Robot equipped with an optimized dry column

Abstract

Robot having a chassis, equipped with a means of movement device (2) located symmetrically on each lateral side of the chassis (1), further being equipped with a dry column (3) configured to create a fluidic link between a water inlet (4) located substantially near one end of the chassis (1) in a longitudinal axis (x), a valve (14) and a water outlet (5) located substantially on the top of the chassis (1) in a vertical axis (z), said water inlet (4) having a passage cross-section with an axis substantially in the direction of the longitudinal axis (x) of the chassis (1), said water inlet (4) being configured to make a fluidic connection with a quick fitting, said water outlet (5) having a passage cross-section with an axis substantially in the direction of one of the vertical axes (z) of the chassis (1), said water outlet (5) being configured to make a fluidic connection with a quick fitting,in which the dry column (3) comprises a first section having a first axis substantially parallel to the longitudinal axis (x) of the frame (1) and located substantially equidistant from the lateral ends of the frame (1), and a second section having a second axis substantially parallel to the vertical axis (z) of the frame (1) and located substantially equidistant from the lateral ends of the frame (1), and in that the dry column (3) comprises at most one bend. Figure for publication: Fig. 7,

Description

Title of the invention: Robot equipped with an optimized dry column technical field

[0001] At present, when a fire breaks out, access to the environment at the fire site is relatively difficult, firefighters find themselves in a risky situation when they enter the fire site, so fire extinguishing robots become a preferable solution to assist firefighters.

[0002] The present invention relates to a fire extinguishing robot equipped with a dry column optimized for firefighting. Prior art

[0003] Various manufacturers offer robots for projecting water onto the site of a fire. Such robots are typically equipped with tracks allowing them to move over uneven terrain and to have sufficient traction to move while pulling a water supply hose and projecting water using a cannon.

[0004] Document CN107875549A reveals a firefighting robot with the ability to converge the water flow from two external water hoses into a single-pass hose to increase the spray flow rate and pressure, see [Fig. 1]. However, this device has the following drawbacks: the robot's center of gravity is located at a height, and when it is operating in forward motion and spraying water, there is a high risk of rearing up.

[0005] Document CN206621689U reveals a firefighting robot with a chassis equipped with a water inlet for docking with a fire hose. The chassis is a sandwich structure through which fire water is circulated to cool the chassis, see [Fig. 2]. However, this device has the following drawbacks: the robot's center of gravity is located at a height, and when it is operating in forward motion and spraying water, there is a high risk of rearing up.

[0006] Document CN210904753U reveals a fire-extinguishing robot comprising multiple water inlet channels formed within the robot body and communicating simultaneously with the fire-extinguishing spray head. The multiple water inlet channels are all unidirectional, and the internal flow directions of the multiple water inlet channels point towards the fire-extinguishing spray head, see [Fig. 3]. However, this device has the following drawbacks: the robot's center of gravity is located at a height, and when operating in forward motion and spraying water, there is a high risk of rearing up. Furthermore, the presence of several bends in the dry riser circuit induces pressure losses.

[0007] A robot according to the art of the art is also shown in [Fig. 4]. However, this device has the following drawbacks: the robot's center of gravity is located at a height, and when operating in forward motion and spraying water, there is a high risk of it rearing up. Furthermore, the presence of several bends in the dry riser circuit induces pressure losses. Finally, access to the battery compartment, located below the dry riser, is made difficult by the presence of the dry riser above this compartment.

[0008] One object of the invention is to remedy all or part of the aforementioned disadvantages. Description of the invention

[0009] The applicant develops robotic vehicles which have the effect of being able to remove man from danger.

[0010] The invention aims to provide optimal water flow within the robot during its deployment at a fire scene. The invention also aims to lower the robot's center of gravity as much as possible when the dry column is weighted with water. Another objective of the invention is to reduce the risk of the robot pitching up during forward movements while connected to the water-filled flexible hose.

[0011] According to the invention, the robot has a chassis equipped with movement means located symmetrically on each lateral side of the chassis, further being equipped with a dry column configured to create a fluidic link between a water inlet located substantially near one end of the chassis in a longitudinal axis (x), a valve and a water outlet located substantially on the top of the chassis in a vertical axis, said water inlet having a passage section with an axis substantially in the direction of the longitudinal axis (x) of the chassis, said water inlet being configured to make a fluidic connection with a quick fitting, said water outlet having a passage section with an axis substantially in the direction of one of the vertical axes (z) of the chassis, said water outlet being configured to make a fluidic connection with a quick fitting,The dry column comprises a first section having a first axis substantially parallel to the longitudinal axis (x) of the frame and located substantially equidistant from the lateral ends of the frame, and a second section having a second axis substantially parallel to the vertical axis (z) of the frame and located substantially equidistant from the lateral ends of the frame (1), and in that the dry column comprises at most one bend of 80 to 100 degrees and preferably of substantially 90 degrees.

[0012] According to one embodiment of the invention, the length of the first section of the dry column is greater than the length of the second section of the dry column by at least a ratio of 1.5 to 1, preferably by at least 2 to 1.

[0013] According to one embodiment of the invention, the dry column is configured to be removably mounted on said chassis.

[0014] According to one embodiment of the invention, a fixing flange secures the dry column to the frame along an axis of the longitudinal (x), transverse (y), vertical (z) or a combination of one, two or three axes, said fixing flange being located substantially near the water inlet.

[0015] According to one embodiment of the invention, a fixing plate secures the dry column to the chassis along an axis of the longitudinal (x), transverse (y), vertical (z) or a combination of one, two or all three axes, said fixing plate being located substantially near the water outlet.

[0016] According to one embodiment of the invention, at least one Y-junction located on the dry column upstream of the water outlet and comprising a valve located downstream of at least one Y-junction, said at least one Y-junction being in fluidic connection with a sprinkler network and / or with an auxiliary dry column.

[0017] According to one embodiment of the invention, a fluidic connection located downstream of the water inlet, said fluidic connection having a fixed angle or said fluidic connection having a variable angle, said variable angle fluidic connection, being configured free to reduce angular constraints between the dry column and the quick fitting or being configured servo, said servo configuration having a control unit configured to generate pilot commands for an actuator.

[0018] According to one embodiment of the invention, the robot has an overall width of 150 cm or less, preferably 80 cm or less, and the dry column has a diameter <e>interior of 7 cm to 15 cm, preferably 11 cm.

[0019] According to one embodiment of the invention, the elbow has a radius of 1.5x <e> à 2x <e> , où <e>is the inside diameter of the dry column.

[0020] According to one embodiment of the invention, a battery tray, said tray being located removably on the chassis near the water inlet and said tray being configured for hot-swapping of the batteries from the top of the robot.

[0021] According to one embodiment of the invention, the means of movement are adapted to move on the surface of a ground or a fluid, underwater in a fluid or in the air or a combination of two or more of said means of movement, said means of movement comprising at least one pair of wheels, a flotation device and / or tracks and preferably lateral tracks or two or three pairs of wheels.

[0022] According to one embodiment of the invention, the axis of the water inlet passage section is located at a height less than or equal to 25 cm and preferably less than or equal to 18 cm in relation to the plane materialized by the ground on which the robot moves.

[0023] According to one embodiment of the invention, the water inlet passage section is contained within a space limited by the most salient parts of the robot in the longitudinal axis (x).

[0024] Of course, the invention is not limited to the examples just described, and many modifications can be made to these examples without departing from the scope of the invention. Furthermore, the various features, forms, variants, and embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive. List of figures

[0025] [Fig.1] Figure [1] illustrates a robot according to the art of technology.

[0026] [Fig.2] Figure [Fig. 2] illustrates a robot according to the art of technology.

[0027] [Fig.3] Figure [Fig. 3] illustrates a robot according to the art of technology.

[0028] [Fig.4] Figure [Fig. 4] illustrates a robot according to the art of technology.

[0029] [Fig.5] Figure 5 illustrates, schematically and in a non-limiting manner, a cavalier perspective representation of the robot according to one embodiment of the invention.

[0030] [Fig.6] Figure 6 illustrates, schematically and in a non-limiting manner, a robot with two Y-shaped derivation channels according to one embodiment of the invention.

[0031] [Fig.7] Figure 7 illustrates, schematically and in a non-limiting manner, a turbine housing according to one embodiment of the invention. Detailed description of the invention

[0032] The embodiments described below are not in any way limiting; variants of the invention may, in particular, be considered comprising only a selection of the features described, hereinafter isolated from the other features described, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art. This selection comprises at least one feature, preferably functional without structural details, or with only a portion of the structural details if this portion is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0033] As mentioned above, the invention aims to provide optimal water flow within the robot during its deployment at a fire scene. From the perspective of fluid flow, attention must be paid to the flow cross-sections, pressure losses must be limited, and the surface treatment of the surface in contact with the fluid must be considered.

[0034] The invention also aims to lower the robot's center of gravity as much as possible when the dry column is weighted with water. This aspect becomes more important when the robot needs to be compact, for example, when it needs to be able to pass through doorways. In this case, the weight of the dry column containing water becomes significant compared to the robot's weight, meaning that the optimal placement of this weight within the robot can contribute to improving its stability and maneuverability.

[0035] Another objective of the invention is to reduce the risk of the robot pitching up during forward movements under load, connected to the flexible hose filled with water. Specifically, we will consider here the rotational torque of the robot when it is under load, connected to a flexible hose.

[0036] According to the invention, the robot primarily comprises a chassis (1). This chassis serves to support the various components of the robot in its basic version and also when equipped with options, depending on the robot's operational requirements. The chassis has a general parallelepiped shape and is typically made of a relatively lightweight material to avoid unnecessarily increasing the robot's weight, while remaining robust enough to withstand fire conditions. The robot is equipped with locomotion means (2) located symmetrically on each lateral side of the chassis (1). When these locomotion means are tracks, they are positioned substantially along the entire length of the robot, see robots from Art of Technology in [Fig. 1], [Fig. 2], and [Fig. 3]. The role of these tracks is to provide a large contact surface with the ground and to offer optimal traction on any surface.The robot according to the invention is further equipped with a dry column (3). This dry column typically consists of a pipe, usually made of a metallic material, such as stainless steel. Other materials may be used, such as alloys designed to meet specific requirements for optimal performance at high flow rates and pressures, and also to allow the flow of specific fluids. This dry column must also offer optimal mechanical performance during use in fire and during incidents such as impacts with materials that could damage it, such as falling stones or friction as the robot moves forward. in the context of a fire. The dry riser is configured to create a fluid connection between a water inlet (4) located substantially near one end of the chassis (1) along a longitudinal axis (x), a valve (14), and a water outlet (5) located substantially on the top of the chassis (1) along a vertical axis (z). In other words, the dry riser ensures the passage of fluid flow between the rear of the robot, where a flexible hose that supplies the robot with water connects, and the water cannon, which is located on top of the robot. According to the invention, the water inlet (4) has a cross-section with an axis substantially aligned with the longitudinal axis (x) of the chassis (1), said water inlet (4) being configured to establish a fluid connection with a quick-connect fitting.In other words, the water inlet is located at the rear of the robot to allow connection to a quick-connect fitting of a flexible water supply hose, the flexible hose typically extending from the rear of the robot. Since the robot must be able to turn and also ascend and descend inclines, the axis of the water inlet may be inclined relative to the x-axis. According to the invention, said water outlet (5) has a passage cross-section with an axis substantially aligned with one of the vertical axes (z) of the chassis (1), said water outlet (5) being configured to make a fluid connection with a quick-connect fitting. The water outlet is positioned to receive a water cannon via a quick-connect fitting.

[0037] According to the invention, the dry column (3) comprises a first section having a first axis substantially parallel to the longitudinal axis (x) of the chassis (1) and located substantially equidistant from the lateral ends of the chassis (1), and a second section having a second axis substantially parallel to the vertical axis (z) of the chassis (1) and located substantially equidistant from the lateral ends of the chassis (1), and in that the dry column (3) has at most one bend of 80 to 100 degrees and preferably of substantially 90 degrees. In other words, the dry column is simplified as much as possible: its two sections are substantially straight and connected to each other by a bend. The bend may be straight but may also have an angle slightly smaller or larger than 90 degrees in order to optimize the installation of the column in the robot.The dry column is located in the center of the robot, which helps to center the weight when the dry column contains water.

[0038] According to one embodiment of the invention, the length of the first section of the dry column (3) is greater than the length of the second section of the dry column (3) by at least a ratio of 1.5 to 1, preferably at least 2 to 1. Positioning the dry column at the center of the robot allows the weight of the robot to be concentrated at its center, along its longitudinal axis, when the dry column is filled with water, see [Fig. 5], [Fig. 6], and [Fig. 7]. Furthermore, the ratio between the first and second sections of the dry column, by proposing a first section of length Superior to the second, it allows for the concentration of mass along the robot's longitudinal axis and the limitation of mass along the vertical axis. The direct consequence is better mass balance within the robot, which increases its maneuverability during operation.

[0039] According to one embodiment of the invention, the dry column (3) is configured to be removably mounted on said chassis (1). The removable mounting of the dry column in the robot allows for greater modularity. The robot thus increases its versatility.

[0040] According to one embodiment of the invention, the robot further comprises a mounting flange (6) for securing the dry column (3) to the frame (1) along a longitudinal (x), transverse (y), or vertical (z) axis, or a combination thereof, said mounting flange (6) being located substantially near the water inlet (4). This flange may advantageously operate in conjunction with a mounting plate (7) for securing the dry column (3) to the frame (1) along a longitudinal (x), transverse (y), or vertical (z) axis, or a combination thereof, said mounting plate being located substantially near the water outlet (5). The flange and the mounting plate are preferably the only two means of securing the dry column to the robot, more precisely to its frame.Offering a two-point mounting system in the chassis simplifies column assembly, streamlining robot production efforts and increasing modularity, while providing a sufficiently strong attachment to ensure the proper functioning of the water cannon, which can be mounted on one end of the column, as well as the mounting of the flexible water supply hose behind the robot.

[0041] According to one embodiment of the invention, the robot further comprises at least one Y-junction (9) located on the dry riser (3) upstream of the water outlet (5) and includes a valve (10) located downstream of at least one Y-junction (9), said at least one Y-junction (9) being in fluidic connection with a sprinkler system and / or with an auxiliary dry riser. This embodiment is schematically illustrated in [Fig. 6], in which two branches can be seen. The diameter of these branches will depend on the flow rate required for the functions. Thus, a diameter relatively small compared to that of the dry riser can be considered for supplying a sprinkler system. The sprinkler system (not shown) can create a curtain to counteract the heat wave from the fire and can also cool the robot's component parts, such as the tracks, batteries, motors, and chassis in general.A bypass with a relatively larger diameter could be considered to supply an auxiliary fire hose, operated by a person near the robot.

[0042] According to one embodiment of the invention, the robot further comprises a fluidic connection (11) located downstream of the water inlet (4), said fluidic connection (11) having a fixed angle or said fluidic connection (11) having a variable angle, said variable-angle fluidic connection (11) being configured free to reduce angular constraints between the dry column (3) and the quick coupling or being configured servo-controlled, said servo-controlled configuration comprising a control unit (13) configured to generate pilot commands for an actuator (12). In the variant of this embodiment in which the fluidic connection has a fixed angle, this angle can be chosen to obtain one of the following effects: a. If the end of the fluidic connection is directed vertically downwards, as shown in [Fig.[7] This may force the robot to use the flexible water supply hose for support to avoid a rearing effect and to facilitate the robot's maneuverability and balance when going down a slope; . b. If the end of the fluidic connection is directed vertically upwards, this will facilitate the maneuverability and balance of the robot when climbing a slope. In the variant of this embodiment in which the fluidic connection has a freely configured variable angle, this angle can facilitate the maneuverability of the robot in all circumstances, whether it is going up or down slopes or whether it is taking turns.

[0043] In the variant of this embodiment in which the fluidic connection has a variable angle configured as a servo control, this angle can be chosen to obtain one of the following effects: a. If the end of the fluidic connection is directed vertically downwards, as shown in [Fig.7], this may force the robot to lean on the flexible water supply hose to avoid a pitching motion and to facilitate the maneuverability and balance of the robot when going down a slope; b. If the end of the fluidic connection is directed vertically upwards, this will facilitate the maneuverability and balance of the robot when climbing a slope; c. If the end of the fluidic connection is directed laterally to the right or left, this may facilitate the maneuverability and balance of the robot when it takes turns; This last variant of this embodiment allows for dynamic stabilization of the robot under all circumstances, on any terrain. In this variant, the flexible water supply hose can be considered as a tail behind the robot. A tail is automatically maneuvered by the control unit, which drives the actuator. Controlling this joint, composed of a variable-angle fluidic connection, allows for variable tilting in the left-right and up-down planes along the robot's longitudinal axis. This gives the robot significantly increased maneuverability compared to a configuration without a joint. The control unit can operate the actuator automatically or manually. In manual mode, the operator can use a control device to set the desired angle in both planes (left-right and up-down). In automatic mode, the control unit can integrate a series of sensors and controls for optimized operation.Indeed, the robot can be equipped with tilt sensors whose signal can be derived to determine the robot's tilt and its variation, which can be maximal when the robot is about to ascend or descend a steep slope, such as a staircase. Similarly, this reasoning can be applied, mutatis mutatis, to turning movements on the horizontal plane. Finally, the two approaches can also be combined to establish control when the robot moves in the vertical plane (up) while simultaneously moving in the horizontal plane (left). In this last variant of this embodiment, the robot can use the flexible hose, which becomes rigid under pressure, not as a brake on its maneuverability but, on the contrary, as an appendage allowing the robot to become more maneuverable, safer for users, and faster in its movement.

[0044] According to one embodiment of the invention, the robot has an overall width of 150 cm or less, preferably 80 cm or less, and the dry column (3) has a diameter <e>The internal diameter is 7 cm to 15 cm, preferably 11 cm. In certain configurations, the robot may be used in confined spaces such as buildings, tunnels, and galleries. Dimensions will therefore be determined by the narrowest passageways, such as doorways. The advantage of this embodiment is that the robot can navigate very narrow spaces while simultaneously providing a large-diameter dry column, enabling the delivery of a high fluid flow rate for fire control. For example, implementing this embodiment required a complete mechanical design overhaul of the robot. The dry column runs relatively low within the robot, along its longitudinal axis, in the location where motors and gearboxes would typically be found.The implementation of this embodiment involved a disruptive technological change: indeed, the integration of the motors into the space of the tracks made it possible to free up space at the central level of the robot, which allowed the positioning of the column. The dry column is centrally located in the robot. Another specific technological choice was the design of particularly flat gearboxes, in order to free up as much space as possible to allow the passage of a large diameter dry column in a relatively very narrow robot.

[0045] According to one embodiment of the invention, the elbow has a radius of 1.5x <e> à 2x <e> , où <e>is the internal diameter of the dry column (3). Indeed, optimizing the dry column also involves reducing pressure losses. A bend with a particularly large radius significantly reduces fluid flow loads. We have seen that the invention is characterized by a dry column geometry with a single bend. This embodiment, with a particularly large diameter bend, was made possible by a technologically groundbreaking design of the chassis and, more broadly, of the robot itself. As seen in the previous embodiment, integrating the motors within the track space freed up space in the robot's center, allowing the dry column to be centrally positioned within the robot.

[0046] According to one embodiment of the invention, the robot includes a battery compartment (8), said compartment (8) being removably located on the chassis (1) near the water inlet (4) and said compartment (8) being configured for hot-swappable batteries from above the robot. In a robot of the art of the art, as shown in [Fig. 4], access to the batteries is limited by the positioning of the dry column, which is located above it. Another advantage of the invention, in this embodiment, is that the space above the battery compartment is completely unobstructed. This configuration allows direct access to the batteries. Another advantage of this embodiment is the possibility of hot-swappable batteries. Indeed, this feature makes it possible to replace the battery packs sequentially while keeping the robot running, without having to stop it and wait for a restart.

[0047] According to one embodiment of the invention, the means of movement (2) are adapted for movement on the surface of a ground or a fluid, underwater in a fluid, or in the air, or a combination of two or more of said means of movement (2), said means of movement (2) comprising at least one pair of wheels, a flotation device and / or tracks, and preferably lateral tracks or two or three pairs of wheels. This embodiment meets the specific needs of robots that are required to operate in varied environments, such as, for example, in submerged tunnels.

[0048] According to one embodiment of the invention, the axis of the water inlet passage section (4) is located at a height less than or equal to 25 cm and Preferably less than or equal to 18 cm from the plane of the ground on which the robot moves. This embodiment can be implemented in circumstances where it is necessary to maximize the robot's stability by ensuring the lowest possible center of gravity. Indeed, when the robot has small dimensions, the weight of the water in the dry column becomes significant relative to the robot's weight; therefore, being able to lower the positioning of the first section of the dry column is of strategic importance when considering the robot's maneuverability and dynamic balance.Finally, this embodiment can help prevent deformation of the quick coupling and thus also limits the risk of breakage, which helps reduce risks to the robot operators, who are often behind it and are therefore exposed to any breakage incident of the dry riser or quick coupling, which could be catastrophic for personnel nearby.

[0049] According to one embodiment of the invention, the water inlet passage section (4) is contained within a space limited by the most prominent parts of the robot along the longitudinal axis (x). This embodiment ensures the robot's compactness and a wide margin of maneuverability with the attached flexible hose.

[0050] As will be readily apparent, the invention is not limited to the specific embodiments of the recesses described above by way of example; on the contrary, it encompasses all possible variations. Of course, the invention is not limited to the examples just described, and numerous modifications can be made to these examples without departing from the scope of the invention. Furthermore, the various features, forms, variations, and embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive.< / e> < / e> < / e> < / e> < / e> < / e> < / e> < / e>

Claims

Claims

1. Robot having a chassis (1) equipped with movement means (2) located symmetrically on each lateral side of the chassis (1), being further equipped with a dry column (3) configured to create a fluid connection between a water inlet (4) located substantially close to one end of the chassis (1) in a longitudinal axis (x), a valve (14) and a water outlet (5) located substantially on top of the chassis (1) in a vertical axis (z), said water inlet (4) having a passage section with an axis substantially in the direction of the longitudinal axis (x) of the chassis (1), said water inlet (4) being configured to make a fluid connection with a quick coupling, said water outlet (5) having a passage section with an axis substantially in the direction of a vertical axis (z) of the chassis (1), said water outlet (5) being configured to make a fluid connection with a quick coupling,characterized in that the dry column (3) comprises: - a first section having a first axis substantially parallel to the longitudinal axis (x) of the frame (1) and located substantially equidistant from the lateral ends of the frame (1) and - a second section having a second axis substantially parallel to the vertical axis (z) of the frame (1) and located substantially equidistant from the lateral ends of the frame (1) - at most one bend of 80 to 100 degrees and preferably substantially 90 degrees, the length of the first section of the dry column (3) being at least 1.5 times greater than the length of the second section of the dry column (3), preferably at least 2 times greater than the length of the second section of the dry column (3), and characterized in that the dry column (3) is located in a space between the moving means (2).,

2. Robot according to any one of the preceding claims wherein the dry column (3) is configured to be removably mounted on said chassis (1).

3. A robot according to any preceding claim, further comprising a fixing flange (6) fixing the dry column (3) to the chassis (1) in an axis of the longitudinal (x), transverse (y), vertical (z) or a combination of one, two or all three axes, said fixing flange (6) being located substantially close to the water inlet (4).

4. Robot according to any one of the preceding claims, further comprising a fixing plate (7) fixing the dry column (3) on the chassis (1) in an axis of the longitudinal (x), transverse (y), vertical (z) or a combination of one, two or all three axes, said fixing plate being located substantially close to the water outlet (5).

5. Robot according to any one of the preceding claims, further comprising at least one bypass Y (9) located on the dry column (3) upstream of the water outlet (5) and comprising a valve (10) located downstream of the at least one bypass Y (9), said at least one bypass Y (9) being in fluid connection with a network of nozzles and / or with an auxiliary dry column.

6. Robot according to any one of the preceding claims, further comprising a fluid connection (11) located downstream of the water inlet (4), said fluid connection (11) having a fixed angle or said fluid connection (11) having a variable angle, said variable angle fluid connection (11) being configured free to reduce the angular constraints between the dry column (3) and the quick coupling or being configured controlled, said controlled configuration comprising a control unit (13) configured to generate commands for controlling an actuator (12).

7. Robot according to any one of the preceding claims, comprising an overall width less than or equal to 150 cm, preferably less than or equal to 80 cm and the dry column (3) comprising a diameter <e>interior from 7 cm to 15 cm, preferably 11 cm.

8. A robot according to any preceding claim, the elbow of which has a radius of 1.5x <e> à 2x <e> , où <e>is the inner diameter of the dry column (3).

9. Robot according to any one of the preceding claims, which comprises a tray (8) for the batteries, said tray (8) being removably located on the chassis (1) near the water inlet (4) and said tray (8) being configured for hot replacement of the batteries from above the robot.

10. A robot according to any preceding claim, the moving means (2) of which are adapted to move on the surface of a ground or a fluid, underwater in a fluid or in the air or a combination of two or more of said moving means (2), said moving means (2) comprising at least one pair of wheels, a flotation device and / or tracks and preferably lateral tracks or two or three pairs of wheels.

11. Robot according to any one of the preceding claims, the axis of the passage section of the water inlet (4) of which is located at a height less than or equal to 25 cm and preferably less than or equal to 18 cm relative to the plane materialized by the ground on which the robot moves.

12. Robot according to any one of the preceding claims, the passage section of the water inlet (4) of which is contained in a space limited by the most projecting parts of the robot in the longitudinal axis (x).< / e> < / e> < / e> < / e>

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