, notamment lidar, caméras, radar, sonar... - at least one of the automatic anti-roll stabilization system is an obstacle avoidance system which makes it possible to avoid collisions with any obstacle detected by perception devices, in particular lidar, cameras, radar, sonar, etc.
- le système de stabilisation anti-roulis comporte des moyens de perception et des capteurs, - the anti-roll stabilization system comprises means of perception and sensors,
- les flotteurs du système de stabilisation anti-roulis comportent des moyens de perception et des capteurs, - the floats of the anti-roll stabilization system comprise means of perception and sensors,
- le bras de liaison du système de stabilisation anti-roulis comporte des moyens de perception et des capteurs, - the link arm of the anti-roll stabilization system comprises means of perception and sensors,
- le navire monocoque ou trimaran est un drone, - the monohull or trimaran vessel is a drone,
- le navire monocoque ou trimaran est télécommandé, - the monohull or trimaran vessel is remote-controlled,
- le navire monocoque ou trimaran télécommandé, est télécommandé par fil ou radiocommandé ou télécommandé par rayon lumineux modulé, éventuellement combinés,- the monohull vessel or remote-controlled trimaran, is remote-controlled by wire or radio-controlled or remote-controlled by modulated light beam, possibly combined,
- le navire monocoque ou trimaran comporte des automatismes, - the monohull or trimaran vessel has automation,
- au moins un des automatismes du navire est un autopilote permettant de suivre une trajectoire programmée, - at least one of the ship's automatic systems is an autopilot allowing it to follow a programmed trajectory,
- au moins un des automatismes du navire est un système d’évitement d’obstacle qui permet d’éviter les collisions avec tout obstacle détecté par des dispositifs de perception, notamment lidar, caméras, radar, sonar... - at least one of the ship's automated systems is an obstacle avoidance system which makes it possible to avoid collisions with any obstacle detected by perception devices, in particular lidar, cameras, radar, sonar, etc.
- au moins un des automatismes du navire est un planificateur de mission, permettant de réaliser séquentiellement une suite de comportements autonomes, notamment pour réalisation d’une mission d’hydrographie, océanographique, de positionnement acoustique sous-marin, de passerelle de communication sous-marine<->surface, toutes mesures en mer... - at least one of the automatisms of the ship is a mission planner, making it possible to carry out sequentially a series of autonomous behaviors, in particular for carrying out a mission of hydrography, oceanography, underwater acoustic positioning, underwater communication bridge marine<->surface, all measures at sea...
- le navire et le système de stabilisation anti-roulis comportent des équipements complémentaires destinés à permettre un accostage automatisé du système de stabilisation antiroulis sur le navire, - the ship and the anti-roll stabilization system include additional equipment intended to allow automated docking of the anti-roll stabilization system on the ship,
- le navire et le système de stabilisation anti-roulis comportent des équipements complémentaires destinés à permettre une séparation automatisée du système de stabilisation anti-roulis d’avec le navire, - the ship and the anti-roll stabilization system include additional equipment intended to allow automated separation of the anti-roll stabilization system from the ship,
- l’organe de fixation et le dispositif de fixation comportent un moyen de verrouillage- déverrouillage automatisé commandé par des équipements complémentaires du navire et du système de stabilisation anti-roulis, afin de permettre un accostage automatisé ou une séparation automatisée entre le navire et le système de stabilisation anti-roulis, - the fixing member and the fixing device comprise an automated locking-unlocking means controlled by additional equipment of the ship and of the anti-roll stabilization system, in order to allow automated docking or automated separation between the ship and the anti-roll stabilization system,
- le dispositif de fixation est disposé à l’avant du kiosque, - the fixing device is placed at the front of the kiosk,
- le dispositif de fixation est disposé à l’arrière du kiosque, - the fixing device is placed at the back of the kiosk,
- le dispositif de fixation est disposé sur le pont de la coque, le bras de liaison passant par le dessus de la coque, sur le pont, - the attachment device is arranged on the deck of the hull, the connecting arm passing through the top of the hull, on the deck,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, l’organe de fixation du bras de liaison est disposé à la face inférieure du bras de liaison, - for a link arm passing through the top of the hull, on the deck, the link arm fixing device is located on the underside of the link arm,
- le dispositif de fixation est disposé sur au moins un des deux côtés latéraux de la coque, le bras de liaison passant par le dessous de la coque, - the fixing device is arranged on at least one of the two lateral sides of the hull, the connecting arm passing through the underside of the hull,
- le dispositif de fixation est réparti sur les deux côtés latéraux de la coque, le bras de liaison passant par le dessous de la coque, - the fixing device is distributed over the two lateral sides of the hull, the connecting arm passing through the underside of the hull,
- pour un bras de liaison passant par le dessous de la coque, l’organe de fixation du bras de liaison est disposé à la face supérieure du bras de liaison, - for a link arm passing through the underside of the hull, the link arm fixing device is located on the upper face of the link arm,
- le bras de liaison est configuré pour passer par le dessus de la coque, sur le pont,- the connecting arm is configured to pass through the top of the hull, on the deck,
- l’organe de fixation du bras de liaison est localisé en un emplacement, - the connecting arm fixing device is located in one location,
- l’organe de fixation du bras de liaison est réparti en plusieurs emplacements, - the connecting arm fixing device is distributed in several locations,
- l’organe de fixation du bras de liaison est médian et est disposé le long du bras sensiblement à égale distance des deux flotteurs, - the connecting arm fixing device is median and is arranged along the arm approximately at equal distance from the two floats,
- l’organe de fixation du bras de liaison est décalé latéralement par rapport au point médian du bras de liaison situé à égale distance des deux flotteurs et un des deux flotteurs a une flottabilité supérieure à celle de l’autre flotteur, - the connecting arm fixing device is offset laterally in relation to the midpoint of the connecting arm located at an equal distance from the two floats and one of the two floats has greater buoyancy than the other float,
- l’organe de fixation du bras de liaison est médian et est disposé le long du bras sensiblement à égale distance des deux flotteurs et les deux flotteurs ont une flottabilité identique,- the connecting arm attachment member is median and is arranged along the arm substantially at equal distance from the two floats and the two floats have identical buoyancy,
- au moins un de l’organe de fixation du bras de liaison et du dispositif de fixation est réglable en hauteur, - at least one of the connecting arm fixing device and the fixing device is adjustable in height,
- le navire est un monocoque lorsque la quille lestée est en position basse et le navire est un trimaran lorsque la quille lestée est en position haute ou extraite, - the ship is a monohull when the weighted keel is in the down position and the ship is a trimaran when the weighted keel is in the up position or extracted,
- la hauteur du kiosque est d’environ 1 ,5 mètres mesurée à partir de sa base sur le pont,- the height of the kiosk is approximately 1.5 meters measured from its base on the bridge,
- Le kiosque a une forme aérodynamique, - The kiosk has an aerodynamic shape,
- Le kiosque à un rapport hauteur (mesurée à partir de sa base) sur largeur (dans le sens transversal à l’axe de déplacement du navire) supérieur à 3, - The kiosk has a height ratio (measured from its base) to width (in the transverse direction to the axis of movement of the ship) greater than 3,
- le kiosque comporte un espace de stockage de quille, - the kiosk includes a skittle storage space,
- la quille et l’espace de stockage de quille du kiosque ont des axes principaux en alignement et qui sont verticaux, - the keel and the keel storage space of the kiosk have main axes in alignment and which are vertical,
- la quille et l’espace de stockage de quille du kiosque ont des axes principaux en alignement et qui sont inclinés par rapport à la verticale, - the keel and the keel storage space of the kiosk have main axes in alignment and which are inclined with respect to the vertical,
- l’axe principal du kiosque et l’axe principal de l’espace de stockage de quille du kiosque sont parallèle et de préférence colinéaires, - the main axis of the kiosk and the main axis of the kiosk storage space of the kiosk are parallel and preferably collinear,
- le kiosque comporte à sa partie basse l’espace de stockage de quille et en partie haute des équipements, - the kiosk has the keel storage space in its lower part and equipment in the upper part,
- la coque comporte un puits de quille permettant le passage en descente et en montée de la quille, - the hull has a keel well allowing passage downhill and uphill of the keel,
- la quille lestée amovible est translatable et peut être descendue sous la coque en position basse de la quille et être remontée au moins en partie dans un espace de stockage de quille du kiosque en position haute de la quille, - the removable weighted keel is translatable and can be lowered under the hull in the low position of the keel and be raised at least partially in a keel storage space of the kiosk in the high position of the keel,
- la quille lestée amovible est démontable du navire, la quille démontée étant en position extraite, - the removable weighted keel is removable from the ship, the dismounted keel being in the extracted position,
- la quille lestée amovible démontable est en outre translatable, - the removable removable weighted keel is also translatable,
- la quille est interchangeable, - the keel is interchangeable,
- le navire comporte un moyen de verrouillage de la quille en position basse, - the vessel has a means of locking the keel in the low position,
- le navire comporte un moyen de verrouillage de la quille en position haute, - the vessel has a means of locking the keel in the high position,
- le système de stabilisation anti-roulis comporte une source d’énergie électrique et les flotteurs comportent des organes de propulsion électriques, - the anti-roll stabilization system includes an electrical power source and the floats include electrical propulsion components,
- les organes de propulsion des flotteurs comportent des hélices ou des turbines,- the propulsion units of the floats include propellers or turbines,
- le navire motorisé comporte des organes de propulsion à hélice(s) ou à turbine(s),- the motorized vessel has propeller(s) or turbine(s) propulsion units,
- le navire comporte des organes de navigation, dont un gouvernail, - the ship has navigation devices, including a rudder,
- le drone comporte des équipements de navigation informatiques télécommandés et/ou préprogrammés, - the drone includes remote-controlled and/or pre-programmed computer navigation equipment,
- le dispositif de fixation amovible et l’organe de fixation comporte des connecteurs électriques permettant la transmission au moins d’énergie électrique entre le navire et le système de stabilisation anti-roulis, - the removable attachment device and the attachment member comprise electrical connectors allowing the transmission of at least electrical energy between the vessel and the anti-roll stabilization system,
- le dispositif de fixation amovible et l’organe de fixation comporte des connecteurs électriques permettant la transmission de données, - the removable fixing device and the fixing device comprises electrical connectors allowing the transmission of data,
- la quille lestée comporte à son extrémité inférieure un bulbe ou gondole, - the weighted keel has a bulb or gondola at its lower end,
- dans la quille lestée, l’essentiel du lest est dans le bulbe, - in the ballasted keel, most of the ballast is in the bulb,
- le bulbe est allongé longitudinalement, - the bulb is elongated longitudinally,
- une partie de liaison de quille est étendue entre, vers le haut, l’extrémité supérieure de quille, et, vers le bas, le bulbe, - a keel connecting part is extended between, upwards, the upper end of the keel, and, downwards, the bulb,
- la partie de liaison de quille présente une section transversale constante sur sa hauteur,- the keel connecting part has a constant cross section over its height,
- la section transversale de la partie de liaison de quille est circulaire, ovoïde ou fusiforme,- the cross section of the keel connecting part is circular, ovoid or fusiform,
- la partie de liaison de quille présente une extension longitudinale inférieure à l’extension longitudinale du bulbe, - the keel connecting part has a longitudinal extension less than the longitudinal extension of the bulb,
- la largeur maximale de la partie de liaison de quille est inférieure ou égale à la largeur maximale du bulbe, la longueur maximale de la partie de liaison étant inférieure à la longueur maximale du bulbe, - the maximum width of the keel connecting part is less than or equal to the maximum width of the bulb, the maximum length of the connecting part being less than the maximum length of the bulb,
- le rapport de la largeur maximale de la partie de liaison sur la largeur maximale du bulbe est compris entre 0,05 et 0,5, - the ratio of the maximum width of the connecting part to the maximum width of the bulb is between 0.05 and 0.5,
- en position haute de la quille, le bulbe est remonté contre la coque, - en position haute de la quille, le bulbe est remonté dans une niche de la coque, contre la coque, - in the high position of the keel, the bulb is raised against the hull, - in the high position of the keel, the bulb is raised in a recess in the hull, against the hull,
- le bulbe comporte au moins des instruments de mesure, - the bulb includes at least measuring instruments,
- le navire est destiné à réaliser des mesures acoustiques et il comporte des systèmes de mesures acoustiques comportant des transducteurs d’émission et de réception d’ondes acoustiques, et au moins les transducteurs d’émission et de réception d’ondes acoustiques sont disposés dans le bulbe de la quille, - the ship is intended to carry out acoustic measurements and it comprises acoustic measurement systems comprising transducers for transmitting and receiving acoustic waves, and at least the transducers for transmitting and receiving acoustic waves are arranged in the bulb of the keel,
- le navire comporte une centrale de mesure d’attitude comportant des capteurs de mesure d’attitude et au moins des capteurs de mesure d’attitude sont disposés dans le bulbe de la quille, - the ship has an attitude measurement unit comprising attitude measurement sensors and at least attitude measurement sensors are arranged in the bulb of the keel,
- la quille lestée comporte au moins un aileron de quille, - the weighted keel comprises at least one keel fin,
- l’aileron de quille est amovible ou rétractable, - the keel fin is removable or retractable,
- le ou les ailerons de quille sont disposés vers l’extrémité inférieure de la quille lestée,- the keel fin(s) are positioned towards the lower end of the weighted keel,
- le ou les ailerons de quille sont disposés sur le bulbe ou la gondole, - the keel fin(s) are placed on the bulb or the gondola,
- le ou les ailerons de quille sont mobiles, - the keel fin(s) are mobile,
- le ou les ailerons de quille mobiles sont asservis à une centrale d’attitude du navire,- the mobile keel fin(s) are slaved to a ship's attitude unit,
- le kiosque comporte une extrémité avant orientée vers l’extrémité avant du navire,- the kiosk has a front end oriented towards the front end of the ship,
- le kiosque comporte une extrémité arrière orientée vers l’extrémité arrière du navire,- the kiosk has an aft end facing the aft end of the ship,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, le bras de liaison comporte une échancrure destinée à recevoir une des deux extrémités avant ou arrière du kiosque, les bords de l’échancrure s’appliquant contre ladite extrémité du kiosque, - for a connecting arm passing through the top of the hull, on the deck, the connecting arm comprises a notch intended to receive one of the two front or rear ends of the kiosk, the edges of the notch being applied against said end from the kiosk,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, l’assemblage du bras de liaison à échancrure sur le navire à kiosque s’apparente à un assemblage à queue droite, le bras de liaison enserrant en partie le kiosque, - for a link arm passing through the top of the hull, on the deck, the assembly of the notch link arm on the kiosk vessel is similar to a straight tail assembly, the link arm partly enclosing the kiosk,
- le dispositif de fixation amovible de la coque et l’organe de fixation du bras de liaison du système de stabilisation anti-roulis sont chacun en deux parties, une partie avant et une partie arrière, - the removable hull fixing device and the anti-roll stabilization system connecting arm fixing device are each in two parts, a front part and a rear part,
- le navire comporte une cadène de levage, - the vessel has a lifting chainplate,
- la cadène de levage est sur le pont, - the lifting chainplate is on the deck,
- la cadène de levage est sur le pont, disposée à l’arrière du kiosque, - the lifting chainplate is on the deck, located at the rear of the kiosk,
- la cadène de levage est sur le pont, disposée à l’avant du kiosque, - the lifting chainplate is on the deck, located at the front of the kiosk,
- pour un bras de liaison passant par le dessus de la coque et par l’arrière du navire, le système de stabilisation anti-roulis comporte à l’avant du bras de liaison une pine destinée à venir s’enficher dans la cadène de levage du navire disposée à l’arrière du kiosque, la cadène de levage et la pine formant une partie avant respective du dispositif de fixation et de l’organe de fixation en deux parties, - for a link arm passing through the top of the hull and through the rear of the ship, the anti-roll stabilization system comprises at the front of the link arm a pin intended to be plugged into the lifting chainplate of the ship arranged at the rear of the kiosk, the lifting chainplate and the pin forming a respective front part of the fastening device and of the fastening member in two parts,
- le dispositif de fixation amovible de la coque comporte une queue droite, - l’organe de fixation du bras de liaison du système de stabilisation anti-roulis comporte une rainure allongée, - the shell's removable fastening device has a straight tail, - the fixing member of the anti-roll stabilization system connecting arm comprises an elongated groove,
- pour un bras de liaison passant par le dessus de la coque et par l’arrière du navire, le dispositif de fixation comporte une queue droite, disposée à l’arrière de la cadène de levage, et l’organe de fixation comporte une rainure allongée disposée à la face inférieure du bras de liaison du système de stabilisation anti-roulis, la rainure étant élargie vers l’avant du bras de liaison et rétrécie vers l’arrière du bras de liaison, la queue droite et la rainure formant une partie arrière respective du dispositif de fixation et de l’organe de fixation en deux parties, - for a connecting arm passing through the top of the hull and through the stern of the ship, the fastening device comprises a straight shank, arranged at the rear of the lifting chainplate, and the fastening member comprises a groove provided at the underside of the link arm of the anti-roll stabilization system, the groove being widened towards the front of the link arm and narrowed towards the rear of the link arm, the straight tail and the groove forming a part respective rear of the fixing device and of the fixing member in two parts,
- le dispositif de fixation amovible de la coque et l’organe de fixation du bras de liaison du système de stabilisation anti-roulis sont chacun en deux parties, une partie avant et une partie arrière, et pour un bras de liaison passant par le dessus de la coque et par l’arrière du navire, le système de stabilisation anti-roulis comporte à l’avant du bras de liaison une pine destinée à venir s’enficher dans une cadène de levage du navire disposée sur le pont à l’arrière du kiosque, la cadène de levage et la pine formant une partie avant respective du dispositif de fixation et de l’organe de fixation en deux parties, et le dispositif de fixation comporte une queue droite, disposée à l’arrière de la cadène de levage, et l’organe de fixation comporte une rainure allongée disposée à la face inférieure du bras de liaison du système de stabilisation anti-roulis, la rainure étant élargie vers l’avant du bras de liaison et rétrécie vers l’arrière du bras de liaison, la queue droite et la rainure formant une partie arrière respective du dispositif de fixation et de l’organe de fixation en deux parties, - the removable fixing device of the hull and the fixing device of the link arm of the anti-roll stabilization system are each in two parts, a front part and a rear part, and for a link arm passing from above from the hull and from the stern of the ship, the anti-roll stabilization system comprises at the front of the connecting arm a pin intended to be plugged into a chainplate for lifting the ship arranged on the deck at the stern of the kiosk, the lifting chainplate and the pin forming a respective front part of the fixing device and of the fixing member in two parts, and the fixing device comprises a straight shank, arranged at the rear of the lifting chainplate , and the fixing member has an elongated groove disposed at the underside of the link arm of the anti-roll stabilization system, the groove being widened towards the front of the link arm and narrowed towards the rear of the link arm , the straight tail and the groove e forming a respective rear part of the fixing device and of the fixing member in two parts,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, l’échancrure destinée à recevoir une des deux extrémités avant ou arrière du kiosque s’applique en outre contre des parties latérales du kiosque adjacentes à ladite extrémité du kiosque, - for a connecting arm passing through the top of the hull, on the deck, the notch intended to receive one of the two front or rear ends of the kiosk also applies against the side parts of the kiosk adjacent to said end of the kiosk ,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, l’échancrure destinée à recevoir une des deux extrémités avant ou arrière du kiosque permet de mieux contrer les forces de torsion appliquées sur le système de stabilisation anti-roulis en particulier celles s’appliquant dans un plan horizontal, - for a connecting arm passing through the top of the hull, on the deck, the notch intended to receive one of the two front or rear ends of the kiosk makes it possible to better counter the torsional forces applied to the anti-roll stabilization system in particular those applying in a horizontal plane,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, le dispositif de fixation est disposé en partie sur ou dans le kiosque, - for a connecting arm passing through the top of the hull, on the deck, the fixing device is placed partly on or in the kiosk,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, le kiosque comporte en outre des rails de guidage du bras de liaison à échancrure, - for a connecting arm passing through the top of the hull, on the deck, the kiosk also comprises guide rails for the notched connecting arm,
- pour un bras de liaison passant par le dessus de la coque, sur le pont, le bras de liaison à échancrure et possiblement le kiosque sont configurés pour qu’un même système de stabilisation anti-roulis puisse s’appliquer contre extrémité avant ou arrière du kiosque, - for a link arm passing through the top of the hull, on the deck, the notched link arm and possibly the kiosk are configured so that the same anti-roll stabilization system can be applied against the fore or aft end from the kiosk,
- le bras de liaison à échancrure passant par le dessus de la coque, sur le pont, passe à distance du pont et le dispositif de fixation est disposé sur ou dans le kiosque seulement, - the notched connecting arm passing through the top of the hull, on the deck, passes away from the deck and the fixing device is placed on or in the kiosk only,
- le bras de liaison est configuré pour passer par le dessus de la coque, sur le pont, et le dispositif de fixation est disposé sous le pont de la coque, dans une niche comportant un capot amovible de pont, le capot devant être ouvert pour permettre la fixation de l’organe de fixation du bras de liaison sur le dispositif de fixation, - the connecting arm is configured to pass through the top of the hull, on the deck, and the fixing device is arranged under the deck of the hull, in a recess comprising a removable deck cover, the cover having to be opened to allow the attachment of the connecting arm fixing device to the fixing device,
- le bras de liaison est configuré pour passer par le dessous de la coque en s’appliquant contre la coque, - the connecting arm is configured to pass through the underside of the hull by pressing against the hull,
- le bras de liaison est configuré pour passer par le dessus de la coque en s’appliquant contre le pont, - the connecting arm is configured to pass over the top of the hull by pressing against the deck,
- l’organe de fixation et le dispositif de fixation mettent en œuvre une fixation par boulonnage, - the fixing device and the fixing device implement fixing by bolting,
- l’organe de fixation et le dispositif de fixation mettent en œuvre une fixation par un moyen de verrouillage-déverrouillage commandable, - the fixing member and the fixing device implement fixing by a controllable locking-unlocking means,
- l’organe de fixation et le dispositif de fixation mettent en œuvre une fixation par un moyen de verrouillage-déverrouillage télécommandé, - the fastening member and the fastening device implement fastening by a remote-controlled locking-unlocking means,
- l’organe de fixation et le dispositif de fixation mettent en œuvre une fixation par un moyen de verrouillage-déverrouillage magnétique pour le verrouillage et électromagnétique pour le déverrouillage. - the fixing member and the fixing device implement fixing by means of magnetic locking-unlocking for locking and electromagnetic for unlocking.
L’invention concerne également un système de stabilisation anti-roulis destiné à transformer un navire de surface monocoque en trimaran. The invention also relates to an anti-roll stabilization system intended to transform a monohull surface vessel into a trimaran.
Selon l’invention, le système de stabilisation anti-roulis est amovible et comporte un bras de liaison allongé terminé à ses deux extrémités latérales par deux flotteurs, le bras de liaison comportant un organe de fixation, l’organe de fixation étant configuré pour être fixé d’une manière amovible sur un dispositif de fixation du navire de surface monocoque afin de le transformer en trimaran. According to the invention, the anti-roll stabilization system is removable and comprises an elongated connecting arm terminated at its two lateral ends by two floats, the connecting arm comprising a fixing member, the fixing member being configured to be fixed in a removable manner on a fixing device of the monohull surface vessel in order to transform it into a trimaran.
D’autres caractéristiques non limitatives et avantageuses du système de stabilisation antiroulis conforme à l’invention, prises individuellement ou selon toutes les combinaisons techniquement possibles, sont les suivantes : Other non-limiting and advantageous characteristics of the anti-roll stabilization system according to the invention, taken individually or according to all the technically possible combinations, are the following:
- le système de stabilisation anti-roulis comporte une ou plusieurs des caractéristiques décrites le concernant, - the anti-roll stabilization system includes one or more of the characteristics described concerning it,
- le système de stabilisation anti-roulis peut flotter et est stable avec les deux flotteurs à l’eau, - the anti-roll stabilization system can float and is stable with both floats in the water,
- le système de stabilisation anti-roulis peut naviguer en se déplaçant par ses propres moyens, les flotteurs comportant des organes de propulsion, - the anti-roll stabilization system can navigate by moving under its own power, the floats comprising propulsion components,
- le système de stabilisation anti-roulis est télécommandé, - the anti-roll stabilization system is remote controlled,
- le système de stabilisation anti-roulis comporte une pine et une rainure, - the anti-roll stabilization system includes a pin and a groove,
- la pine et la rainure du système de stabilisation anti-roulis sont destinées à être fixées respectivement à une cadène de levage et à une queue droite du navire, - the pin and the groove of the anti-roll stabilization system are intended to be fixed respectively to a lifting chainplate and to a straight tail of the ship,
- système de stabilisation anti-roulis dans lequel le navire de surface monocoque destiné à recevoir le système de stabilisation anti-roulis comporte un kiosque érigé sur un pont de la coque du navire et le bras de liaison du système de stabilisation anti-roulis, qui est destiné à passer par le dessus de la coque du navire en s’appliquant sur le pont dudit navire, comporte une échancrure destinée à recevoir l’une des extrémités avant ou arrière du kiosque, les bords de l’échancrure étant destinés à s’appliquer contre une des deux extrémités avant ou arrière du kiosque. - anti-roll stabilization system in which the monohull surface vessel intended to receive the anti-roll stabilization system comprises a kiosk erected on a deck of the ship's hull and the link arm of the anti-roll stabilization system, which is intended to pass through the top of the ship's hull in s' applying to the deck of said ship, comprises a notch intended to receive one of the front or rear ends of the kiosk, the edges of the notch being intended to bear against one of the two front or rear ends of the kiosk.
L’invention consiste enfin en un kit de transformation en trimaran d’un navire de surface monocoque autonome motorisé perce-vague à coque effilée, la coque comportant un pont, le navire comportant un kiosque érigé sur ledit pont, le navire comportant en outre sous la coque une quille lestée destinée à abaisser le centre de gravité du navire pour stabiliser le navire au moins contre le roulis, la quille étant amovible et pouvant être placée dans plusieurs positions dont une position basse dans laquelle le centre de gravité du navire est abaissé et une position haute ou extraite dans laquelle le centre de gravité du navire est remonté. The invention finally consists of a kit for transforming into a trimaran an autonomous motorized wave-piercing monohull surface vessel with a tapered hull, the hull comprising a deck, the vessel comprising a kiosk erected on said deck, the vessel further comprising under the hull a weighted keel intended to lower the center of gravity of the ship to stabilize the ship at least against rolling, the keel being removable and being able to be placed in several positions including a low position in which the center of gravity of the ship is lowered and an elevated or extracted position in which the ship's center of gravity is raised.
Selon l’invention, dans un mode de réalisation dans lequel le navire monocoque comporte un dispositif de fixation amovible d’un système de stabilisation anti-roulis, le kit comporte un système de stabilisation anti-roulis comportant un bras de liaison allongé terminé à ses deux extrémités latérales par deux flotteurs, le bras de liaison comportant un organe de fixation, l’organe de fixation étant configuré pour être fixé d’une manière amovible sur le dispositif de fixation afin de transformer le navire en trimaran, les deux flotteurs étant alors disposés respectivement à bâbord et tribord de la coque. According to the invention, in an embodiment in which the monohull vessel comprises a removable attachment device for an anti-roll stabilization system, the kit comprises an anti-roll stabilization system comprising an elongated connecting arm terminated at its two lateral ends by two floats, the connecting arm comprising a fixing member, the fixing member being configured to be fixed in a removable manner on the fixing device in order to transform the vessel into a trimaran, the two floats then being positioned respectively on the port and starboard side of the hull.
Selon l’invention, dans un mode de réalisation dans lequel le navire monocoque ne comporte pas de dispositif de fixation amovible d’un système de stabilisation anti-roulis, le bras de liaison comportant un organe de fixation qui peut se fixer à une ceinture pour coque destinée à venir enserrer la coque, le kit comporte alors un système de stabilisation anti-roulis et au moins une ceinture pour coque, le système de stabilisation anti-roulis comportant un bras de liaison allongé terminé à ses deux extrémités latérales par deux flotteurs, le bras de liaison comportant un organe de fixation, ladite au moins une ceinture pour coque comportant un dispositif de fixation amovible à l’organe de fixation, ladite au moins une ceinture pour coque étant configurée pour être serrée autour de la coque, l’organe de fixation étant configuré pour être fixé d’une manière amovible sur le dispositif de fixation afin de transformer le navire en trimaran, les deux flotteurs étant disposés respectivement à bâbord et tribord de la coque. According to the invention, in an embodiment in which the monohull vessel does not include a device for removable attachment of an anti-roll stabilization system, the connecting arm comprising an attachment member which can be attached to a belt to hull intended to enclose the hull, the kit then comprises an anti-roll stabilization system and at least one belt for the hull, the anti-roll stabilization system comprising an elongated connecting arm terminated at its two lateral ends by two floats, the connecting arm comprising a fixing member, the said at least one hull belt comprising a removable fixing device to the fixing member, the said at least one hull belt being configured to be tightened around the hull, the member of fixing being configured to be fixed in a removable manner on the fixing device in order to transform the vessel into a trimaran, the two floats being arranged respectively on the base side and starboard of the hull.
Dans une modalité de mise en œuvre particulière, dans laquelle le navire monocoque ne comporte pas de dispositif de fixation amovible d’un système de stabilisation anti-roulis, le kit comporte en outre au moins une ceinture pour kiosque configurée pour être serrée autour du kiosque et pouvant être fixée d’une manière amovible au bras de liaison du système de stabilisation anti-roulis. In a particular mode of implementation, in which the monohull vessel does not include a removable attachment device for an anti-roll stabilization system, the kit further includes at least one kiosk belt configured to be tightened around the kiosk and attachable in a removable manner to the link arm of the anti-roll stabilization system.
Brève description des dessins [Fig. 1] représente une en perspective avant du navire dans la configuration monocoque avec sa quille lestée en position basse, le système de stabilisation anti-roulis étant représenté isolément, à distance de l’arrière du navire, Brief description of the drawings [Fig. 1] shows a forward perspective of the ship in the monohull configuration with its weighted keel in the low position, the anti-roll stabilization system being shown in isolation, at a distance from the stern of the ship,
[Fig. 2] représente une en perspective avant du navire dans la configuration monocoque avec sa quille lestée en position basse, le système de stabilisation anti-roulis étant en cours d’installation sur le navire (ou, inversement, désinstallation si le système de stabilisation antiroulis se retire du navire), le système de stabilisation anti-roulis abordant le navire par l’arrière dudit navire, [Fig. 2] shows a forward perspective of the vessel in the monohull configuration with its weighted keel in the down position, with the anti-roll stabilization system being installed on the vessel (or, conversely, uninstallation if the anti-roll stabilization system becomes removed from the ship), the anti-roll stabilization system approaching the ship from the stern of the said ship,
[Fig. 3] représente une vue en perspective avant du navire dans la configuration trimaran avec sa quille lestée qui va pouvoir être remontée, le système de stabilisation anti-roulis étant fixé sur le navire, [Fig. 3] shows a front perspective view of the vessel in the trimaran configuration with its weighted keel which can be raised, the anti-roll stabilization system being fixed to the vessel,
[Fig. 4] représente une vue en perspective arrière du navire dans la configuration trimaran avec sa quille lestée qui va pouvoir être remontée, le système de stabilisation anti-roulis étant fixé sur le navire, [Fig. 4] shows a rear perspective view of the vessel in the trimaran configuration with its weighted keel which can be raised, the anti-roll stabilization system being fixed to the vessel,
[Fig. 5] représente une vue en perspective latérale du navire dans la configuration trimaran, le système de stabilisation anti-roulis étant représenté en écorché pour visualisation des rapports entre le dispositif de fixation amovible de la coque et l’organe de fixation du bras de liaison du système de stabilisation anti-roulis qui sont chacun en deux parties, une partie avant vers l’avant du bras de liaison et une partie arrière vers l’arrière du bras de liaison, un cartouche agrandissant la partie arrière, et [Fig. 5] shows a side perspective view of the ship in the trimaran configuration, the anti-roll stabilization system being shown cut away to show the relationship between the removable hull attachment device and the attachment member of the connecting arm of the anti-roll stabilization system which are each in two parts, a front part forward of the link arm and a rear part rearward of the link arm, a cartridge enlarging the rear part, and
[Fig. 6] représente une vue de dessous du système de stabilisation anti-roulis permettant la visualisation de la rainure allongée destinée à coopérer avec la queue droite du pont de la coque du navire. [Fig. 6] shows a bottom view of the anti-roll stabilization system allowing visualization of the elongated groove intended to cooperate with the right tail of the deck of the ship's hull.
Description détaillée d’un exemple de réalisation Detailed description of an example of realization
La description qui va suivre en regard des dessins annexés, donnés à titre d’exemples non limitatifs, fera bien comprendre en quoi consiste l’invention et comment elle peut être réalisée. The following description with reference to the accompanying drawings, given by way of non-limiting examples, will make it clear what the invention consists of and how it can be implemented.
Dans son principe, la présente invention concerne le domaine de la navigation et l’exploration sous-marine par un navire monocoque de surface motorisé parce vague comportant une quille lestée amovible/rétractable et un kiosque, la quille pouvant être montée et descendue. Un tel navire a été décrit dans la demande de brevet FR17 61547 à laquelle on peut se référer si on le souhaite. L’invention permet l’utilisation du navire dans des eaux très peu profondes, typiquement des eaux de moins de quatre mètres de profondeur. L’invention permet de stabiliser le navire alors que la quille lestée est remontée/rétractée alors que le navire sans mise en œuvre de l’invention risque de chavirer du fait de la remontée de la quille et donc de son centre de gravité. In principle, the present invention relates to the field of navigation and underwater exploration by a wave-powered monohull surface vessel comprising a removable/retractable weighted keel and a kiosk, the keel being able to be raised and lowered. Such a vessel has been described in patent application FR17 61547 to which reference may be made if desired. The invention allows the vessel to be used in very shallow waters, typically waters less than four meters deep. The invention makes it possible to stabilize the ship while the weighted keel is raised/retracted while the ship without implementing the invention risks capsizing due to the raising of the keel and therefore its center of gravity.
Grâce à l’invention, on peut transformer le navire monocoque en trimaran par l’ajout d’un système de stabilisation anti-roulis comportant deux flotteurs et un bras de liaison les reliant. Ces flotteurs assurant la stabilité transversale du navire et il est alors possible de naviguer avec la quille en position remontée/rétractée. De préférence, un propulseur électrique est ajouté à chaque flotteur et un ensemble batterie électrique rechargeable + convertisseur électrique prend place dans les flotteurs et le bras de liaison. On peut noter que l’augmentation du poids du navire dû à l’adjonction du système de stabilisation anti-roulis peut être compensé par un accroissement du volume de flottabilité apporté par les flotteurs en eux même. Thanks to the invention, the monohull ship can be transformed into a trimaran by adding an anti-roll stabilization system comprising two floats and a connecting arm connecting them. These floats ensuring the transverse stability of the vessel and it is then possible to sail with the keel in the raised/retracted position. Preferably, an electric thruster is added to each float and a rechargeable electric battery + electric converter assembly takes place in the floats and the connecting arm. It can be noted that the increase in the weight of the ship due to the addition of the anti-roll stabilization system can be compensated by an increase in the volume of buoyancy provided by the floats themselves.
L’invention peut se présenter sous la forme d’un kit dont les éléments viennent se fixer sur la coque du navire dans une structure prévue à cet effet. Lorsque le système de stabilisation anti-roulis du kit comporte des flotteurs à moyens de propulsion, le système de propulsion du système de stabilisation anti-roulis peut se connecter au dispositif de gestion du navire qui vient alors prendre le contrôle et la commande de la propulsion des flotteurs. La recharge de la batterie électrique rechargeable du système de stabilisation anti-roulis peut être assurée par un générateur électrique du navire, typiquement à partir de l’alternateur du moteur principal du navire. The invention may be in the form of a kit, the elements of which are fixed to the hull of the ship in a structure provided for this purpose. When the anti-roll stabilization system of the kit has floats with means of propulsion, the propulsion system of the anti-roll stabilization system can connect to the management device of the ship which then comes to take control and command of the propulsion floats. Recharging of the rechargeable electric battery of the anti-roll stabilization system can be ensured by a ship's electrical generator, typically from the ship's main engine alternator.
Le système de stabilisation anti-roulis à propulseurs du kit peut être équipé de moyens de communication et d’automatismes lui permettant d’être en lui-même un engin télécommandé. Le système de stabilisation anti-roulis à propulseurs et télécommandé du kit peut être en mesure d’approcher le navire par ses propres moyens, typiquement par l’arrière, et de se fixer et de se connecter de manière autonome, aussi bien mécaniquement qu’électriquement, au navire, permettant au navire de continuer sa mission avec la quille lestée remontée en position haute. The kit's thruster anti-roll stabilization system can be equipped with means of communication and automation allowing it to be a remote-controlled vehicle in itself. The kit's remote-controlled, thruster-driven anti-roll stabilization system may be able to approach the vessel under its own power, typically from astern, and attach and connect autonomously, both mechanically and externally. electrically, to the vessel, allowing the vessel to continue its mission with the weighted keel raised to the raised position.
A noter que la mise en œuvre du kit motorisé, télécommandé, fixable et connectable automatiquement peut aussi assurer une autre fonction que celle consistant à permettre au navire transformé en trimaran de naviguer quille haute : il peut permettre la récupération d’urgence d’un navire en panne. En effet, l’une des difficultés des engins autonomes est qu’en cas de panne, ils obligent à déployer des moyens de récupération qui engendre des coûts et/ou qui interdisent au navire mère de continuer sa mission. Le système de stabilisation anti-roulis à propulseurs du kit qui devient alors un kit de récupération d’urgence, peut être lancé depuis la côte, depuis le navire mère ou même depuis un autre navire déjà transformé en trimaran d’où l’on récupère le système de stabilisation anti-roulis à propulseurs après avoir abaissé sa quille lestée afin de lui redonner de la stabilité. It should be noted that the implementation of the motorized, remote-controlled, fixable and automatically connectable kit can also provide a function other than that of allowing the vessel transformed into a trimaran to navigate with its keel up: it can allow the emergency recovery of a vessel broken-down. Indeed, one of the difficulties of autonomous vehicles is that in the event of a breakdown, they require the deployment of means of recovery which generates costs and/or which prohibits the mother ship from continuing its mission. The kit's thruster anti-roll stabilization system, which then becomes an emergency recovery kit, can be launched from the coast, from the mother ship or even from another ship already transformed into a trimaran from where one recovers the thruster anti-roll stabilization system after lowering her weighted keel to restore her stability.
Comme représenté sur la figure 1 , le navire 10 comporte une coque 11 avec un pont 19 et est monocoque. Le navire 10 est motorisé avec un propulseur à hélice 15 et des moyens permettant la navigation avec un gouvernail 16 comportant à sa partie inférieure deux ailerons latéraux 17. As shown in Figure 1, the ship 10 has a hull 11 with a deck 19 and is monohull. The ship 10 is motorized with a propeller thruster 15 and means allowing navigation with a rudder 16 comprising at its lower part two side fins 17.
Le navire est un drone flottant/de surface autonome, sans équipage, qui comporte une coque fusiforme très étroite perce-vague. Le drone est télécommandé et/ou préprogrammé et/ou totalement autonome selon son degré d’autonomie. Le drone est donc propulsé mécaniquement et on utilise au moins un moteur électrique ou à combustion interne ou à réaction chimique ou même mixte, qui actionne l’hélice ou, dans des variantes, plusieurs hélices ou une ou plusieurs turbines. The vessel is an autonomous, unmanned floating/surface drone that features a very narrow wave-piercing spindle-shaped hull. The drone is remote-controlled and/or pre-programmed and/or totally autonomous depending on its degree of autonomy. The drone is therefore mechanically propelled and at least one electric or internal combustion or chemical or even mixed reaction motor is used, which actuates the propeller or, in variants, several propellers or one or more turbines.
Le navire comporte un kiosque 14 érigé sur le pont 19 mais ne comporte pas de voile, de mât ou de gréement ou tout autre équipement destiné à se servir de la force du vent pour directement le propulser. The ship includes a kiosk 14 erected on deck 19 but does not include a sail, mast or rigging or any other equipment intended to use the force of the wind to directly propel it.
Si on considère à eux seuls la coque 11 , 19 et le kiosque 14 du navire, le centre de gravité de l’ensemble est relativement haut d’où une très grande instabilité transversale et une tendance accrue à la gite. Une quille 12, 13 lestée à son extrémité inférieure est donc mise en œuvre vers le bas de la coque 11 , à la partie inférieure de la carène, afin d’abaisser le centre de gravité du navire 10 considéré dans son ensemble lorsque la quille 12, 13 est descendue. If we consider the hull 11, 19 and the kiosk 14 of the ship alone, the center of gravity of the assembly is relatively high, resulting in a very great transverse instability and an increased tendency to list. A keel 12, 13 weighted at its lower end is therefore implemented towards the bottom of the hull 11, at the lower part of the hull, in order to lower the center of gravity of the vessel 10 considered as a whole when the keel 12 , 13 descended.
Cette quille comporte un bulbe 13 ou gondole à son extrémité inférieure. Le bulbe 13 est relié à la coque 11 par une partie de liaison 12 de la quille. La quille à bulbe comporte, de préférence dans le bulbe 13, un lest destiné à renforcer la stabilité transversale du navire 10. Ce lest est un matériau lourd spécifique, par exemple plomb ou uranium, et/ou correspond à des équipements, notamment de mesure, installés dans le bulbe. This keel has a bulb 13 or gondola at its lower end. The bulb 13 is connected to the hull 11 by a connecting part 12 of the keel. The bulbous keel comprises, preferably in the bulb 13, a ballast intended to reinforce the transverse stability of the ship 10. This ballast is a specific heavy material, for example lead or uranium, and/or corresponds to equipment, in particular for measuring , installed in the bulb.
Avantageusement, les équipements de mesure, notamment des transducteurs d’émission et de réception d’ondes acoustiques à type de SONAR, et une centrale d’attitude sont disposés dans le bulbe de la quille. Le bulbe peut aussi comporter un logement pour un engin sous-marin à propulseur et moyens de navigation, qui peut quitter et revenir dans le bulbe. Il est ainsi possible d’obtenir des corrections précises des mesures acoustiques du fait que la centrale d’attitude est positionnée au plus près des transducteurs acoustiques. Advantageously, the measuring equipment, in particular transducers for transmitting and receiving acoustic waves of the SONAR type, and an attitude unit are arranged in the bulb of the keel. The bulb can also comprise a housing for an underwater vehicle with thruster and means of navigation, which can leave and return to the bulb. It is thus possible to obtain precise corrections of the acoustic measurements because the attitude unit is positioned as close as possible to the acoustic transducers.
Le navire 10 a une longueur totale inférieure à 20 mètres et une longueur minimale d’au moins 2,5 mètres. Le navire présente un rapport largeur totale sur longueur totale inférieur à 0,2. Le navire de type drone représenté sur les figures, a une longueur comprise entre 2,5 m et 6 m. Vessel 10 has an overall length of less than 20 meters and a minimum length of at least 2.5 meters. The vessel has a total width to total length ratio of less than 0.2. The drone-type vessel shown in the figures has a length of between 2.5 m and 6 m.
Grâce à la forme très étroite de la coque 11 , le navire 10 a une très faible résistance à l’avancement aussi bien en eau calme qu’en eau agitée, eu égard à sa longueur. La coque 11 est capable de dépasser avec très peu d’énergie la vitesse limite de carène et est capable de passer en survitesse sans pour autant être d’une forme dite « planante ». Thanks to the very narrow shape of the hull 11, the ship 10 has a very low resistance to progress both in calm water and in rough water, given its length. The hull 11 is capable of exceeding the speed limit of the hull with very little energy and is capable of overspeeding without however being of a so-called "planing" shape.
Cette forme de la coque 11 et l’éloignement du bulbe ou gondole 13 de la quille par rapport à la coque 11 permet en outre d’améliorer les écoulements dans le voisinage des transducteurs acoustiques et évite la formation de bulles ayant un effet masquant au niveau des transducteurs acoustiques. Il en résulte une diminution des « bruits » qui, dans les navires traditionnels, parasitent les mesures acoustiques. This shape of the hull 11 and the remoteness of the bulb or gondola 13 from the keel with respect to the hull 11 also makes it possible to improve the flows in the vicinity of the acoustic transducers and avoids the formation of bubbles having a masking effect at the level acoustic transducers. This results in a reduction of “noise” which, in traditional ships, interferes with acoustic measurements.
La quille 12, 13 est amovible/relevable et elle peut donc être descendue et remontée et même, dans certaines modalités de mise en œuvre, démontée relativement simplement pour être échangée avec une autre quille. Lors de la remontée de la quille, l’extrémité supérieure de la quille passe dans un espace de stockage de quille situé à l’intérieur du kiosque 14. The keel 12, 13 is removable/raisable and it can therefore be lowered and raised and even, in certain embodiments, dismantled relatively simply to be exchanged with another keel. When raising the keel, the upper end of the keel passes into a keel storage space located inside booth 14.
Sur la figure 1 , la quille est descendue. Dans cet exemple, la quille 12, 13 peut être descendue jusqu’à donner une profondeur de deux mètres de tirant d’eau au navire 10. In Figure 1, the keel is lowered. In this example, the keel 12, 13 can be lowered to give a depth of two meters of draft to the vessel 10.
Toujours figure 1 , on a représenté en arrière du navire et séparé du navire 10, le système de stabilisation anti-roulis 1 destiné à transformer le navire 10 en trimaran 20. Ce le système de stabilisation anti-roulis 1 est du type à bras de liaison 3 vers le haut, hors d’eau. Le bras de liaison 3 comporte à ses deux extrémités latérales deux flotteurs 2 qui comportent des propulseurs 5. Still in FIG. 1, there is shown behind the ship and separated from the ship 10, the anti-roll stabilization system 1 intended to transform the ship 10 into a trimaran 20. This the anti-roll stabilization system 1 is of the arm type. link 3 upwards, out of the water. The connecting arm 3 comprises at its two lateral ends two floats 2 which comprise thrusters 5.
Dans l’exemple représenté, le dispositif de fixation amovible de la coque, tout comme l’organe de fixation du bras de liaison du système de stabilisation anti-roulis sont chacun en deux parties, une partie avant et une partie arrière, en référence à l’orientation des extrémités avant et arrière du navire. In the example shown, the removable attachment device of the hull, like the attachment member of the link arm of the anti-roll stabilization system are each in two parts, a front part and a rear part, with reference to the orientation of the fore and aft ends of the vessel.
Ainsi pour le dispositif de fixation amovible, celui-ci comporte une partie avant qui est une cadène de levage 21 disposée sur le pont 19 de la coque 11 , en arrière du kiosque 14. Toujours pour le dispositif de fixation amovible, celui-ci comporte une partie arrière qui est une queue droite 22 disposée sur le pont 19 de la coque 11 , en arrière de la cadène de levage 21. La queue droite 22 a une forme générale de champignon avec vers le haut une tête élargie et vers le bas un pied plus étroit que la tête. Thus for the removable fixing device, this comprises a front part which is a lifting plate 21 arranged on the deck 19 of the hull 11, behind the kiosk 14. Still for the removable fixing device, this comprises a rear part which is a straight tail 22 arranged on the deck 19 of the hull 11, behind the lifting chainplate 21. The straight tail 22 has the general shape of a mushroom with an enlarged head upwards and a foot narrower than the head.
A la cadène de levage 21 du navire correspond une pine du système de stabilisation antiroulis qui est la partie avant de l’organe de fixation du bras de liaison 3, la pine venant se fixer sur la cadène de levage lorsque le système de stabilisation anti-roulis est installé sur le navire. To the lifting chainplate 21 of the ship corresponds a pine of the anti-roll stabilization system which is the front part of the fixing member of the connecting arm 3, the pine being fixed on the lifting chainplate when the anti-roll stabilization system roll is installed on the ship.
A la queue droite 22 du navire correspond une rainure 6 allongée disposée longitudinalement (en relation avec les extrémités avant et arrières du navire) au milieu de la face inférieure du bras de liaison 3 du système de stabilisation anti-roulis 1 (figure 6) et qui sert à la fois au guidage du système de stabilisation anti-roulis lors de son installation et à son maintien/fixation une fois le système installé, la rainure correspond à la partie arrière de l’organe de fixation du bras de liaison 3. To the right tail 22 of the ship corresponds an elongated groove 6 arranged longitudinally (in relation to the front and rear ends of the ship) in the middle of the lower face of the connecting arm 3 of the anti-roll stabilization system 1 (FIG. 6) and which is used both for guiding the anti-roll stabilization system during its installation and for maintaining/fixing it once the system has been installed, the groove corresponds to the rear part of the fixing member of the link arm 3.
Afin de renforcer la résistance de la fixation au navire du système de stabilisation antiroulis, notamment aux forces tendant à provoquer une rotation du système de stabilisation antiroulis dans un plan horizontal, on met en œuvre un bras de liaison 3 avec une échancrure 4 permettant un appui du bras de liaison 3 contre des côtés latéraux du kiosque 14. In order to reinforce the resistance of the fixing to the ship of the anti-roll stabilization system, in particular to the forces tending to cause rotation of the anti-roll stabilization system in a horizontal plane, a connecting arm 3 is implemented with a notch 4 allowing support of the connecting arm 3 against the lateral sides of the kiosk 14.
Figure 2, le système de stabilisation anti-roulis 1 , dont le bras de liaison 3 est configuré pour passer sur le dessus de la coque 11 du navire 10, est en cours d’installation et accoste le navire par l’arrière de ce dernier. Pour cela, le système de stabilisation anti-roulis 1 est venu accoster le navire par l’arrière, le bras de liaison passant par le dessus du pont et les deux flotteurs à propulseurs passant à bâbord et tribord du navire respectivement. Le système de stabilisation anti-roulis 1 est donc fixé à l’arrière du kiosque 14. Figure 2, the anti-roll stabilization system 1, the connecting arm 3 of which is configured to pass over the top of the hull 11 of the vessel 10, is being installed and docks the vessel from the rear of the latter . For this, the anti-roll stabilization system 1 came to dock the ship from the stern, the link arm passing over the top of the deck and the two thruster floats passing to port and starboard of the ship respectively. The anti-roll stabilization system 1 is therefore attached to the rear of the kiosk 14.
On peut noter que sur cette figure 2 on a représenté un système de stabilisation anti-roulis 1 qui comporte deux propulseurs 5 par flotteur 2, un à l’avant et un à l’arrière pour montrer la possibilité d’avoir plusieurs propulseurs par flotteur. Les propulseurs 5 sont de préférence orientables à défaut pour le système de stabilisation anti-roulis d’avoir des gouvernails sur les flotteurs. It can be noted that in this figure 2 there is shown an anti-roll stabilization system 1 which comprises two thrusters 5 per float 2, one at the front and one at the rear to show the possibility of having several thrusters per float. The thrusters 5 are preferably steerable if the anti-roll stabilization system does not have rudders on the floats.
Figure 3, le navire a été transformé en trimaran 20 et la quille lestée va pouvoir être remontée, le bulbe ou gondole 13 restant sous la coque 11 , la plus grande partie de la hauteur de la partie de liaison 12 de la quille pouvant coulisser dans un puits de quille de la coque et l’extrémité supérieure de la quille pouvant rentrer dans un espace de stockage de quille situé à l’intérieur du kiosque 14. Dans certains modes de réalisation, la quille est démontable et/ou le bulbe 13 est démontable et est interchangeable, ce qui permet d’utiliser le navire avec différentes configurations de transducteurs acoustiques de divers bulbes. Figure 3, the ship has been transformed into a trimaran 20 and the weighted keel will be able to be raised, the bulb or gondola 13 remaining under the hull 11, the greater part of the height of the connecting part 12 of the keel being able to slide in a keel well of the hull and the upper end of the keel which can fit into a keel storage space located inside the kiosk 14. In certain embodiments, the keel is removable and/or the bulb 13 is removable and is interchangeable, allowing the vessel to be used with different configurations of acoustic transducers of various bulbs.
Figures 3 et 4, le système de stabilisation anti-roulis 1 du type à bras de liaison 3 vers le haut, hors d’eau, a été fixé sur le pont 19 de la coque 11 du navire, le dispositif de fixation de la coque ayant été fixé d’une manière amovible à l’organe de fixation du bras de liaison, a fixation du bras de liaison à la coque peut s’effectuer manuellement par boulonnage mais, avantageusement, un moyen de fixation/verrouillage-déverrouillage automatique est mis en œuvre entre le dispositif de fixation et l’organe de fixation. Figures 3 and 4, the anti-roll stabilization system 1 of the type with link arm 3 upwards, out of the water, has been fixed on the deck 19 of the hull 11 of the ship, the hull fixing device having been fixed in a removable manner to the fixing member of the connecting arm, the fixing of the connecting arm to the hull can be carried out manually by bolting but, advantageously, an automatic fixing/locking-unlocking means is fitted implemented between the fixing device and the fixing member.
Dans une variante non représentée, le dispositif de fixation de la coque qui est sur le pont est capoté en l’absence du système de stabilisation anti-roulis, et le capot peut être retiré lors de l’installation du système de stabilisation anti-roulis. Dans une modalité de mise en œuvre, le capot peut être coulissant ou basculant en restant solidaire du navire. In a variant not shown, the hull attachment device which is on the deck is covered in the absence of the anti-roll stabilization system, and the cover can be removed when installing the anti-roll stabilization system . In one mode of implementation, the cover can be sliding or tilting while remaining integral with the ship.
Sur la figure 5, on peut mieux voir les relations entre les éléments du navire et le système de stabilisation anti-roulis fixé sur le pont 19 du navire, à l’arrière et contre le kiosque 14. En particulier, vers l’arrière du bras de liaison, la rainure 6 allongée du bras de liaison a été glissée sur la queue droite 22 du navire. Figure 6, on peut mieux voir la forme de la rainure 6 qui est plus large à l’avant, côté échancrure 4, qu’à l’arrière du bras de liaison 3 afin de former aussi un moyen de guidage et positionnement du système de stabilisation anti-roulis sur le pont de la coque du navire. In FIG. 5, one can better see the relations between the elements of the ship and the anti-roll stabilization system fixed on the deck 19 of the ship, aft and against the kiosk 14. In particular, towards the stern of the link arm, the elongated groove 6 of the link arm was slid over the right tail 22 of the ship. Figure 6, one can better see the shape of the groove 6 which is wider at the front, notch 4 side, than at the rear of the connecting arm 3 in order to also form a means of guiding and positioning the system of anti-roll stabilization on the ship's hull deck.
Le système de stabilisation anti-roulis est de préférence télécommandé mais il peut en outre comporter des dispositifs d’automatisation notamment de l’installation (transformation du navire en trimaran) et de la désinstallation (navire repassant en monocoque) du système de stabilisation anti-roulis sur le navire. En outre, les commandes en montée de la quille peuvent être conditionnées à la présence du système de stabilisation anti-roulis fixé sur le navire. The anti-roll stabilization system is preferably remote-controlled, but it may also comprise automation devices, in particular for the installation (transformation of the vessel into a trimaran) and the uninstallation (vessel returning to a monohull) of the anti-roll stabilization system. roll on the ship. In addition, the keel up controls can be conditioned by the presence of the anti-roll stabilization system fixed to the vessel.
Le système de stabilisation anti-roulis 1 de l’invention peut aussi trouver une application occasionnelle en sauvetage et récupération d’un navire qui serait en panne et est flottant et, ceci, même si le système de stabilisation anti-roulis n’est pas fixé sur le navire. On prévoit d’autres moyens de fixation du système de stabilisation anti-roulis au navire dans de telles conditions de sauvetage et récupération et, par exemple, dans le cas d’un navire à coque acier, le système de stabilisation anti-roulis comporte des moyens magnétiques, de préférence électromagnétiques pour une amovibilité aisée, permettant de « coller » magnétiquement le système de stabilisation anti-roulis à la coque. The anti-roll stabilization system 1 of the invention can also find an occasional application in the rescue and recovery of a ship that has broken down and is floating and, this, even if the anti-roll stabilization system is not attached to the ship. Other means of attaching the roll stabilization system to the vessel are provided in such rescue and recovery conditions and, for example, in the case of a steel-hulled vessel, the roll stabilization system includes magnetic means, preferably electromagnetic for easy removability, allowing the anti-roll stabilization system to be magnetically “glued” to the hull.
Le système de stabilisation anti-roulis est de préférence télécommandé mais il peut en outre comporter des dispositifs d’automatisation notamment du sauvetage et de la récupération. The anti-roll stabilization system is preferably remote-controlled, but it may also include automation devices, in particular for rescue and recovery.
A noter que les moyens de fixation amovibles à type de sangles pouvant enserrer la coque à la manière d’un lasso ou un collet peuvent aussi être utilisés lors de la transformation en trimaran du navire flottant normalement, kiosque vers le haut. Ces sangles lasso ou un collet s’apparentent alors fonctionnellement à la ceinture pour coque. It should be noted that the removable fastening means of the type of straps which can enclose the hull in the manner of a lasso or a collar can also be used when transforming the normally floating vessel into a trimaran, kiosk upwards. These lasso straps or a collar are then functionally similar to the shell belt.
Dans d’autres modalités de mise en œuvre, le système de stabilisation anti-roulis télécommandé et motorisé, peut être doté de moyens de perception et de capteurs et être à lui seul un engin autonome de surface capable, sans le navire, d’effectuer des missions en eaux très peu profondes à lui-seul. In other modes of implementation, the remote-controlled and motorized anti-roll stabilization system can be equipped with means of perception and sensors and be on its own an autonomous surface vehicle capable, without the ship, of carrying out very shallow water missions on its own.

Claims

REVENDICATIONS
1. Navire (10, 20) de surface autonome motorisé perce-vague à coque (11) effilée, la coque comportant un pont (19), le navire (10, 20)comportant un kiosque (14) érigé sur ledit pont (19), le navire (10, 20) comportant en outre sous la coque (11) une quille (12, 13) lestée destinée à abaisser le centre de gravité du navire pour stabiliser le navire au moins contre le roulis, la quille (12, 13) étant amovible et pouvant être placée dans plusieurs positions dont une position basse dans laquelle le centre de gravité du navire est abaissé et une position haute ou extraite dans laquelle le centre de gravité du navire est remonté, et le navire (10, 20) peut naviguer en tant que monocoque (10) ou en tant que trimaran (20), la coque (11 , 19) comportant un dispositif de fixation amovible d’un système de stabilisation anti-roulis (1) destiné à contrer au moins le roulis, le système de stabilisation anti-roulis (1) comportant un bras de liaison (3) allongé terminé à ses deux extrémités latérales par deux flotteurs (2), le bras de liaison (3) comportant un organe de fixation, l’organe de fixation étant configuré pour être fixé d’une manière amovible sur le dispositif de fixation afin de transformer le navire (10) en trimaran (20), les deux flotteurs (2) étant disposés respectivement à bâbord et tribord de la coque (11), et en ce que le navire (10, 20) est un monocoque (10) en l’absence du système de stabilisation anti-roulis (1), le bras de liaison (3) étant configuré pour passer par le dessus de la coque (11 19), sur le pont (19), caractérisé en ce que le dispositif de fixation amovible de la coque (11 , 19) et l’organe de fixation du bras de liaison (3) du système de stabilisation anti-roulis (1) sont chacun en deux parties, une partie avant et une partie arrière, et pour un bras de liaison passant par le dessus de la coque et par l’arrière du navire, le système de stabilisation anti-roulis (1) comporte à l’avant du bras de liaison (3) une pine destinée à venir s’enficher dans une cadène de levage (21) du navire (10, 20) disposée sur le pont (19) à l’arrière du kiosque (14), la cadène de levage (21) et la pine formant une partie avant respective du dispositif de fixation et de l’organe de fixation en deux parties, et le dispositif de fixation comporte une queue droite (22), disposée à l’arrière de la cadène de levage (21), et l’organe de fixation comporte une rainure (6) allongée disposée à la face inférieure du bras de liaison (3) du système de stabilisation anti-roulis (1), la rainure (6) étant élargie vers l’avant du bras de liaison et rétrécie vers l’arrière du bras de liaison, la queue droite (22) et la rainure (6) formant une partie arrière respective du dispositif de fixation et de l’organe de fixation en deux parties. 1. Vessel (10, 20) of self-contained motorized wave-piercing surface with a tapered hull (11), the hull comprising a deck (19), the vessel (10, 20) comprising a kiosk (14) erected on said deck (19 ), the ship (10, 20) further comprising under the hull (11) a weighted keel (12, 13) intended to lower the center of gravity of the ship to stabilize the ship at least against rolling, the keel (12, 13) being removable and capable of being placed in several positions including a low position in which the center of gravity of the vessel is lowered and a raised or extracted position in which the center of gravity of the vessel is raised, and the vessel (10, 20) can sail as a monohull (10) or as a trimaran (20), the hull (11, 19) comprising a device for removable attachment of an anti-roll stabilization system (1) intended to counter at least the roll , the anti-roll stabilization system (1) comprising an elongated connecting arm (3) terminated at its two lateral ends by two floats (2), the connecting arm (3) comprising a fixing member, the fixing member being configured to be fixed in a removable manner on the fixing device in order to transform the vessel (10) into a trimaran (20), the two floats (2) being arranged respectively to port and starboard of the hull (11), and in that the ship (10, 20) is a monohull (10) in the absence of the anti-stabilization system -roll (1), the connecting arm (3) being configured to pass through the top of the hull (11 19), on the deck (19), characterized in that the removable fixing device of the hull (11, 19) and the link arm fixing member (3) of the anti-roll stabilization system (1) are each in two parts, a front part and a rear part, and for a link arm passing through the top of the hull and from the rear of the ship, the anti-roll stabilization system (1) comprises at the front of the connecting arm (3) a pine intended to be plugged into s a lifting chainplate (21) of the ship (10, 20) arranged on the deck (19) at the rear of the kiosk (14), the lifting chainplate (21) and the pin forming a respective forward part of the fixing and of the fixing member in two parts, and the fixing device comprises a straight shank (22), disposed at the rear of the lifting plate (21), and the fixing member comprises a groove (6 ) elongated arranged on the underside of the link arm (3) of the anti-roll stabilization system (1), the groove (6) being widened towards the front of the link arm and narrowed towards the rear of the link arm , the straight shank (22) and the groove (6) forming a respective rear part of the fixing device and of the fixing member in two parts.
2. Navire (10, 20) selon la revendication 1 , caractérisé en ce que l’organe de fixation du bras de liaison (3) est médian et est disposé le long du bras sensiblement à égale distance des deux flotteur (2). 2. Vessel (10, 20) according to claim 1, characterized in that the fixing member of the connecting arm (3) is median and is arranged along the arm substantially at equal distance from the two floats (2).
3. Navire (10, 20) selon l’une quelconque des revendications 1 à 2, caractérisé en ce que la quille (12, 13) lestée amovible est translatable et peut être descendue sous la coque (11 , 19) en position basse de la quille et être remontée au moins en partie dans un espace de stockage de quille du kiosque (14) en position haute de la quille (12, 13). 3. Vessel (10, 20) according to any one of claims 1 to 2, characterized in that the removable weighted keel (12, 13) is translatable and can be lowered under the hull (11, 19) in the low position of the keel and be raised at least partly in a keel storage space of the kiosk (14) in the high position of the keel (12, 13).
4. Navire (10, 20) selon l’une quelconque des revendications 1 à 3, caractérisé en ce que le système de stabilisation anti-roulis (1) comporte une source d’énergie électrique et les flotteurs (2) comportent des organes de propulsion électriques. 4. Vessel (10, 20) according to any one of claims 1 to 3, characterized in that the anti-roll stabilization system (1) comprises a source of electrical energy and the floats (2) comprise electric propulsion.
5. Navire (10, 20) selon la revendication 4, caractérisé en ce que le dispositif de fixation amovible et l’organe de fixation comporte des connecteurs électriques permettant la transmission au moins d’énergie électrique entre le navire (20) et le système de stabilisation anti-roulis (1). 5. Ship (10, 20) according to claim 4, characterized in that the removable fixing device and the fixing member comprises electrical connectors allowing the transmission of at least electrical energy between the ship (20) and the system. anti-roll stabilizer (1).
6. Navire (10, 20) selon l’une quelconque des revendications 1 à 5, caractérisé en ce que le système de stabilisation anti-roulis (1) comporte un ou plusieurs des dispositifs suivants : dispositif de radiocommande permettant au système de stabilisation anti-roulis d’être directement radiocommandé, un automatisme permettant au système de stabilisation anti-roulis de directement réaliser des missions en autonomie, au moins un capteur permettant notamment des mesures, des communications sous-marines, du positionnement, de la navigation, de la perception d’obstacles. 6. Vessel (10, 20) according to any one of claims 1 to 5, characterized in that the anti-roll stabilization system (1) comprises one or more of the following devices: radio control device allowing the anti-roll stabilization system - roll to be directly radio-controlled, an automatic system allowing the anti-roll stabilization system to directly carry out autonomous missions, at least one sensor allowing in particular measurements, underwater communications, positioning, navigation, perception of obstacles.
7. Système de stabilisation anti-roulis (1) destiné à transformer un navire (10, 20) de surface monocoque (10) en trimaran (20), caractérisé en ce qu’il est amovible et comporte un bras de liaison (3) allongé terminé à ses deux extrémités latérales par deux flotteurs (2), le bras de liaison (3) comportant un organe de fixation, l’organe de fixation étant configuré pour être fixé d’une manière amovible sur un dispositif de fixation du navire (10, 20) de surface monocoque (10) afin de le transformer en trimaran (20), le système de stabilisation anti-roulis (1) pouvant flotter et étant stable avec les deux flotteurs (2) à l’eau, et pouvant naviguer en se déplaçant par ses propres moyens, les flotteurs (2) comportant des organes de propulsion. 7. Anti-roll stabilization system (1) intended to transform a monohull surface ship (10, 20) into a trimaran (20), characterized in that it is removable and comprises a connecting arm (3) elongated terminated at its two lateral ends by two floats (2), the connecting arm (3) comprising a fastening member, the fastening member being configured to be fixed in a removable manner on a fastening device of the ship ( 10, 20) of monohull surface (10) in order to transform it into a trimaran (20), the anti-roll stabilization system (1) being able to float and being stable with the two floats (2) in the water, and being able to sail by moving by its own means, the floats (2) comprising propulsion members.
8. Système de stabilisation anti-roulis (1) selon la revendication 7, caractérisé en ce qu’il est télécommandé. 8. Anti-roll stabilization system (1) according to claim 7, characterized in that it is remote-controlled.
9. Système de stabilisation anti-roulis (1) selon la revendication 7, caractérisé en ce qu’il comporte un automatisme permettant au système de stabilisation anti-roulis de directement réaliser des missions en autonomie. 9. Anti-roll stabilization system (1) according to claim 7, characterized in that it comprises an automatic mechanism allowing the anti-roll stabilization system to directly carry out autonomous missions.
10. Système de stabilisation anti-roulis (1) selon l’une quelconque des revendications 7 à10. Anti-roll stabilization system (1) according to any one of claims 7 to
9, caractérisé en ce qu’il comporte au moins un capteur permettant notamment des mesures, des communications sous-marines, du positionnement, de la navigation, de la perception d’obstacles. 9, characterized in that it comprises at least one sensor allowing in particular measurements, underwater communications, positioning, navigation, perception of obstacles.
11. Système de stabilisation anti-roulis (1) selon l’une quelconque des revendications 7 à11. Anti-roll stabilization system (1) according to any one of claims 7 to
10, caractérisé en ce que le navire (10, 20) de surface monocoque (10) destiné à recevoir le système de stabilisation anti-roulis (1) comporte un kiosque (14) érigé sur un pont (19) de la coque (11 , 19) du navire et le bras de liaison (3) du système de stabilisation anti-roulis (1), qui est destiné à passer par le dessus de la coque (11 , 19) du navire en s’appliquant sur le pont (19) dudit navire, comporte une échancrure (4) destinée à recevoir l’une des extrémités avant ou arrière du kiosque (14), les bords de l’échancrure étant destinés à s’appliquer contre une des deux extrémités avant ou arrière du kiosque (14). 10, characterized in that the vessel (10, 20) with a monohull surface (10) intended to receive the anti-roll stabilization system (1) comprises a kiosk (14) erected on a deck (19) of the hull (11 , 19) of the ship and the connecting arm (3) of the anti-roll stabilization system (1), which is intended to pass over the top of the hull (11, 19) of the ship by applying to the deck ( 19) of said vessel, comprises a notch (4) intended to receive one of the front or rear ends of the kiosk (14), the edges of the notch being intended to bear against one of the two front or rear ends of the kiosk (14).
PCT/EP2022/052494 2021-02-04 2022-02-02 Autonomous motorised monohull ship with weighted keel transformable into a trimaran WO2022167490A1 (en)

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EP22702995.6A EP4288332A1 (en) 2021-02-04 2022-02-02 Autonomous motorised monohull ship with weighted keel transformable into a trimaran
US18/264,225 US20240092463A1 (en) 2021-02-04 2022-02-02 Autonomous motorised monohull ship with weighted keel transformable into a trimaran

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FRFR2101070 2021-02-04
FR2101070A FR3119368B1 (en) 2021-02-04 2021-02-04 Autonomous motorized monohull vessel with ballasted keel convertible into a trimaran

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Citations (6)

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Publication number Priority date Publication date Assignee Title
US4898113A (en) 1988-11-07 1990-02-06 Richard Hatkoski Out-rigger assembly
WO2014047639A2 (en) 2012-09-24 2014-03-27 The Oceanscience Group Trimaran having outriggers with propulsors
US20140261126A1 (en) 2013-03-14 2014-09-18 Saildrone Llc Autonomous sailing vessel
CN106976527A (en) 2017-05-10 2017-07-25 中国海洋大学 A kind of marine observation robot
CN107878669A (en) 2017-11-06 2018-04-06 张家港江苏科技大学产业技术研究院 The wisdom water surface monitors trimaran
FR3074474A1 (en) 2017-12-01 2019-06-07 Ixblue FLOATING MARINE MACHINE WITH REMOVABLE MEASURING GAUGE

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4898113A (en) 1988-11-07 1990-02-06 Richard Hatkoski Out-rigger assembly
WO2014047639A2 (en) 2012-09-24 2014-03-27 The Oceanscience Group Trimaran having outriggers with propulsors
US20140261126A1 (en) 2013-03-14 2014-09-18 Saildrone Llc Autonomous sailing vessel
CN106976527A (en) 2017-05-10 2017-07-25 中国海洋大学 A kind of marine observation robot
CN107878669A (en) 2017-11-06 2018-04-06 张家港江苏科技大学产业技术研究院 The wisdom water surface monitors trimaran
CN107878669B (en) * 2017-11-06 2019-09-13 张家港江苏科技大学产业技术研究院 The wisdom water surface monitors trimaran
FR3074474A1 (en) 2017-12-01 2019-06-07 Ixblue FLOATING MARINE MACHINE WITH REMOVABLE MEASURING GAUGE

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US20240092463A1 (en) 2024-03-21
FR3119368A1 (en) 2022-08-05
EP4288332A1 (en) 2023-12-13
FR3119368B1 (en) 2023-12-22

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