Nautical propulsion system and vessel equipped with the propulsion system

Abstract

[Nautical propulsion device and vessel equipped with the propulsion device] Nautical propulsion device 15 for propelling and steering a vessel 1, comprising two propellers 19 fixed to each other, each equipped with a motor 21 and a propeller 23, the motor 21 driving the propeller, a support arm 29 having an upper part configured for attachment to a vessel and a lower part 33 fixed to the propellers 19 at a distance from the two propellers 19, a free rotating linkage within the support arm about a pivot axis, the propellers being free to rotate relative to said upper part 31, a gyroscope kinematically linked to the propellers, configured to detect an orientation about said pivot axis, the gyroscope being configured to transmit orientation data from the propellers, a control element 39 configured to generate upstream control instructions,and a computing unit 45 connected to the control unit 39 and configured to receive and process said data from the gyroscope and said upstream control instructions, and to calculate downstream control instructions for the thrusters.]

Description

Title of the invention: Nautical propulsion device and vessel equipped with the propulsion device

[0001] The present invention relates to the field of nautical propulsion, in particular for propelling and steering a ship.

[0002] To move, a ship includes a propulsion system and a ship steering system. The propulsion system allows the ship to move forward in the water and the steering system allows the ship to be steered according to a chosen course.

[0003] In some cases, the propulsion and steering components are separate. The propulsion component is fixed relative to the vessel. It generates thrust, or propulsion flow, collinear with a longitudinal axis of the vessel. The propulsion component is generally an engine equipped with one or more propellers. The propulsion component may include several engines. The steering component then comprises one or more rudders, or rudders, that can be steered relative to the vessel. Changing the orientation of the rudder generates a hydrodynamic torque that causes the vessel to gybe. When the rudder is oriented along the longitudinal axis of the vessel, the hydrodynamic torque is zero, and the vessel moves straight ahead. The rudder includes a pivot connecting it to the vessel. The rudder's orientation is achieved either directly by a tiller or a wheel, or indirectly by a remotely controlled rudder motor.

[0004] Direct steering requires the ship's pilot to be close to the helm. Therefore, the pilot's movements are restricted. An offset wheel steering system necessitates a complex mechanical or hydraulic transmission between the wheel and the rudder. Such a system is an integral part of the ship's architecture. Indirect steering requires a complex, dedicated propulsion system.

[0005] Other ships combine propulsion and orientation.

[0006] The vessel then comprises a propulsion system and a steering system acting on the propulsion system. The steering system allows the propulsion system to be rotated and thus changes the direction of the propulsion flow. By changing the direction of the propulsion flow relative to the vessel, a hydrodynamic torque is generated, causing the vessel to gybe. The steering system includes a motor that does not contribute to propulsion. Since the torque to be transmitted by the steering system is significant and the angular velocity of the steering mechanism is low, the motor is generally coupled to a reduction gear. The steering system may include a tiller or a wheel.

[0007] These different solutions require complex, heavy, bulky, and expensive assembly. The fixings and pivots must withstand significant forces and therefore have a massive, rigid structure.

[0008] The Applicant sought to reduce the number of equipment and simplify the attachment of the ship's propulsion and orientation device while providing a system to propel and orient the ship.

[0009] The invention improves the situation. To this end, the invention proposes a marine propulsion device for propelling and steering a vessel. The marine propulsion device comprises two propellers fixed to one another, each equipped with a motor and a propeller, the motor driving the propeller; a support arm having an upper part configured for attachment to a vessel and a lower part attached to the propellers at a distance from the two propellers; a free rotating linkage within the support arm about a pivot axis, the propellers being free to rotate relative to said upper part; a gyroscope kinematically linked to the propellers, configured to detect an orientation about said pivot axis, the gyroscope being configured to transmit orientation data from the propellers; a control element configured to generate upstream control commands.and a computing unit connected to the control unit and configured to receive and process said data from the gyroscope and said upstream control commands, and to calculate downstream control commands for the thrusters. The free-mounted propulsion device allows for simple and inexpensive installation on a ship.

[0010] In one embodiment, the thrusters are parallel. There are two, three, four, five, or six thrusters. The propulsion force is high.

[0011] In one embodiment, the thrusters are arranged along axes passing through intersecting vertical planes, in particular perpendicular ones. The propulsion device is compact. The wetted surface area of ​​the propulsion device is reduced.

[0012] In one embodiment, the nautical propulsion device further comprises at least one motion sensor and / or a magnetic heading sensor supported by the submersible thrusters so as to form, with the gyroscope, an inertial measurement unit (IMU), the IMU being configured to transmit data to the computing unit. The control of the propulsion device is improved. The control of the propulsion device is precise.

[0013] In one embodiment, the computing unit is configured to receive position and orientation data from the vessel. The propulsion system may include an autopilot.

[0014] In one embodiment, the marine propulsion device further comprises a first wireless transmission element and a second wireless transmission element, the first transmission element being mechanically connected to the thrusters and connected to the gyroscope or, where applicable, to the inertial measurement unit, the second transmission unit being configured to be connected to the control unit, the first and second transmission units being configured to transmit and receive data between them. Installation and use of the propulsion system on the ship is facilitated. Installation and use of the propulsion system on the ship is flexible.

[0015] In one embodiment, the control element is configured to be attached to a ship's steering bar or handle, and the control element includes an additional gyroscope connected to the processing unit and configured to detect the orientation of the steering bar. The processing unit is configured to calculate the ship's displacement, the displacement of the steering bar relative to the ship, and the displacement of the thrusters relative to the ship. The accuracy of the propulsion system is improved. Piloting habits are maintained. Safety is enhanced, and the learning curve is reduced.

[0016] In one embodiment, said control unit is devoid of a wired signal transmission link. The integrity of the ship is preserved.

[0017] In one embodiment, the upper part of the support arm fixed to the surface of the vessel includes a sliding attachment. The position of the propulsion device on the vessel is adjustable.

[0018] The invention also relates to a vessel comprising a marine propulsion device. The upper part of the support arm is fixed to a surface of the vessel, and said free-swinging linkage is located at a distance from a center of thrust of the vessel. The free-mounted propulsion device allows for simple and inexpensive installation on a variety of vessel types.

[0019] In one embodiment, the upper part of the support arm fixed to the surface of the vessel is rigid and removable. Installation of the propulsion device on the vessel is facilitated.

[0020] Other features and advantages of the invention will become apparent from an examination of the detailed description below, and the accompanying drawings, in which:

[0021] [Fig-1] is a perspective view of a ship equipped with a propulsion device moving forward.

[0022] [Fig.2] is a perspective view of the ship equipped with a propulsion device turning towards port.

[0023] [Fig.3] is a perspective view of the ship equipped with a propulsion device according to another embodiment.

[0024] [Fig.4] is a perspective view of a ship equipped with a propulsion device according to another embodiment.

[0025] [Fig.5] is a block diagram of the propulsion device.

[0026] [Fig.6] is a detailed block diagram of the propulsion device.

[0027] [Fig.7] is a partial perspective view of a ship equipped with a propulsion device.

[0028] [Fig.8] is a partial perspective view of a ship equipped with a single-propeller propulsion device.

[0029] [Fig.9] is a perspective view of a ship equipped with a transverse thruster propulsion device.

[0030] The attached drawings may not only serve to complete the invention, but also contribute to its definition, if necessary.

[0031] The vessel 1 comprises a hull, a portion of which is submerged, called the keel. The hull may be rigid or flexible, as for example in an inflatable boat. The vessel 1 comprises a bow 7 and a stern 9. The bow 7 designates a forward part of the vessel 1. The bow 7 faces the direction of travel. The stern 9 designates a rear part of the vessel 1. The stern 9 is opposite the bow 7.

[0032] In the nautical field, specific terms are used to define the vessel 1 and its movements unambiguously. The vessel 1 has a longitudinal axis 5, a port side 11, and a starboard side 13. The vessel follows a course when it is in motion.

[0033] Thus, the heading designates the direction in which the ship is pointing or moving at a given time. It is an imaginary line that connects a position of the ship to a sighting point on the Earth's surface at a given time. The heading is generally expressed in degrees. For example, a heading of 90 degrees indicates a direction to the east.

[0034] The vessel is symmetrical about a vertical plane passing through the longitudinal axis 5. The longitudinal axis 5 extends from the forward part of vessel 1 (or the bow 7) to the aft part of vessel 1 (or the stern 9). The longitudinal axis 5 is essential for the navigation and orientation of vessel 1. The longitudinal axis 5 is used as a reference to describe the direction and position of vessel 1. The port side 11 and starboard side 13 are defined relative to the longitudinal axis 5. Generally, when vessel 1 is moving forward, the heading coincides with the longitudinal axis 5. The heading and the longitudinal axis 5 may form a non-zero angle when the vessel is moving at an angle to a sea current in which vessel 1 is sailing or to windward.

[0035] Port 11 is the left side of the ship 1 when viewed from the stern 9 towards the bow 7. Starboard 13 is the right side of the ship when viewed from the stern 9 towards the bow 7. Starboard 13 is the side opposite port 11 with respect to the longitudinal axis 5 of the ship.

[0036] The vessel 1 has a hydrodynamic center of pressure 14. The hydrodynamic center of pressure 14 of the vessel 1 is the point of application of the resultant of the hydrodynamic forces on the hull, excluding the forces generated by propulsion. These hydrodynamic forces have a horizontal component and a vertical component. The hydrodynamic center of buoyancy 14 is generally distinct from the center of gravity of the ship 1 and from the center of Archimedes' buoyancy.

[0037] When the vessel 1 is immersed in water, upward buoyant forces act upon it. These forces are generated by the Archimedes' principle, which is equal to the weight of the volume of water displaced by the hull of the vessel 1. The buoyant forces act upwards from every point on the hull.

[0038] The positioning of the center of thrust 14 relative to the center of gravity of the ship 1 determines the stability of the ship 1.

[0039] If a propulsion force is applied to the center of pressure 14 of vessel 1, vessel 1 moves in the direction of the propulsion force without rotating on its own axis. Generally, the center of pressure 14 is located on the longitudinal axis 5. Thus, if the direction of the propulsion force coincides with the longitudinal axis 5, vessel 1 moves forward. In this case, the heading coincides with the longitudinal axis 5, neglecting the effects of current and wind.

[0040] The vessel 1 includes at least one propulsion device 15. The propulsion device is installed at a distance from the center of thrust 14. Here, the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the stern 9. Alternatively, the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the bow 7. Here the propulsion device 15 is electric.

[0041] The propulsion device 15 comprises at least one propeller 19. The propeller 19 comprises a motor 21 and a propeller 23. The propeller 23 is driven in rotation by the motor 21 about an axis of rotation 25. The propeller 23 and the motor 21 are connected by direct or indirect drive (for example, by a reduction gear, sprockets, a chain, or a belt). The propeller 23 can be driven alternately in two opposite directions of rotation so as to generate a propulsion flow in two opposite directions, normal to the propeller 23.

[0042] The propulsion device 15 comprises two thrusters 19 fixed to each other in the embodiment shown in Figures 1-4. Within the scope of the invention, the thrusters 19 are submersible, in particular in that the propulsion device 15 is designed to be permanently submerged when the vessel 1 is afloat. In what follows, the term "submersible" will therefore be implicit with respect to the thrusters. It should be understood that anything that makes the thrusters 19 submersible is included, whether this relates to their motors or to the propulsion elements.

[0043] The axes of rotation 25 of the two propellers 19 are parallel here. The two propellers 19 are mounted here in a horizontal plane parallel to the longitudinal axis 5. One of the propellers 19 is mounted to starboard of the propulsion device 15 when the propellers 19 are oriented from stern to bow, forming the right propeller. The other of the thrusters 19 is mounted to port of the propulsion unit 15, forming the left thruster. The right thruster is configured to generate a first thrust. The left thruster is configured to generate a second thrust. The propulsion unit 15 is configured to generate a primary thrust. The primary thrust is the resultant of the first and second thrusts. When the primary thrust is collinear with or coincides with the longitudinal axis 5, the vessel 1 moves forward along the longitudinal axis 5.

[0044] Here, the propulsion device 15 further comprises a rigid structure connecting the thrusters 19 in a rigid manner. Here, the thrusters 19 are connected to each other by means of a connecting beam 27. The two thrusters 19 and the connecting beam 27 form a propulsion assembly 17.

[0045] The propulsion device 15 includes a free rotating link between the ship and the propulsion assembly 17.

[0046] The propulsion assembly 17 is suitable for rotation relative to the vessel 1 about a pivot axis 28. The propulsion assembly 17 is mounted for free rotation relative to the vessel 1 by means of the free rotating joint or pivot joint. The pivot axis 28 is a vertical axis relative to the vessel 1, in the embodiment shown in Figures 1-4.

[0047] Here, the pivot axis 28 is arranged equidistant from the two propellers 19. The pivot axis 28 is secant to the connecting beam 27 or to the rigid structure, preferably in the middle of the connecting beam 27.

[0048] In the embodiment shown, the propulsion device 15 comprises a support arm 29. The support arm 29 connects the vessel 1 and the propulsion assembly 17. The support arm 29 has an upper part 31 and a lower part 33. Here, the upper part 31 is rigidly fixed to the hull 3 of the vessel 1. The lower part 33 is fixed to the propulsion assembly 17. The free-swivel linkage is located within the support arm 29.

[0049] The support arm 29 comprises a hollow tube or a solid beam. Alternatively, the tube may have a wing shape, so as to reduce hydrodynamic drag.

[0050] In the embodiment of [Fig. 4], the upper part 31 includes a fastening member 43 for rigidly attaching the support arm 29 to the vessel 1. The fastening member 43 is removable to separate the support arm 29 from the vessel 1. Here, the fastening member 43 is liftable. Here, the fastening member 43 is orientable in a vertical plane including the longitudinal axis of the vessel. The lower part 33 includes a rotating fastening member or pivot joint, here a roller bearing, for attaching the support arm 29 to the propulsion assembly 17 while allowing free rotation about the pivot axis 28. The roller bearing includes an inner ring integral with the support arm 29, an outer ring integral with The propulsion assembly 17 and rolling elements between the inner and outer rings. Alternatively, the rotating mounting member may include a plain bearing with a bronze bushing.

[0051] Alternatively, the upper part 31 is mounted to rotate about the pivot axis 28 on the hull 3 of the ship 1 and the lower part 33 is fixed to the propulsion assembly 17 in a rigid manner.

[0052] Alternatively, the free rotating link is arranged between the upper part 31 and the lower part 33.

[0053] Alternatively, the upper part 31 is attached to the vessel 1 by means of a slide. The slide can extend along the longitudinal axis 5 or perpendicularly to the longitudinal axis 5. The slide allows the position of the propulsion device 15 to be adjusted relative to the vessel 1. The slide includes a locking mechanism for securely attaching the support arm 29 to the vessel 1 after the propulsion device 15 has been positioned.

[0054] In other words, the propulsion device 15 includes a free rotating link within the support arm 29 along the pivot axis 28. The free rotating link allows the thrusters 19 to be free to rotate relative to the upper part 31 of the support arm 29.

[0055] The support arm 29 can be removable or detachable. This facilitates maintenance of the propulsion device 15. The same propulsion device 15 can be adapted to different vessels. The support arm 29 is then either an adapter piece or includes an adapter.

[0056] In an embodiment not shown, the propulsion assembly is mounted for rotation directly on the ship. The arm belongs to the ship.

[0057] In an embodiment not shown, the propulsion device comprises a primary submerged thruster and a transverse thruster mounted perpendicularly to the primary submerged thruster. The transverse thruster is configured to rotate the primary submerged thruster about the pivot axis. The primary submerged thruster and the transverse thruster are thus arranged along axes passing through intersecting vertical planes, in particular perpendicular ones. The transverse thruster is located on the upstream or downstream side of the primary submerged thruster.

[0058] In an embodiment not shown, the propulsion device includes a rudder disposed in the propulsion flow. The rudder is driven in rotation by a rudder motor. The rotation of the rudder generates a hydrodynamic torque on the propulsion assembly, causing it to rotate. The rudder is disposed downstream or upstream of the propeller.

[0059] The propulsion assembly 15 also includes at least one magnetic heading sensor or an angular acceleration sensor or an angular velocity sensor or an angular position sensor 35, for example a gyroscope. The gyroscope 35 is capable of providing angular orientation data 100 of the propulsion assembly 17 relative to a reference. The reference can be defined by a mechanical stop, an electromechanical stop, or a magnetic stop. The reference comprises a portion belonging to the moving part and a portion belonging to the fixed part of the rotating link free relative to the propulsion assembly 17. In the case of a mechanical stop, the rotation of the rotating link is free for almost one revolution.

[0060] The gyroscope 35 is kinematically linked to the propulsion assembly 17 and therefore to the thrusters 19. Here, the gyroscope 35 is integral with the thrusters 19. The gyroscope can be mounted on the connecting beam 27.

[0061] Once the propulsion device 15 is mounted on the ship 1, the gyroscope 35 is able to provide the angular orientation data 100 of the propulsion assembly 17 with respect to the longitudinal axis 5 of the ship 1.

[0062] Alternatively, the propulsion assembly 17 further comprises at least one other motion and position sensor, such as an acceleration sensor and / or a velocity sensor and / or a magnetic heading sensor and / or an angular acceleration sensor with integration to obtain the angular velocity and then the angular position and / or an angular velocity sensor with integration to obtain the angular position. The magnetic heading sensor is capable of providing angular position data for the propulsion assembly 17 relative to magnetic north. Thus, the propulsion assembly 17 includes an inertial measurement unit (IMU). The IMU makes it possible to determine the geographic position of the propulsion assembly 17 relative to the external environment of the vessel 1 and the angular position of the propulsion assembly 17 relative to the heading of the vessel 1 and relative to the longitudinal axis 5 of the vessel 1.

[0063] A pilot of the vessel 1 provides navigation instructions 200 to the propulsion device 15. The navigation instructions 200 may be a relative change of orientation of the vessel, i.e. a change of orientation of the longitudinal axis 5 of the vessel 1 with respect to an initial orientation of the longitudinal axis 5. Alternatively, the navigation instructions 200 may be absolute, i.e. be an objective heading of the vessel 1, or more precisely a particular fictitious orientation of the longitudinal axis 5 of the vessel 1 with respect to magnetic north.

[0064] The pilot provides navigation instructions 200 via a human-machine interface 40.

[0065] The human-machine interface 40 can be a mobile application on a mobile phone. The mobile phone is wirelessly connected to the propulsion device 15, for example via Bluetooth and / or Wi-Fi, directly or indirectly. Alternatively, the human-machine interface 40 can be a computer shipboard 1 on which a navigation plan has been determined or is determined in real time. The shipboard computer provides, as navigation instructions 200, a target heading to be followed in real time. The link between the shipboard computer and the propulsion device 15 can be wired or wireless.

[0066] To increase accuracy, a GPS can be used, either integrated into the propulsion system, or externally and connected by wire or wirelessly to the propulsion or interface or the GPS of a phone.

[0067] The propulsion device 15 includes a control unit 39. The control unit 39 receives navigation instructions 200 from the human-machine interface 40. The control unit 39 is configured to generate upstream control instructions 300 from the navigation instructions 200.

[0068] Alternatively, the human-machine interface 40 can be a steering wheel, i.e., a wheel or a tiller. The propulsion device 15 then comprises a second gyroscope 41, a gyroscope, or an inertial measurement unit with three gyroscopes, three accelerometers, and a magnetic heading sensor, mounted on the steering wheel of the vessel 1 and connected to the control unit 39. The second gyroscope is configured to provide steering wheel orientation to the control unit 39.

[0069] In one embodiment, the human-machine interface 40 can be integrated into the propulsion device 15, for example, being a remote control. The remote control can be connected wirelessly or via a wired connection to the propulsion device 15, in particular to the control element 39. Alternatively, the control element 39 is physically integrated into the remote control.

[0070] The propulsion device 15 includes a computing unit 45. The computing unit 45 is functionally connected to the control member 39.

[0071] The computing unit 45 is configured to receive, on the one hand, the angular orientation data 100 of the propulsion assembly 17 from the gyroscope 35 or, where applicable, from the inertial measurement unit, and on the other hand, the upstream control instructions from the control unit 39.

[0072] The computing unit 45 is configured to process the angular orientation data 100 from the sensors of the propulsion assembly 17 and the upstream control instructions 300. The computing unit 45 is configured to provide downstream control instructions 400 to the thrusters 19, see [Fig.5].

[0073] The downstream control instructions 400 supplied to the thrusters 19 allow the thrusters 19 to rotate the propulsion assembly 17 around the pivot axis 28.

[0074] The rotation of the propulsion assembly 17 is achieved by differential propulsion of the thrusters 19. To rotate the propulsion assembly 17, the The first thrust and the second thrust are of different magnitudes and / or opposite directions.

[0075] To orient the propulsion assembly 17 towards port 11, the first thrust is greater than the second thrust. To orient the propulsion assembly 17 towards starboard 13, the second thrust is greater than the first thrust.

[0076] Thus the thrusters 19 can be controlled in angular position relative to the longitudinal axis 5. The controller can be of the PID type.

[0077] A pivoting of the propulsion assembly 17 results in a change in the orientation of the primary thrust, except in the specific case of a first and second thrust of equal magnitude but opposite direction. When the primary thrust and the longitudinal axis 5 are at a non-zero angle to each other, the primary thrust has a resultant force perpendicular to an axis connecting the center of thrust 14 and the pivot axis 28, in particular perpendicular to the longitudinal axis 5 in the embodiment shown, and a resultant force parallel to the axis connecting the center of thrust 14 and the pivot axis 28, in particular parallel to the longitudinal axis 5 in the embodiment shown. The perpendicular resultant force generates a rotational torque of the vessel 1 about the center of thrust 14. The rotational torque causes the vessel 1 to gybe. The parallel resultant force propels the vessel 1 forward.The more the propulsion assembly 17 pivots about the longitudinal axis 5, the greater the magnitude of the perpendicular resultant force and the faster the vessel 1 turns. The more the propulsion assembly 17 pivots about the longitudinal axis 5, the lower the magnitude of the parallel resultant force and the less the vessel 1 tends to move forward.

[0078] In the embodiment where the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the stern 9, a starboard turn of the ship 1 13 is obtained by an orientation of the propulsion assembly 17 towards port 11. A port turn of the ship 1 11 is obtained by an orientation of the propulsion assembly 17 towards starboard 31.

[0079] In the embodiment where the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the bow 7, a starboard turn of the ship 1 13 is obtained by orienting the propulsion assembly 17 to starboard 13. A port turn of the ship 1 11 is obtained by orienting the propulsion assembly 17 to port 11.

[0080] Alternatively, for faster rotation of the propulsion assembly 17, one of the two thrusters 19 can be configured to generate thrust in one direction, while the other thruster 19 is configured to generate thrust in the opposite direction. This embodiment can be useful for maneuvering, for example in a port.

[0081] In one embodiment, the computing unit 45 is linked to heading data from the vessel 1. The heading data for the vessel 1 can come from position sensors of the vessel 1, or instruments of the vessel 1. The heading data is orientation data of the longitudinal axis 5 of the vessel 1 with respect to magnetic north. Alternatively, the propulsion device includes intrinsic position sensors providing heading or orientation data of the longitudinal axis 5 of the vessel 1 with respect to magnetic north.

[0082] The computing unit 45 can then include a control of the ship's position relative to magnetic north and the ship's objective heading 1, or upstream control instructions 300, defined by the control unit 39.

[0083] The control system includes a controller providing downstream commands 400 to the thrusters 19 when the heading of vessel 1 deviates from the target heading, so as to correct the heading by aligning the longitudinal axis 5 of vessel 1 parallel to the target heading. The controller may be PID. Thus, the downstream control commands 400 evolve dynamically.

[0084] The propulsion device 15 may further include a first transmission element 37. The first transmission element 37 is configured to transmit the angular orientation data 100 from the gyroscope 35 or, where applicable, from the inertial measurement unit. The first transmission element 37 is supported by the propulsion assembly 17. The first transmission element 37 may be supported by one of the thrusters 19 or by the connecting beam 27.

[0085] The propulsion device 15 further includes a second transmission member 38. The second transmission member 38 is configured to receive the angular orientation data 100 from the first transmission member 37.

[0086] The first transmission element 37 and the second transmission element 38 each comprise a data transmitter and a data receiver. The data transmitter of the first transmission element 37 is configured to transmit data to the data receiver of the second transmission element 38. The data transmitter of the second transmission element 38 is configured to transmit data to the data receiver of the first transmission element 37.

[0087] The link between the first transmission unit 37 and the second transmission unit 38 can be wired or preferably wireless.

[0088] In one embodiment, the computing unit 45 is connected to the second transmission element 38. In this embodiment, the computing unit 45 is on board the ship 1.

[0089] The propulsion device 15 may include a housing located on board the ship 1. The housing may include the control unit 39 and the computing unit 45. The housing may also include the human-machine interface 40.

[0090] Alternatively, the remote control may physically comprise the control unit 39, the second transmission unit 38 and optionally the computing unit 45.

[0091] In these embodiments, the second transmission element 38 is configured to transmit the downstream control instructions 400. The first transmission element 37 is configured to receive the downstream control instructions 400, see [Fig.6].

[0092] In another embodiment, the computing unit 45 is connected to the first transmission element 37 by means of a wire. In this embodiment, the propulsion assembly 17 includes the computing unit 45. In this embodiment, the second transmission element 38 is configured to transmit the upstream control instructions 300. The first transmission element 37 is configured to receive the upstream control instructions 300, see [Fig. 7].

[0093] When the propulsion system 15 starts up, the computing unit 45 is configured to determine a zero point from the reference point. Determining the zero point allows the orientation of the propulsion assembly 17 to be known relative to the longitudinal axis 5. From this determined zero point, the computing unit 45 can provide the downstream control commands 400 enabling the vessel 1 to move forward. Here, when the propulsion system 15 starts up, the computing unit 45 provides a downstream control command 400 that pivots the propulsion assembly until it reaches the reference point. The computing unit 45 then records the zero point from the position of the propulsion assembly 17.In a preferred variant, the computing unit 45 provides downstream control instructions 400 directing one submersible thruster 19, here the left thruster, to generate a high forward thrust and the other submersible thruster 19, here the right thruster, to generate a reverse thrust, driving the propeller in the opposite thrust direction. Thus, the propulsion assembly 17 pivots rapidly clockwise until it reaches the reference stop. A reverse pivot is also possible.

[0094] To determine a magnetic zero, the propulsion device 15 may include a magnetic sensor, for example a Hall effect sensor, and a magnetic marker. When the magnetic sensor is facing the magnetic marker, the processing unit 45 records the zero.

[0095] In an embodiment illustrated in [Fig. 8], the propulsion device 15 comprises a single submersible thruster 19. The thruster 19 is mounted directly above the pivot axis 28. The propulsion device 15 may be without a connecting beam. The propulsion device 15 also comprises a rudder 43 allowing the propeller 19 to be oriented in azimuth or bearing. The rudder 43 is pivotally mounted about an axis parallel to the pivot axis 28. The rudder 43 is supported by a fairing 47 surrounding the propeller 23. The fairing 47 has an annular shape. The fairing 47 is supported by ribs 49 extending the engine 21 aft. The rudder 43 is controlled in angular orientation by the computing unit 45.

[0096] In an embodiment illustrated in [Fig. 9], the propulsion device 15 may comprise a single submersible thruster 19. The thruster 19 is mounted directly above the pivot axis 28. The propulsion device 15 may be without a connecting beam. The propulsion device 15 is without a rudder. The propulsion device 15 further comprises a transverse thruster 51 for orienting the thruster 19 in azimuth or bearing. The transverse thruster 51 is mounted at the front of the thruster 19, here in a region of increasing diameter from front to rear. Alternatively, the transverse thruster 51 is mounted at the rear of the thruster 19. The transverse thruster 51 is mounted in a transverse slot. The light is perpendicular to a longitudinal axis of the thruster 19. The transverse thruster 51 is offset relative to the pivot axis 28, forward or backward.The transverse thruster 51 includes a motor and a propeller enabling a transverse force to be exerted in front of the pivot axis 28, thus applying a pivoting torque to the propulsion device 15 as a whole during the rotation of the propeller of the transverse thruster 51. The transverse thruster 5 ballast is controlled in rotation by the computing unit 45.

[0097] In one embodiment, the propulsion device 15 comprises three, or even four, five, six or more, thrusters 19. The three or four (or more) submersible thrusters are capable of generating a differential thrust so as to rotate the propulsion assembly 17.

[0098] In one embodiment, the vessel 1 comprises several propulsion devices 15. The propulsion devices 15 may be arranged on the longitudinal axis 5 or on an axis perpendicular to the longitudinal axis 5.

[0099] In one embodiment, the propulsion device 15 comprises several propulsion sets 17. The computing unit 45 is configured to provide downstream control instructions 400 to the different propulsion sets 17. This embodiment is particularly interesting for ships 1 exhibiting significant inertia.

[0100] In other words, a ship propulsion device comprises electric motors mounted for free rotation relative to a mounting member along an axis of rotation. The mounting member is configured to connect the ship propulsion device to the ship. The free rotation of the motors relative to the ship can be achieved near the engines or near the ship's mounting point. The engines are equipped with a gyroscope providing orientation data relative to the ship. The engines are controlled by a computer unit mounted near the engines or on board the ship. The propulsion system receives upstream commands from a pilot or onboard computer. These upstream commands are transmitted to the computer unit. Based on the gyroscope data and the upstream commands, the computer unit determines downstream commands for the engines. Each engine generates independent thrust. When the thrusts of the two engines are different, they generate differential thrust. This differential thrust causes the engines to rotate about their axis of rotation, followed by stabilization of the thrust axis.

Claims

Demands

1. A marine propulsion device (15) for propelling and steering a vessel (1), comprising two propellers (19) fixed to one another, each provided with a motor (21) and a propeller (23), the motor (21) driving the propeller (23), a support arm (29) having an upper portion (31) configured for attachment to a vessel (1) and a lower portion (33) fixed to the propellers (19) at a distance from the two propellers (19), a free rotating linkage within the support arm about a pivot axis (28), the propellers (19) being free to rotate relative to said upper portion (31), a gyroscope (35) kinematically linked to the propellers (19), configured to detect an orientation about said pivot axis (28), the gyroscope (35) being configured to transmit orientation data (100) from the propellers (19), a control unit (39) configured to generate upstream control instructions (300),and a computing unit (45) connected to the control unit (39) and configured to receive and process said data (100) from the gyroscope and said upstream control instructions (300), and to calculate downstream control instructions (400) intended for the thrusters (19).

2. Nautical propulsion device (15) according to claim 1, wherein the thrusters (19) are parallel, the thrusters (19) being two, three, four, five or six in number.

3. Nautical propulsion device (15) according to claim 1, wherein the thrusters (19) are arranged along axes passing through intersecting vertical planes, in particular perpendicular ones.

4. Nautical propulsion device (15) according to any one of the preceding claims, further comprising at least one motion sensor and / or one magnetic heading sensor supported by the submersible thrusters so as to form, with the gyroscope (35), an inertial measurement unit, the inertial measurement unit being configured to transmit data (100) to the computing unit (45).

5. Nautical propulsion device (15) according to any one of the preceding claims, wherein the computing unit (45) is configured to receive position and orientation data of the vessel.

6. A marine propulsion device (15) according to any one of the preceding claims, further comprising a first transmission element wireless (37) and a second wireless transmission element (38), the first transmission element (37) being mechanically connected to the thrusters (19) and connected to the gyroscope (35) or, where applicable, to the inertial measurement unit, the second transmission element (38) being configured to be connected to the control element (39), the first transmission element (37) and the second transmission element (38) being configured to transmit and receive data between

7. eux. Marine propulsion device (15) according to any one of the preceding claims, wherein said control member (39) is configured to be fixed to a steering bar or handle (40) of a vessel (1) and said control member (39) includes an additional gyroscope (41) connected to the computing unit (45) and configured to detect an orientation of the steering bar (40), the computing unit (45) being configured to calculate the displacement of the vessel (1), the displacement of the steering bar (40) relative to the vessel (1) and the displacement of the thrusters (19) relative to the vessel (1).

8. Nautical propulsion device (15) according to any one of the preceding claims, wherein said control member (39) is devoid of wired signal transmission link.

9. Nautical propulsion device (15) according to any one of the preceding claims, wherein the upper part (31) of the support arm (29) fixed to the surface of the vessel (1) includes a sliding attachment.

10. Vessel (1) comprising a marine propulsion device (15) according to any one of the preceding claims, wherein the upper part (31) of the support arm (29) is fixed to a surface of the vessel (1) and said free rotating link is distant from a center of thrust of the vessel.

11. Vessel according to claim 10, wherein the upper part (31) of the support arm (29) fixed to the surface of the vessel (1) is rigid and removable.]

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