Variable geometry thruster

Abstract

Underwater robot comprising a body (9) and four thrusters (1, 2, 3, 4), said body (9) having at least one face (11) along a longitudinal axis, a control unit (13), characterized in that the robot comprises two rotary blocks (7, 8) and two arms (5, 6), one rotary block (7) being arranged on said face (11) and substantially close to one end of said face (11) and another rotary block (8) being arranged on said face (11) and substantially close to the other end of said face (11), each arm (5, 6) comprising a thruster (1, 2, 3, 4) at each of its ends and each arm (5, 6) being arranged in rotation by its middle in a rotary block (7, 8). Figure for publication: Fig. 1

Description

Title of the invention: Variable geometry thruster Technical field

[0001] The present invention relates to a navigation device for an underwater robot provided with thrusters mounted on axes which can be adjusted in rotation.

[0002] The underwater robot described in this invention represents a significant advance in the field of cleaning and decontamination of seas and oceans, in particular in the cleaning of waste underwater and on the water surface, underwater inspection and surveillance and underwater works. Its use will make it possible to preserve marine biodiversity and restore marine ecosystems by reducing pollution and eliminating waste. This invention will thus contribute to ensuring a sustainable future for our oceans and for future generations. State of the prior art

[0003] Devices for managing the trajectory of an underwater robot with propeller thrusters are known in the state of the art, as follows:

[0004] Document CN108082436A discloses a propulsion device for an underwater robot, as shown in [Fig.l] to 4, which comprises a balancer 11, a propeller 25 and a drive mechanism for adjusting the forward direction of the propeller 25. The balancer 11 is used to ensure that the propulsion device remains balanced. Furthermore, the drive mechanism comprises a steering gear and a steering assembly; the steering gear is drivingly connected to the steering assembly so that the steering assembly can adjust the forward direction of the propeller 25, see abstract. In other words, the document discloses a set of 4 thrusters, each of which can be steered along 2 axes. This underwater robot probably weighs 4-5 kg, which means that the technical solutions may not satisfy in the case of a heavier robot.In addition, the robot's navigation disclosed in document CN108082436A will be jerky, creating turbulence and thus wasting energy.

[0005] Document CN215436873U discloses an underwater robot which comprises a frame and four pairs of propellers which are arranged in a bilateral symmetry mode, the four corners of the machine frame are provided with two pairs of propellers, the longitudinal center of the machine frame is provided with two pairs of propellers and each pair of propellers is arranged oppositely to the left longitudinal end and the right longitudinal end of the machine frame. And in each pair of propellers, one propeller is a positive propeller, and the other propeller is a negative propeller. Because the four pairs of propellers are arranged symmetrically on the structure, two pairs propellers are arranged at the four corners and the other two pairs of propellers are arranged in the longitudinal center. However, the robot requires a high number of 8 thrusters, the robot having a trajectory managed in Cartesian mode, presents problems of imbalance, especially if the robot has to carry loads which are not exactly located in its center of gravity.

[0006] Document CN217515347U discloses an underwater and water surface garbage cleaning robot comprises a chassis body, a driving mechanism, a gripping mechanism, a storage mechanism and a battery power system, the driving mechanism, the gripping mechanism and the storage mechanism are installed on the chassis body, the driving mechanism, the gripping mechanism, the gripping mechanism and the storage mechanism are electrically connected to the battery power system, and the driving mechanism comprises a diving propeller and a forward propeller.The lifting and diving propeller and the advancing propeller are both installed on the chassis body by fixing frames, the gripping mechanism comprises a mechanical arm, a manipulator and a connecting base, the manipulator is connected to the mechanical arm, the mechanical arm is fixed to one side of the frame body through the connecting base, the storage mechanism comprises a storage bin, and the storage bin is provided with a bin door. However, the 4 thrusters are arranged in a fixed arc, which causes turbulence, especially when the robot is made to navigate in a straight line. The turbulence also causes excessive energy consumption for navigation.

[0007] An object of the invention is to remedy all or part of the aforementioned drawbacks. In order to take into account the problems mentioned above, the object of the present invention is to provide a robot capable of moving on the surface and underwater in a robust and economical manner. Statement of the invention

[0008] Seas and oceans are vital ecosystems for the health of our planet. Unfortunately, they are increasingly threatened by pollution and degradation of the marine environment. In this context, the use of underwater robots proves to be a promising solution for cleaning and depolluting our oceans. In the description of this invention, we will examine several reasons that illustrate the crucial importance of underwater robots in this essential task.

[0009] The trend of using marine robotics for cleaning the ocean surface is growing. Marine robots offer many advantages for this task, including their ability to operate in harsh environments and their autonomy.

[0010] For ocean surface cleaning, marine robots are typically equipped with sensors, cameras, and mechanical arms to detect and collect floating debris. Some robots are designed specifically to collect plastic debris, while others are more versatile and can also perform other cleaning tasks.

[0011] In ports, lakes and rivers, dams, reservoirs where waste and hydrocarbons can accumulate, marine robots are used to filter and recover these substances. Some robots are capable of filtering water to remove solid waste, while others are equipped with hydrocarbon recovery systems to absorb or skim pollutants.

[0012] The key advantage of using marine robotics for ocean cleanup is its ability to perform repetitive tasks autonomously, thereby reducing costs and increasing the efficiency of cleanup operations. In addition, marine robots can access areas that are difficult for humans to access, making them valuable tools for preserving the marine environment.

[0013] It should be noted that marine robotics for ocean cleaning is still a developing field, and much research and innovation is underway to improve the capabilities of robots and their efficiency in collecting waste and filtering hydrocarbons.

[0014] The present invention provides a solution to address this urgent problem by using specially designed underwater robots.

[0015] Exploration and monitoring: Underwater robots offer the ability to explore the seabed and monitor the most remote areas of the oceans. They can collect data on the pollutants present, the areas most affected by pollution and the marine species at risk. This collection of valuable information makes it possible to map the areas requiring intervention and guide clean-up actions.

[0016] Reduced risks to humans and the environment: Ocean cleanup and pollution control are dangerous tasks for human divers. Underwater robots can take on these high-risk missions, avoiding accidents, injuries, and exposure to harmful chemicals. Thus, they protect human life while preserving the integrity of marine ecosystems.

[0017] Increased efficiency: Underwater robots are able to work continuously, without fatigue, which significantly increases the efficiency of cleaning and decontamination operations. They can cover great distances, work at great depths and carry out repetitive tasks with constant precision. This increased efficiency facilitates waste collection and allows polluted areas to be treated quickly.

[0018] Adaptability to harsh conditions: Oceans can have extreme environmental conditions, such as low temperatures, high pressure, and low visibility. Underwater robots can be designed to withstand these conditions and can therefore be used in harsh environments where it is difficult for human divers to operate. Their adaptability ensures the continuity of cleanup and decontamination operations, regardless of the situation.

[0019] Emerging Technology and Innovation: The use of underwater robots in ocean cleanup and decontamination represents an opportunity to promote research and technological innovation. Improving the capabilities of robots, such as artificial intelligence and machine learning, will help optimize cleanup methods, identify new sources of pollution, and develop more sustainable long-term solutions.

[0020] The underwater robot is equipped with a sophisticated propulsion system that allows it to move quickly and efficiently in marine waters. It can also be equipped with a set of high-resolution sensors and cameras that allow it to detect polluted areas and collect precise data on the waste present.

[0021] The underwater robot may be equipped with a combination of one or more articulated arms and collection devices, enabling it, for example, to collect debris and waste that pollutes seas and oceans. It may also use filtration techniques to extract pollutants dissolved in the water.

[0022] Thanks to its advanced detection capabilities, the underwater robot can locate areas where pollution is most concentrated, allowing targeted measures to be taken to eliminate sources of contamination.

[0023] In addition, the underwater robot can be equipped with a wireless communication system that allows the collected data to be transmitted in real time. This allows research teams and relevant authorities to make informed decisions and intervene quickly to remedy pollution or for any other mission.

[0024] Using an underwater robot for underwater and surface cleanup has several safety benefits for the operator, removing physical hazards, reducing diving risks, enabling remote monitoring, providing protection from extreme conditions, and minimizing contamination risks. This helps improve the overall safety of cleanup operations and protects the health and life of the operator. Some of these benefits include:

[0025] Distance from physical hazards: By using an underwater robot, the operator can remain at a safe distance from physical hazards associated with underwater cleanup, such as toxic chemicals, hazardous debris, or unstable structures. This significantly reduces the risk of accidents or injuries to the operator.

[0026] Reducing diving risks: Traditional underwater pollution control often requires the presence of a diver, which carries safety risks, including atmospheric pressure, sea currents and decompression sickness. By using an underwater robot, the operator avoids these risks inherent to diving, which ensures greater safety.

[0027] Remote Monitoring: Modern underwater robots are equipped with advanced cameras and sensors, allowing the operator to monitor cleanup operations in real time from a remote control station. This remote monitoring provides greater visibility and continuous assessment of the situation, contributing to safer and more informed decision-making.

[0028] Protection against extreme conditions: Pollution control operations can take place in extreme marine environments, such as deep waters, storms, or areas with low visibility. By using an underwater robot, the operator is protected from these dangerous conditions, as the robot can be designed to withstand harsh environments and perform tasks in conditions that human divers could not withstand.

[0029] Reduced contamination risks: Underwater decontamination may involve cleaning up toxic or hazardous substances. Using a robot minimizes the risk of contamination for the operator, as the operator is not directly exposed to chemicals or hazardous materials, thus reducing the risks to their health.

[0030] The present invention offers many advantages over traditional cleaning methods. It allows reaching areas that are difficult for humans to access, in particular by facilitating remote navigation control. In addition, the underwater robot is environmentally sustainable, as it uses renewable energy sources and minimizes damage to the marine ecosystem.

[0031] Submarines are marvels of naval engineering, capable of navigating the depths of the oceans with remarkable precision. One of the essential components that allows these submersible vessels to perform delicate maneuvers and move safely is the management of the thrusters.

[0032] Propellers play a crucial role in the control and propulsion of submarines. They are designed to convert engine power into motion, thus propelling the submarine through the water. However, their role goes far beyond simple propulsion.

[0033] Propeller management allows the submarine's direction and stability to be controlled during maneuvers. Propellers can be adjusted to create specific hydrodynamic forces that affect the submarine's trajectory and speed.

[0034] Precise propeller coordination is essential to ensure submarine maneuverability in varying conditions. When changing direction, diving, or surfacing, efficient propeller management is paramount. Operations require precise synchronization of propeller speed and orientation to ensure smooth maneuvering and rapid response to commands.

[0035] In addition, propeller management is also important to ensure the submarine's stealth. Propellers generate vibrations and noise when rotating, which can compromise the ship's stealth. By carefully controlling propeller speed, it is possible to minimize noise emissions and reduce the submarine's acoustic signature.

[0036] Modern technology has enabled significant advances in submarine propeller management. Computerized control systems offer increased precision and responsiveness, allowing operators to finely control propeller performance based on specific mission requirements. These systems also feature advanced sensors and algorithms that automatically optimize propeller settings based on environmental conditions and the submarine's operating parameters.

[0037] Propeller management is a fundamental element in maneuvering a submarine with precision, efficiency, and discretion. It allows for the control of the vessel's propulsion, direction, and stability, ensuring its maneuverability in varied conditions. Technological advances continue to improve propeller management, providing ever more advanced control and performance capabilities. It is thanks to this meticulous propeller management that submarines remain essential tools for pollution control, ocean exploration, defense, and research.

[0038] The applicant proposes a submarine provided with thrusters with propellers mounted on joints which can be adjusted in rotation.

[0039] The advantages of having thrusters with propellers mounted on shafts that can be adjusted in rotation in a submarine are multiple with regard to hydrodynamic forces and their influence on the trajectory and speed of the vessel. Here are some key advantages:

[0040] Increased maneuverability: Thrusters with propellers mounted on adjustable shafts allow for better maneuverability of the submarine. In addition, by adjusting the direction of rotation and rotation speed of each propeller independently, it is possible to generate specific hydrodynamic forces that facilitate complex maneuvers, such as tight turns, rapid course changes, and lateral movements. This gives operators greater flexibility to navigate in tight environments or high-density areas. of traffic.

[0041] Stability control: The adjustable propeller shafts also allow for the stability of the submarine to be controlled. By adjusting the orientation and rotational speed of each propeller appropriately, it is possible to compensate for asymmetric forces and maintain the ship's balance. This allows for the correction of undesirable effects such as rolling, pitching, and yaw, thus ensuring stable and comfortable navigation for the crew.

[0042] Adaptation to environmental conditions: Propellers mounted on adjustable shafts provide greater adaptability to changing environmental conditions. For example, when a strong sea current is encountered, it is possible to adjust the angle of the propellers to compensate for the drift effect and maintain the desired trajectory. Similarly, by adjusting the propellers to maximize propulsion efficiency, the submarine can overcome hydrodynamic resistances due to currents, waves, and other environmental factors.

[0043] Drag reduction: Adjustable propeller shafts also reduce the submarine's hydrodynamic drag. By adjusting the angle of the shafts on which the propellers are arranged according to operating conditions, it is possible to minimize drag and optimize the ship's energy efficiency. This results in reduced energy consumption, greater autonomy and greater operational capacity.

[0044] By combining these advantages, thrusters with propellers mounted on shafts that can be adjusted in rotation provide improved hydrodynamic performance, superior maneuverability and better energy efficiency for submarines. These capabilities allow submarines to navigate more precisely, flexibly and economically, which is essential in various operational situations, whether military missions, scientific research or industrial applications, such as the field of underwater pollution control.

[0045] According to the invention, the device consists of an underwater robot comprising a four-thruster body, said body having at least one face along a longitudinal axis, a control unit, in that the robot comprises two rotary blocks and two arms, a rotary block being arranged on said face and substantially close to one end of said face along a longitudinal axis and another rotary block being arranged on said face and substantially close to the other end of said face along a longitudinal axis, each arm comprising a thruster at each of its ends and each arm being arranged in rotation by its middle in a rotary block.

[0046] According to one embodiment of the invention, the rotating blocks are arranged to rotate along an axis perpendicular to the face.

[0047] According to one embodiment of the invention, said two arms are arranged in rotation along an axis parallel to the face.

[0048] According to one embodiment of the invention, the control unit is arranged to control each thruster and each rotating block in a differentiated manner.

[0049] According to one embodiment of the invention, the robot further comprises at least two ballasts, each ballast preferably having a longitudinal axis substantially parallel to said longitudinal axis of the body.

[0050] According to one embodiment of the invention, the robot further comprises a bin arranged to contain objects and / or waste.

[0051] According to one embodiment of the invention, the robot further comprises at least one robotic arm.

[0052] According to one embodiment of the invention, the robot further comprises at least one sensor block.

[0053] According to one embodiment of the invention, the robot further comprises movement means. List of figures

[0054] [Fig.l] [Fig.l] illustrates the device according to one embodiment of the invention.

[0055] [Fig.2] [Fig.2] illustrates the device according to one embodiment of the invention.

[0056] [Fig.3] [Fig.3] illustrates the underside of the device according to one embodiment of the invention.

[0057] [Fig.4] [Fig.4] illustrates a detail of the device according to one embodiment of the invention.

[0058] [Fig.5] [Fig.5] illustrates a detail of the device according to one embodiment of the invention.

[0059] [Fig.6] [Fig.6] illustrates a detail of the device according to one embodiment of the invention.

[0060] [Fig.7] [Fig.7] illustrates a rotary block according to one embodiment of the invention.

[0061] [Fig. 8] [Fig.8] illustrates a top-down or bottom-up navigation path of the device according to one embodiment of the invention.

[0062] [Fig.9] [Fig.9] illustrates a left-to-right or right-to-left navigation path of the device according to one embodiment of the invention.

[0063] [Fig. 10] [Fig. 10] the device according to one embodiment of the invention.

[0064] [Fig. 11] [Fig. 11] the device according to one embodiment of the invention. Detailed description of the invention

[0065] The embodiments described below being in no way limiting, it will be possible in particular to consider variants of the invention comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection comprises at least one characteristic, preferably functional without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art.

[0066] An object of the invention is to optimize the “Cleaning” process, such as for example the elimination or collection of dirt and other impurities from an environment and in particular waste, hereinafter referred to as “loads”.

[0067] Another object of the invention is to optimize the “Decontamination” process, such as for example the elimination of pollution with the aim of restoring the nominal state of an environment or a sanitary and ecological quality compatible with a reuse of the polluted areas or with a restoration of the ecosystems, in particular in the following sector: a. Cleaning and Decontamination of all marine, lake and waterway environments.

[0068] The operation of a submarine's ballast tanks while submerged and for surfacing is based on the principle of buoyancy and water density. Ballast tanks are tanks located outside the ship and are used to control the buoyancy of the submarine by manipulating the air and water flows inside.

[0069] When the submarine wishes to dive, the ballast tanks are filled with seawater, which increases the overall density of the ship and causes it to sink. To do this, the water inlet valves of the ballast tanks are opened, allowing seawater to enter and fill the tanks. At the same time, the air exhaust valves of the ballast tanks are opened to allow air to escape, thus preventing the accumulation of air in the ballast tanks.

[0070] When the submarine wishes to return to the surface, the ballast tanks are emptied of seawater. The water intake valves close, while the air exhaust valves open, allowing compressed air to be injected into the ballast tanks. The compressed air, which has a lower density than seawater, raises the submarine by expelling water from the ballast tanks. This process restores the positive buoyancy of the ship, bringing it back to the surface.

[0071] Regarding air volumes, flows and pressures, it is difficult to give precise figures without knowing the exact technical specifications of the submarine in question. However, for a 200 kg submarine, the ballast volumes and air flows would be relatively small.

[0072] Ballast tank volumes depend on the specific design of the submarine, but can vary from a few tens to a few hundred liters. The airflows used to fill or empty ballast tanks are generally controlled using airflow control systems and can be in the order of a few tens to a few hundred liters per minute.

[0073] Air pressures used in ballast tanks are generally moderate, as excessive pressures could damage the structure of the submarine. Typical pressures can vary between 2 and 10 bars.

[0074] It is important to note that specific values ​​may vary considerably depending on the technical characteristics and design requirements specific to each submarine.

[0075] To achieve the above-mentioned objective, the device according to the invention is proposed in the form of an underwater robot which comprises a body (9) and four thrusters (1, 2, 3, 4). The body (9) may have a general parallelepiped shape, see [Fig. 4]. However, the body (9) may have any other ovoid, spherical, etc. shape. Said body (9) comprises at least one face (11) along a longitudinal axis and a control unit (13). The control unit (13) comprises an electronic module, the control unit (13) being preferably located within the body (9), see Figs 3 and 4.

[0076] The four propellers (1, 2, 3, 4) may be identical and consist of a motor and a propeller. However, any other means of marine propulsion may be used, depending on the needs of the implementation.

[0077] According to the invention, the robot comprises two rotating blocks (7, 8) and two arms (5, 6). A rotating block (7) is arranged on said face (11) and substantially close to one end of said face (11) along a longitudinal axis and another rotating block (8) being arranged on said face (11) and substantially close to the other end of said face (11) along a longitudinal axis, see Figs 1, 3, 4 and 10. Each arm (5, 6) comprises a thruster (1, 2, 3, 4) at each of its ends, see Figs 3, 4 and 10. Each arm (5, 6) is arranged in rotation by its middle in a rotating block (7, 8), see Figs 3, 4, 10 and 11.

[0078] According to one embodiment of the invention, said two arms (5, 6) are arranged to rotate along an axis perpendicular to the face (11). This rotational movement is carried out by the rotating blocks (7, 8). This makes it possible to orient the thrusters as visible in [Fig.3] and to create trajectories as visible in [Fig.9].

[0079] According to this embodiment, each rotating block (7, 8) can be oriented at a different angle, independently of the orientation angle of the other rotating block (7, 8). In [Fig.3] the rotating blocks (7, 8) can be seen in a configuration in which, if the two arms (5, 6) are extended, they will form an acute angle on one side of the robot. However, the robot can be configured to form an acute angle on the other side of the robot or to tilt the rotating blocks (7, 8) while keeping the arms (5, 6) parallel. This allows the robot to move along a variety of trajectories, in particular crab-like. In addition, the flow of one or more thrusters can be reversed to achieve particular trajectories.

[0080] According to one embodiment of the invention, said two arms (5, 6) are arranged to rotate along an axis parallel to the face (11). This makes it possible to orient the thrusters as visible in [Fig.6] and to produce trajectories as visible in [Fig.8].

[0081] According to this embodiment, each rotating block (7, 8) can be oriented at a different angle, independently of the orientation angle of the other rotating block (7, 8). At the top of [Fig.5] we can see the rotating blocks (7, 8) in two configurations: in the first configuration the thrusters 2 and 3 are oriented in the same direction and in the second configuration, the thrusters 2 and 3 are oriented so as to form an acute angle between the axes of their propellers. In this second case, we can also reverse the rotation of one of the two thrusters in order to make the robot navigate along an arc trajectory, as shown in dotted lines. Obviously, the reasoning is the same, mutandis mutatis, for the thrusters 1 and 4, which are not visible in this illustration.

[0082] According to one embodiment of the invention, the rotating blocks (7, 8) are arranged to allow rotations along two axes: one perpendicular to the surface (11) and the other parallel to the surface (11). This makes it possible to combine the orientations of the thrusters as visible in [Fig.5] and to combine trajectories by composing the trajectories of Figs 8 and 9.

[0083] [Fig.7] shows, as an example, the two-axis embodiment of the rotating blocks (7, 8). In the lower part, a truncated cone-shaped transmission can be seen to achieve the rotational movement which makes it possible to orient the thrusters as seen in [Fig.6] and to achieve trajectories as seen in [Fig.8]. In the upper part, a toothed wheel can be seen which is driven to orient the thrusters as seen in [Fig.3] and to achieve trajectories as seen in [Fig.9]. Encoder sensors can be integrated into the control unit (13) in order to precisely control the rotation along the two axes.

[0084] The two arms (5, 6) can be whole arms, or each arm can be composed of two separate pieces, arranged on one side and the other of each rotating block (7, 8), preferably made of carbon fiber or aluminum alloy or any other material.

[0085] According to one embodiment of the invention, the control unit (13) is arranged to control each thruster (1, 2, 3, 4) and each rotating block (7, 8) in a differentiated manner. This makes it possible to combine the orientations of the thrusters as visible in [Fig. 5] and to combine trajectories by composing the trajectories of Figs 8 and 9. In addition, the control of the power of each thruster in part as well as the management of the direction of rotation of each thruster in part makes it possible to adjust the trajectories more finely to optimize them and to take into account phenomena external to the robot, such as sea currents or an imbalance caused by the load of the robot.

[0086] The orientation and individual control of the thrusters allows the underwater robot to be balanced. For example, if the robot grasps a heavy load with its arm, this causes its center of gravity to shift forward. Our device will allow the robot's attitude to be oriented and stabilized by controlling the thrusters by controlling the rotation speed as well as the direction of rotation of the thrusters and the rotation angle of the arms (5, 6).

[0087] The control unit (13) may include a mission management part, which allows the robot to evolve autonomously during its mission. The control unit (13) may also be connected to a wired or wireless communication module, which allows communication between the robot and an operator. The latter may be completely automated, in particular by exploiting artificial intelligence, but may also be controlled, at least partially, by a person.

[0088] According to this embodiment of the invention, the robot can be guided along wider, more rounded, more precise trajectories, the robot becomes easier to maneuver, and the reaction is more responsive. Compared to state-of-the-art robots, these advantages make it possible to reduce energy consumption, reduce the working time for carrying out a task, and increase operational safety.

[0089] According to one embodiment of the invention, further comprises at least two ballasts (10), each ballast (10) preferably having a longitudinal axis substantially parallel to said longitudinal axis of the body (9). In [Fig.4] one can see an example of embodiment with four ballasts. However, one can have a different number of ballasts, such as for example 2, 3 4, 5, 6 or more ballasts. The shape of the ballasts can be adapted according to the needs of the situation, the mission to be accomplished, the dimensional constraints and the shapes making it possible to optimize the evolution of the robot in its aquatic environment. As an example, one can see in [Fig.4] ballasts of generally cylindrical shape with rounded ends.

[0090] A submarine's ballast tanks are special compartments designed to control the buoyancy and depth of the submarine by allowing it to rise or fall in the water.

[0091] Underwater ballast systems are essential for controlling the buoyancy and depth of a submarine. They allow the submarine to dive, maintain a specific depth, and resurface as needed. The ballast system is a combination of tanks, valves, pumps, and other equipment that work together to adjust the overall weight and volume of the submarine, thereby controlling its position in the water.

[0092] Here is a more detailed explanation of underwater ballast systems:

[0093] Main ballast tanks, called ballasts (10): These are the main tanks responsible for controlling the buoyancy of the submarine. They are strategically located along the hull of the submarine, usually in the lower parts, see Figs 1, 4 and 10 or in the upper parts, as in [Fig. 11]. By filling these tanks with water or emptying them, the submarine can achieve positive or negative buoyancy, causing it to sink or rise.

[0094] Trim Tanks: In addition to the main ballast tanks, submarines often have smaller trim tanks located at various points along the hull. These tanks are used to adjust the horizontal balance or trim of the submarine, ensuring that it maintains a level position when submerged. These trim tanks are not shown in our figures and can be mounted as needed, mainly depending on the dimensions of the robot.

[0095] High pressure air system: Submarines have a high pressure air system that is used to expel water from the ballast tanks (10) to help the submarine move through the water using Archimedes' law. Compressed air is pumped into the ballast tanks (10), displacing the water and increasing the overall buoyancy of the submarine. The high pressure air system is preferably located inside the body (9) of the robot but can also be mounted outside said body (9). This high pressure air system can include a scuba-type oxygen cylinder to optimize operating costs and the integration of the robot into a technical environment specific to working underwater. In this case, the underwater robot can serve as a base for divers, who can remain safe underwater while being supplied with oxygen by the robot.

[0096] According to one embodiment of the invention, a diving-type oxygen bottle is used to expel water from the ballast tanks (10). In this embodiment, the underwater robot can serve as a base for divers, who can remain safely underwater while being supplied with oxygen by the robot.

[0097] Automatic Control Systems: The underwater robot is preferably equipped with sophisticated automated control systems that monitor and manage the ballast tanks (10). These systems use sensors to measure the depth of the submarine and adjust the ballast tanks accordingly to maintain the desired depth.

[0098] Emergency Ballast Blowing System: In an emergency, the underwater robot can activate an emergency ballast blowing system. This system allows rapid expulsion of air from the ballast tanks, causing the submarine to rise quickly to the surface.

[0099] The high pressure air system and the emergency ballast blowing system are controlled by the control unit (13).

[0100] Ballast Water Treatment: To prevent corrosion and other problems associated with seawater used in ballast tanks, a water treatment system can be used to purify the ballast water and reduce the risk of damage to the hull and internal systems.

[0101] According to one embodiment of the invention, the robot further comprises a tank (12). Said tank (12) may have a general parallelepiped shape, as shown by way of example in [Fig.l] and 2. However, the tank may have other shapes which cause less resistance to flow, such as for example a general ovoid, cylindrical shape, etc. Said tank is arranged to contain waste or objects of variable size and shape. Said tank (12) may be located on the face (11). For example, the tank (12) may be located on a face parallel to the face (11), as illustrated in [Fig.l]. The tank may preferably have a mouth, as seen in [Fig.l] and 2. The tank (12) may have holes or openings allowing water to be evacuated from the inside of the tank (12) to its outside. These openings will be optimally positioned towards the rear of the tank (12) in the main direction of progression of the robot.This variant is particularly useful when vacuuming waste. In [Fig.2], the robot's main direction of travel is from right to left.

[0102] A fluid flow can be created with a depression at the mouth of the tank (12), which makes it possible to retain the objects located inside the tank (12) even when the robot is moving in the direction and a direction other than its main direction of progression. According to a preferred embodiment of this embodiment of the invention, this fluid flow can be optimized by arranging one or more propellers which force the fluid flow. These propellers can preferably be mounted in fluid connection with the walls located towards the bottom and / or towards the rear of the tank (12), in other words, towards the bottom and / or to the right in [Fig.2].

[0103] According to this embodiment of the invention, a pump can suck water from the rear of the device to return it under pressure to the center of the tank (12). This re water flow causes a surface current from the front of the tank (12) towards the inside of the tank (12) over a thickness of water. Optionally, a net can be placed inside or outside the tank (12) at the opposite side relative to the inlet mouth of the tank (12). In the latter case, said water flow causes a surface current from the front of the tank (12) over a thickness of water and a distance of several meters which allows the detritus to be attracted into its net.

[0104] According to an embodiment of the invention, the robot further comprises at least one robotic arm (16). In [Fig.2] one can see an embodiment with two arms (16). However, a single arm (16) can be used to manipulate objects, such as grasping an object and positioning it inside the container (12). Still with a single arm (16) one can turn taps, valves or manipulate tools such as a drill / screwdriver. Said arm (16) can have a single joint or can comprise several joints, as in [Fig.2]. Said arm can preferably comprise a gripper, as illustrated in [Fig.2]. Said arm (16) can be controlled by the control unit (13).

[0105] The robot can also use other tools such as a rotating brush, a high-pressure cleaning or sandblasting nozzle, etc. These tools can be used in addition to or instead of said arm (16).

[0106] According to one embodiment of the invention, the robot further comprises at least one sensor block (14). Said sensor block (14) can be positioned at the front of the robot in the main direction of its progression, see Figs 1 and 2. In one version of this embodiment of the invention, a second sensor block (14) can be placed on the front face of the robot. This makes it possible in particular to more precisely evaluate the relief and obstacles in front of the robot. Optionally, one or more sensor blocks (14) can be arranged on any other face of the robot. Said sensor block (14) can comprise a wide spectrum of sensors such as optronics, for example CCD cameras, sonar, pressure sensors, infrared, temperature, microphone, etc. Said sensor block (14) can be controlled by the control unit (13) or by an independent control module.

[0107] These sensors will be chosen according to the main tasks of the robot, namely underwater inspection and surveillance, underwater work, cleaning and decontamination work, etc.

[0108] According to one embodiment of the invention, the robot further comprises movement means (15). The movement means (15) enable the robot to move relative to a surface, such as the ground, when the robot enters or leaves the water, the seabed or the hull of a ship. For example, the movement means (15) may comprise wheels in [Fig.l] and tracks in [Fig.10]. However, the movement means (15) may also include spider-type legs, magnetic means for holding on metal surfaces or any other type of moving means. Obviously, the moving means (15) may consist of a combination of several moving means mentioned above. Said moving means (15) may be controlled by the control unit (13).

[0109] Said movement means (15) can be powered and / or controlled by a device independent of the rest of the robot. This can be particularly useful in the case where redundancy of said movement means (15) is sought in relation to the power supply and control of the thrusters (1, 2, 3, 4).

[0110] The movement means (15) can be arranged on the body (9) by means of an intermediate module which is affixed against the surface (11), see [Fig.l]. This module can contain motors and any other organ of the robot. Alternatively the movement means (15) can be arranged directly on the body (9), as can be seen in [Fig.l 1].

[0111] The displacement means (15) can be operated with actuators integrated in the displacement means (15), such as for example motors integrated in the wheels or telescopic cylinders.

[0112] When the robot is used during work on a surface, such as the metal wall of a ship, two movement systems can be implemented at the same time or sequentially, namely: a. the propulsion system using the propellers (1, 2, 3, 4), b. the means of movement (15).

[0113] According to one embodiment of the invention, the control unit (13) is arranged to control each ballast (10) in a differentiated manner. In the case of an underwater robot provided with two ballasts located on each part of the body (9), the control unit (13) can manage each right and left ballast separately to allow trim correction in manual or automatic mode.

[0114] In a variant of this embodiment of the invention, the ballasts may comprise compensation tanks, in the form of ballasts, divided into several separate chambers or in the form of several separate ballasts positioned to the right, left and to the front and rear of the robot. In this variant, the control unit (13) is arranged to individually control each ballast (10) so as to: a. Maintain a horizontal attitude when the robot's center of gravity changes, b. Maintain a specific attitude relative to the surface of a ship when the robot is required to move along a specific surface, c. Control the attitude in such a way as to facilitate the robot's evolution in the phases transients such as rising or falling.

[0115] In one embodiment of the invention, the robot comprises an intermediate body (17) located between the body (9) and the ballasts (10), see [Fig.11]. The intermediate body (17) may comprise a compressed air tank, pumps, valves, batteries and any other organ of the robot.

[0116] The ballasts (10) can be held in place by a ballast support which rests on the body (9), as in [Fig.4] or on the intermediate body (17), as seen in [Fig.11].

[0117] In addition, the central location (18) is arranged to receive an optional module such as for example a compressed air bottle, an oxygen bottle for supplying the robot and / or an operator, a battery, a cable carrier or a combination of these modules.

[0118] In addition to the functional modularity of the robot, it can benefit from a modularity which facilitates construction. Indeed, in [Fig.l 1] we can see the means of movement (15), the body (9), the intermediate body (17), the rotating blocks (7, 8) and the ballast support which holds the ballasts in place (10). These elements can be easily assembled by an operator in order to manufacture a robot.

[0119] If in [Fig.l] we can see that the surface (11) opens towards the bottom of the robot, in [Fig.l 1] surface (11) opens towards the top of the robot. In the configuration of [Fig.l], the rotating blocks (7, 8) are arranged towards the bottom of the robot while in the configuration of [Fig.l 1], the rotating blocks (7, 8) are arranged towards the top of the robot. The choice of this architecture will be made according to the embodiment of the robot, independently of the other technical choices. According to the architecture proposed in [Fig. 11], the robot can benefit from wider angles of rotation of the arms (5, 6).

[0120] As goes without saying, the invention is not limited to the embodiments of the invention described above as a non-limiting example; on the contrary, it encompasses all variant embodiments. Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In addition, the various characteristics, forms, variants and embodiments of the invention can be combined with each other in various combinations to the extent that they are not incompatible or mutually exclusive.

Claims

Claims

1. Underwater robot comprising a body (9) and four thrusters (1, 2, 3, 4), said body (9) having at least one face (11) along a longitudinal axis, a control unit (13), characterized in that the robot comprises two rotary blocks (7, 8) and two arms (5, 6), a rotary block (7) being arranged on said face (11) and substantially close to one end of said face (11) along a longitudinal axis and another rotary block (8) being arranged on said face (11) and substantially close to the other end of said face (11) along a longitudinal axis, each arm (5, 6) comprising a thruster (1, 2, 3, 4) at each of its ends and each arm (5, 6) being arranged in rotation by its middle in a rotary block (7, 8).

2. Robot according to the preceding claim, in which said two arms (5, 6) are arranged in rotation along an axis perpendicular to the face (H).

3. Robot according to one of the preceding claims, in which said two arms (5, 6) are arranged to rotate along an axis parallel to the face (H).

4. Robot according to one of the preceding claims, in which the control unit (13) is arranged to control each thruster (1, 2, 3, 4) and each rotating block (7, 8) in a differentiated manner.

5. Robot according to one of the preceding claims, further comprising at least two ballasts (10), each ballast (10) preferably having a longitudinal axis substantially parallel to said longitudinal axis of the body (9).

6. Robot according to one of the preceding claims, further comprising a bin (12).

7. Robot according to the preceding claim, further comprising at least one robotic arm (16).

8. Robot according to one of the preceding claims, further comprising at least one sensor block (14).

9. Robot according to one of the preceding claims, further comprising movement means (15).

10. Robot according to claim 5, wherein the control unit (13) is arranged to control each ballast (10) in a differentiated manner.

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