Redundant robot movement system

Abstract

Underwater robot comprising a first body (9) having at least one face (11) along a longitudinal axis, a first displacement means (15), a second displacement means (15') distinct from the first and configured for a displacement mode different from the first, a first control unit (13), a first battery (20), the robot comprises a second control unit (13') distinct from the first, a second battery (20') distinct from the first, a second body (9') distinct from the first and said first displacement means (15) being arranged to be controlled by said first control unit (13) and powered by said first battery (20), said second displacement means (15') being arranged to be controlled by said second control unit (13') and powered by said second battery (20'), said first body (9) containing said first battery (20) and said first control unit (13),said second body (9') containing said second battery (20') and said second control unit (13'), said first body (9) being juxtaposed with said second body (9') along said face (11). Figure for publication: Fig. 5,

Description

Title of the invention: Redundant movement system for a robot Technical field

[0001] The present invention relates to a redundancy device for an underwater robot provided with two movement systems.

[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] Underwater robot type devices are known in the state of the art, as follows:

[0004] Document CN111301646A discloses an autonomous underwater robot for under-ice detection and can realize autonomous cruising under the ice. A lateral thruster and a vertical thruster are installed in the first section, and the middle section of the hull is installed. A vertical thruster, two stabilizer wings at the tail of the hull and a main propulsion device installed on the stabilizer wings. The redundant propulsion mode can realize high-speed navigation and low-speed navigation, and can ensure normal navigation in the event of failure of some thrusters. However, document CN111301646A is silent on the cases of failure of the battery, the control device, the command module and does not provide any solution under these circumstances.

[0005] Document CN106428484A discloses an underwater robot that includes a multi-leg mechanism. The leg structure has a total of six legs, which are distributed on both sides of the robot body. Compared with quadruped robots, hexapod robots have better stability, higher load capacity and diversified gait. At the same time, thanks to its redundant structure, it can be used in situations where one leg is empty or broken. However, document CN106428484A remains silent about the cases of failure of the battery, the control device, the control module and does not provide any solution in these circumstances.

[0006] Document WO2022268300A1 discloses an underwater waste cleaning robot. The control device further comprises a sensor enabling to determine the direction of water flow through the main body of the robot. This allows, for example, the robot to orient itself with respect to the direction of water flow. The control device may also include additional sensors for determining additional parameters to achieve redundancy or determination methods. However, WO2022268300A1 remains silent on cases of failure of the battery, the control device, the control module and does not provide any solution in these circumstances.

[0007] Document US6269763B1 discloses an autonomous underwater robot. In operation, the thrusters can rotate around the vertical and horizontal axes to perform deployment and steering capability, one thruster to perform propulsion and a second thruster that can be added to provide additional or backup or redundant power. However, document US6269763B1 remains silent about cases of failure of the battery, the control device, the command module and does not provide any solution in these circumstances.

[0008] 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 safe, robust and economical manner. Statement of the invention

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] The present invention provides a solution to address this urgent problem by using specially designed underwater robots.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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 cleaning and decontamination operations, whatever the situation.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Using an underwater robot for underwater and surface cleanup has several safety benefits for the operator, by 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:

[0026] 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.

[0027] Diving Risk Reduction: Traditional underwater cleanup often requires the presence of a diver, which carries safety risks, including atmospheric pressure, sea currents, and diving accidents. decompression. By using an underwater robot, the operator avoids these risks inherent to diving, which guarantees greater safety.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Integrating a redundant system with two independent movement systems into an underwater robot has many advantages. Some of these advantages include:

[0033] Independence from the suit operator: One of the main advantages is the robot's ability to operate autonomously without requiring the constant presence of a suit operator. This reduces operational costs and the need for highly trained personnel, while eliminating the risk to human life in potentially hazardous underwater environments.

[0034] Improved productivity: The robot's ability to work autonomously means that it can perform underwater cleaning tasks continuously, without interruption due to the availability of an operator. This can lead to a significant increase in the productivity and efficiency of cleaning operations.

[0035] Reduced operational costs: Fewer personnel in diving suits also means reduced costs associated with underwater operations. Robots Autonomous aircraft can be deployed for extended periods with minimal maintenance, reducing the need for personnel, fuel, and support equipment.

[0036] Increased safety: With two independent movement systems, the robot is less likely to encounter major breakdowns that could leave it immobilized at the bottom of the water, stuck to a wall of a ship, a tank. This ensures greater operational safety and reduces the risk of losing expensive equipment.

[0037] Operational flexibility: Redundancy of the motion systems allows the robot to adapt to a variety of underwater conditions, including navigating around unforeseen obstacles or reacting to changing environmental conditions.

[0038] Increased reliability: Redundancy improves the overall reliability of the robot. If one movement system fails, the other can take over, minimizing interruptions in cleaning operations.

[0039] Ability to work in hostile environments: Underwater cleaning robots are often deployed in harsh environments, such as deep waters, corrosive salt waters and potentially contaminated areas. The redundancy of the movement systems allows the robot to maintain its functionality in such hostile conditions.

[0040] According to the invention, the underwater robot comprises a first body having at least one face along a longitudinal axis, a first movement means, a second movement means distinct from the first and configured for a movement mode different from the first, a first control unit, a first battery.

[0041] The robot according to the invention also comprises a second control unit distinct from the first, a second battery distinct from the first, a second body distinct from the first.

[0042] Said first displacement means is arranged to be controlled by said first control unit and powered by said first battery.

[0043] Said second displacement means is arranged to be controlled by said second control unit and powered by said second battery.

[0044] Said first body contains said first battery and said first control unit.

[0045] Said second body contains said second battery and said second control unit.

[0046] Said first body is juxtaposed with said second body along said face.

[0047] According to one embodiment of the invention, said first displacement means comprises wheels, tracks or feet or a combination of wheels, tracks and / or feet.

[0048] According to one embodiment of the invention, said second displacement means comprises a set of thrusters.

[0049] According to one embodiment of the invention, the robot further comprises a self-diagnostic system arranged to communicate with the first control unit and the second control unit.

[0050] According to one embodiment of the invention, the robot further comprises at least one tool making it possible to implement functions such as guidance, cleaning, brushing, etc.

[0051] According to one embodiment of the invention, the robot further comprises a bin.

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

[0053] According to one embodiment of the invention, the robot further comprises at least one sensor block. 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] schematically illustrates the redundancy of the invention.

[0059] [Fig.6] [Fig.6] illustrates a cleaning robot in working position on the wall of a ship.

[0060] [Fig.7] [Fig.7] illustrates a cleaning robot in different positions relative to the wall of a ship. Detailed description of the invention

[0061] 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 features is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art. This selection includes at least one feature, preferably functional without structural details, or with only a part of the structural details if only this part is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art.

[0062] 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”.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] When the submarine wishes to 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 ship's positive buoyancy, bringing it back to the surface.

[0067] Let us analyze the current situation, when a specially designed underwater robot is used to clean the hull of a boat. The robot is typically equipped with a cleaning tool that can adhere to the ship's wall to remove contaminants, algae, and other marine deposits. In the event of a failure of the robot's movement system, human intervention in a diving suit is necessary to detach the robot from the ship's hull, mainly for the purpose to allow a rapid departure of the ship. Here is a more detailed description of how this system works:

[0068] Configuration of the underwater robot: The underwater robot is designed with a structure that allows it to move along the hull of the ship. It is equipped with propulsion systems, sensors and a control interface.

[0069] Adherent cleaning tool: The cleaning tool is attached to a part of the robot that can adhere to the vessel wall. This adhesion can be achieved by the use of suction cups, vacuum pads, magnetic suction cups, or other similar mechanisms.

[0070] Main movement system: The robot has a main movement system that allows it to move autonomously along the hull of the ship. This system may use thrusters, tracks, wheels or other underwater movement mechanisms.

[0071] Failure detection: The robot may be equipped with sensors that continuously monitor its operating status, including the efficiency of its movement system and the status of the cleaning tool. In the event of a failure of the movement system, these sensors detect the problem.

[0072] Alert and notification: When a failure of the movement system is detected, the underwater robot sends an alert or notification to a human operator, generally located near the vessel.

[0073] Diving Suit Intervention: The diving suit operator is ready to intervene in the event of a robot failure. The operator goes to the robot's location and uses special tools to detach the cleaning tool from the ship's hull.

[0074] Robot Release: Once the cleaning tool is detached, the robot is released from the ship's hull. It can be recovered and repaired later.

[0075] Rapid departure of the ship: The main reason for this intervention in diving suits is to allow the rapid departure of the ship. The presence of the robot stuck to the hull could hinder navigation or cause delays.

[0076] Robot Maintenance and Repair: After failure, the underwater robot is recovered and brought to the surface for maintenance, repair or replacement of defective components.

[0077] This analysis makes it possible to understand the complexity of the current situation and in particular the costs represented by the presence of a diving suit ready to intervene near the robot.

[0078] The current situation, as described above, requires the intervention of a scuba diver in the event of a failure of the underwater cleaning robot's movement system. This intervention is necessary to detach the robot from the ship's hull, thus allowing the ship to depart quickly and safely.

[0079] However, an invention that integrates a redundant system with two independent movement systems could revolutionize this situation. Here's how it might work:

[0080] Robot configuration with redundancy: The underwater cleaning robot is designed with two independent movement systems, each capable of moving the robot along the ship's hull autonomously. These systems are designed so that one can take over in the event of the other failing.

[0081] Failure Detection: The robot is equipped with advanced sensors that continuously monitor the operating status of its two movement systems. If one of the systems fails, the sensors detect it immediately.

[0082] Transition to the emergency system: When a failure is detected, the robot automatically or manually switches to its emergency movement system. This system can take control of the robot and continues to move it along the ship's hull.

[0083] Robot Evacuation: With the active emergency movement system, the robot can be programmed to move to a safe position on the ship's hull or to a pre-defined recovery area.

[0084] Communication with the vessel: The robot may be equipped with wireless communication capability to inform the vessel of the failure and the need for evacuation. The vessel may then deploy another recovery robot or an automated recovery mechanism to recover the failed robot.

[0085] Securing the ship's departure: When the disabled robot has been safely evacuated, the ship can leave the port without undue delay or risk to navigation.

[0086] This invention eliminates the need for human intervention in a suit to detach the robot in the event of a failure. Instead, the robot is able to manage the situation itself by switching to a backup system and communicating with the vessel for a safe evacuation. This improves operational safety, reduces operational costs associated with the presence of suit-clad operators, and allows for faster vessel departures, which is particularly important in commercial maritime operations.

[0087] To achieve the above-mentioned objective, the device according to the invention is proposed in the form of an underwater robot which offers redundancy of the movement modes allowing the robot to move when a movement mode fails. Each movement mode will be autonomous with its battery, its controller, motors, control and communication electronics.

[0088] The two movement modes can also work together to optimize the robot's movement.

[0089] According to the invention, the underwater robot comprises a first body (9) having at least one face (11) along a longitudinal axis, a first movement means (15), a second movement means (15') distinct from the first and configured for a movement mode different from the first, a first control unit (13), a first battery (20).

[0090] [Fig.2] illustrates a first body (9) having at least one face (11) along a longitudinal axis and a second body (9') distinct from the first.

[0091] [Fig.2] illustrates a first displacement means (15) and a second displacement means (15') distinct from the first configured for a displacement mode different from the first.

[0092] The first and second movement means (15, 15') allow 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.

[0093] For example, the first moving means (15) may comprise wheels, as seen in [Fig.l] or tracks, as seen in [Fig.2]. However, the first moving means (15) may also comprise spider-type legs, magnetic means for holding onto metal surfaces or any other type of moving means. Obviously, the first moving means (15) may consist of a combination of several moving means mentioned above.

[0094] Said movement means (15, 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 the first movement means (15) is sought in relation to the power supply and control of the thrusters (1, 2, 3, 4), which make up the second movement means (15').

[0095] The first displacement means (15) can be arranged on the first 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 first displacement means (15) can be arranged directly on the first body (9), as can be seen in [Fig.2].

[0096] The first displacement means (15) can be operated with integrated actuators such as, for example, motors integrated into the wheels or telescopic cylinders.

[0097] 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 first means of transport (15), b. the second propulsion system (15') using the propellers (1, 2, 3, 4).

[0098] The robot according to the invention also comprises a second control unit (13') separate from the first, a second battery (20') separate from the first.

[0099] Said first displacement means (15) is arranged to be controlled by said first control unit (13) and powered by said first battery (20).

[0100] Said second displacement means (15') is arranged to be controlled by said second control unit (13') and powered by said second battery (20'). This provides very effective redundancy.

[0101] Said first body (9) contains said first battery (20) and said first control unit (13).

[0102] Said second body (9') contains said second battery (20') and said second control unit (13'). This separation is particularly useful for preventing failures due to a lack of sealing of one of the two bodies.

[0103] According to one embodiment of the redundancy, said first movement means (15) can be arranged to be controlled by said first control unit (13), which is in communication with a first radio communication unit and powered by said first battery (20). In this embodiment, said second movement means (15') is arranged to be controlled by said second control unit (13'), which is in communication with a second radio communication unit and powered by said second battery (20'). In addition, this embodiment can implement a single remote control or two remote controls. In the latter case, the completely redundant system is obtained, as illustrated in [Fig.5], where the robot is implemented according to two independent subsystems, each comprising its power supply, its control unit, its sensors, its actuators, motor and radio communication unit.In the remainder of this description, these two independent subsystems will be referred to as sub-robots.

[0104] The one or two remote controls can be operated by one or two people.

[0105] Each of the first (20) and second battery (20') may comprise one or more battery elements.

[0106] Each of the first (13) and second control units (13') can control actuators such as motors or cylinders, can be in communication with the other control unit (13, 13'), can be in communication with at least one radio communication unit and can be in communication with sensors.

[0107] Said first body (9) is juxtaposed with said second body (9') along said face (11). This juxtaposition allows the following advantages: a. to stiffen the robot, b. to make the two bodies easily separable, thus allowing the two sub-robots defined around the first body (9) and around the second body (9') to be operated independently. The two sub-robots can be controlled by a single remote operator or each of the two sub-robots can be controlled by another operator. Alternatively, the control can be carried out remotely by automated means or by having the two sub-robots communicate with each other.

[0108] According to one embodiment of the invention, said first displacement means (15) comprises wheels, tracks or feet or a combination of wheels, tracks and / or feet.

[0109] According to one embodiment of the invention, said second displacement means (15') comprises a set of thrusters (1, 2, 3, 4). The four thrusters (1, 2, 3, 4) may be identical and consist of a motor and a propeller. However, any other marine propulsion means may be used, depending on the needs of the implementation.

[0110] [Fig.6] illustrates a cleaning robot in working position on the wall of a ship.

[0111] [Fig.7] illustrates a cleaning robot in different positions relative to the wall of a ship. The wall (21) represents the profile of the ship on which the robot is working. It can be noted in particular that in certain configurations, the robot works on vertical or suspended walls. When a robot is hanging on a wall upside down, it can be said that it is "in an inverted position" or "upside down". This situation can occur in underwater or terrestrial environments where the robot must be able to adapt to various surfaces, including vertical, inclined surfaces or ceilings.

[0112] According to one embodiment of the invention, the robot further comprises a self-diagnostic system arranged to communicate with the first control unit (13) and the second control unit (13').

[0113] [Fig.5] schematically illustrates the redundancy of the invention.

[0114] According to one embodiment of the invention, the robot further comprises at least one tool making it possible to implement functions such as guidance, cleaning, brushing, etc.

[0115] According to one embodiment of the invention, the robot further comprises a bin (12). Said bin (12) may have a general parallelepiped shape, as shown by way of example in [Fig.l]. However, the bin may have other shapes which cause less resistance to flow, such as for example a general ovoid, cylindrical shape, etc. Said bin is arranged to contain waste or objects of varying 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 visible 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 embodiment is particularly useful when one wants to vacuum waste. In [Fig.2], the main direction of progression of the robot is from right to left.

[0116] 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), as visible in [Fig.l].

[0117] 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 water discharge 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 level of the opposite side relative to the inlet mouth of the tank (12). In the latter case, said water discharge 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.

[0118] According to an embodiment of the invention, the robot further comprises at least one robotic arm (16). In [Fig.l] 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), it is possible to 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).

[0119] 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).

[0120] 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 be able to evaluate more precisely the relief and the 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 sensor, infrared, temperature, microphone, etc. Said sensor block (14) can be controlled by the control unit (13) or by an independent control module.

[0121] 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.

[0122] The robot may comprise 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. Each arm (5, 6) comprises a thruster (1, 2, 3, 4) at each of its ends. Each arm (5, 6) is arranged in rotation by its middle in a rotating block (7, 8), see [Fig.2].

[0123] The two arms (5, 6) are preferably 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].

[0124] 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] and [Fig.4] we can see the rotating blocks (7, 8) in a configuration in which, if we extend the two arms (5, 6), these will form an acute angle on one side of the robot. However, we can configure the robot 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 evolve according to a variety of trajectories, in particular crab. In addition, we can reverse the flow of one or more thrusters to achieve particular trajectories.

[0125] The two arms (5, 6) are preferably arranged in rotation along an axis parallel to the face (11), as visible in [Fig.2] and [Fig.3].

[0126] 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 addition, the rotating blocks (7, 8) can be arranged in two configurations: in the first configuration the thrusters are 2 and 3 are oriented in the same direction and in the second configuration, 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-shaped trajectory. Obviously, the reasoning is the same, mutandis mutatis, for thrusters 1 and 4, which are not visible in this reasoning.

[0127] The rotating blocks (7, 8) are preferably arranged to allow rotations along two axes: one perpendicular to the surface (11) and the other parallel to the surface (H).

[0128] 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.

[0129] 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. In addition, controlling the power of each thruster in part as well as managing 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.

[0130] 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).

[0131] 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.

[0132] 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 there is a gain in reaction responsiveness. Compared to state-of-the-art robots, these advantages make it possible to reduce energy consumption, reduce the working time for completing a task, increase operational safety.

[0133] The robot may further comprise at least two ballasts (10), each ballast (10) preferably having a longitudinal axis substantially parallel to said longitudinal axis of the first body (9). In [Fig.l] one can see an example of an embodiment with six 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. By way of example, one can see in [Fig.l] and [Fig.2] ballasts of generally cylindrical shape with rounded ends.

[0134] 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.

[0135] 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.

[0136] Here is a more detailed explanation of underwater ballast systems:

[0137] 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 [Fig.l] or in the upper parts, as in [Fig.2]. By filling these tanks with water or emptying them, the submarine can achieve positive or negative buoyancy, causing it to sink or rise.

[0138] 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.

[0139] 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 water and increasing the overall buoyancy of the underwater. The high-pressure air system is preferably located inside the first body (9) of the robot but can also be mounted outside said first body (9). This high-pressure air system can include a diving-type oxygen cylinder in order to optimize operating costs and the integration of the robot in a technical environment specific to underwater work. 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.

[0140] 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.

[0141] 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.

[0142] The high pressure air system and the emergency ballast blowing system are controlled by the control unit (13).

[0143] 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.

[0144] 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 first body (9), the control unit (13) can manage each right and left ballast separately to allow trim correction in manual or automatic mode.

[0145] 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 transient phases such as ascent or descent.

[0146] In one embodiment of the invention, the robot comprises a second body (9') located between the first body (9) and the ballasts (10), see [Fig.2]. The second body (9') may comprise a compressed air tank, pumps, valves, batteries and any other organ of the robot.

[0147] The ballasts (10) can be held in place by a ballast support which rests on the first body (9), as in [Fig. 1] or on the second body (9'), as seen in [Fig. 2].

[0148] 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.

[0149] In addition to the functional modularity of the robot, it can benefit from a modularity which facilitates construction. Indeed, in [Fig.2] we can see the means of movement (15, 15'), the first body (9), the second body (9'), 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.

[0150] If in [Fig.l] we can see that the surface (11) opens towards the bottom of the robot, in [Fig.2], the 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.2], 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.2], the robot can benefit from wider rotation angles of the arms (5, 6).

[0151] 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 first body (9) having at least one face (11) along a longitudinal axis, a first displacement means (15), a second displacement means (15') distinct from the first and configured for a displacement mode different from the first, a first control unit (13), a first battery (20), characterized in that the robot comprises a second control unit (13') distinct from the first, a second battery (20') distinct from the first, a second body (9') distinct from the first and said first displacement means (15) being arranged to be controlled by said first control unit (13) and powered by said first battery (20), said second displacement means (15') being arranged to be controlled by said second control unit (13') and powered by said second battery (20'), said first body (9) containing said first battery (20) and said first control unit (13),said second body (9') containing said second battery (20') and said second control unit (13'), said first body (9) being juxtaposed with said second body (9') along said face (11).,

2. Robot according to the preceding claim, wherein said first moving means (15) comprises wheels, tracks or feet or a combination of wheels, tracks and / or feet.

3. Robot according to one of the preceding claims, wherein said second displacement means (15') comprises a set of thrusters (1, 2, 3, 4).

4. Robot according to one of the preceding claims, further comprising a self-diagnostic system arranged to communicate with the first control unit (13) and the second control unit (13').

5. Robot according to one of the preceding claims, further comprising at least one tool.

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).

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