FLOATING VEHICLE WITH AN ANIMATED METAL STRUCTURE

Abstract

A floating device (1) characterized in that it comprises: a vessel (50) including at least one float (51, 52), at least one propulsion element (70), a keel (40) and at least one ballast (53); a mechanical structure (10) representing a living being including a chassis forming the body and lower limbs, said lower limbs being animated by a movement corresponding to the gait of said living being, said mechanical structure (10) including a steering system (20) for actuating the propulsion element (70) and for controlling the orientation of the keel (40); a connecting mast (30) for attaching the mechanical structure (10) to said vessel (50); and at least one electrical power source for supplying said propulsion element (70). Figure for the abbreviation: Fig. 1

Description

Title of the invention: FLOATING CRAFT COMPRISING AN ANIMATED METAL STRUCTURE Scope of the invention

[0001] The field of the invention relates to mechanical structures in motion and their stability during movement on a body of water. More particularly, the field of the invention relates to animated metallic structures and their control to ensure a decomposition effect of the movement while ensuring the displacement of said structure. Another field of the invention relates to structures moving on water and the stability of that movement. State of the art

[0002] There are animated structures for which we seek to obtain a decomposition of the movement which is fluid and faithful to the movement of what we seek to represent, for example the movement of an animal such as an elephant, a horse, etc.

[0003] Generally, these structures are most often controlled from a cabin within the structure or from outside the structure using a guidance system, independently of the movements of the various moving parts of the structure. The structure is then stable and exhibits controlled movement of its various parts.

[0004] The aim is most often to make the guidance system of the structure discrete so as to give the illusion that the movement of the intrinsic structure is responsible for the displacement. It is then necessary to coordinate the movements of the animated structure so that they are consistent with the speed of displacement of the structure.

[0005] However, there is no such animated structure that can move on the water from a guidance system that allows the structure to be moved on the water surface while animating the structure with its own kinematic movement.

[0006] Indeed, a drawback of movement on water is that the intrinsic movements of the structure, combined with the movements resulting from the structure, render the structure unstable. Furthermore, its control is necessarily carried out from the structure by an individual whose movements are also a source of instability.

[0007] A final problem is that the camouflage of the vehicle, here a ship, is made very difficult by the Archimedes' principle which tends to make part of said ship emerge. Summary of the invention

[0008] According to a first aspect, the invention relates to a floating device comprising: • a vessel (50) comprising at least one float, at least one propulsion element (70), a keel and at least one ballast; • a mechanical structure representing a living being comprising a chassis forming the body and lower limbs, said lower limbs being animated by a movement corresponding to a gait of movement of said living being, said mechanical structure comprising a piloting system allowing the propulsion element to be actuated and allowing the orientation of the drift to be controlled; • a connecting mast to secure the mechanical structure of said vessel and; • at least one power supply to power the steering system and said propulsion element,

[0009] at least one ballast being arranged within the ship so as to submerge at least 80% of the ship when it is launched and so that the stroke of the movement of said members is carried out above the waterline.

[0010] According to a second aspect, the invention relates to a mechanical structure representing a living being comprising a chassis forming the body and at least two lower limbs, said lower limbs being animated by a movement corresponding to a gait of movement of said living being by means of chain trains driven in rotation on either side of the sagittal plane of the mechanical structure, each lateral part of said mechanical structure comprising at least one lower limb set in motion from a chain train, each lower limb of each lateral part of the structure being set in motion by a drive shaft.

[0011] According to a third aspect, the invention relates to a mechanical structure representing a living being comprising a chassis forming the body and at least four lower limbs, said lower limbs being animated by a movement corresponding to a gait of movement of said living being by means of chain trains driven in rotation on either side of the sagittal plane of the mechanical structure, each lateral part of said mechanical structure comprising at least one front lower limb and one rear lower limb set in motion from a chain train, each front lower limb and rear lower limb of a lateral part of the structure being driven by a drive shaft coordinating the movements of the front lower limb with the movements of the rear lower limb.

[0012] According to this aspect, all the embodiments of the mechanical structure described in this description relate to this second aspect of the invention.

[0013] According to another aspect, the invention relates to a floating device comprising: • a vessel comprising at least one float, at least one propulsion element, a keel and at least one ballast; • a mechanical structure representing a living being comprising a chassis forming the body and lower limbs, the mechanical structure further comprising at least one drive shaft driving said lower limbs in a movement corresponding to a gait of said living being, said mechanical structure comprising a ship piloting system enabling the propulsion element to be operated and enabling the orientation of the drift to be controlled; • a connecting mast to secure the mechanical structure of said vessel and; • at least one power supply to power the steering system and said propulsion element,

[0014] the floating device being balanced in mass so that the freeboard of at least one float is less than 30 cm and that the absolute height between the lowest point of the stroke of the movement of said lower members and the upper surface of at least one float is less than 30 cm.

[0015] One advantage is to allow the definition of an animated mechanical structure that skims the surface of a body of water using a stealth vessel while providing stability to the structure during its movement.

[0016] According to one embodiment, a first power supply includes at least one battery supplying said at least one drive shaft of said mechanical structure, said first power supply corresponding to a ballast element arranged in a first position of the ship, the delivered electric current being routed to the mechanical structure via a channel made within the connecting mast.

[0017] One advantage is to design a vessel that is both mass-optimized and stealthy. The benefit of stealth is that the vessel disappears below the waterline when moving at a certain speed.

[0018] According to one embodiment, the first power supply includes at least one battery powering the control system and a lighting system of said mechanical structure.

[0019] According to one embodiment, at least one battery powers the drive shafts of the mechanical structure. The battery can be fixed within the mechanical structure or within the vessel.

[0020] According to one embodiment, a second power supply includes at least one battery powering said at least one propulsion element, said second power supply corresponding to a ballast element arranged in a second position of the ship.

[0021] According to one embodiment, the propulsion element is a propeller engine.

[0022] According to one embodiment, the freeboard of at least one float is between 5 and 15 cm. According to one movement, the freeboard is less than 30 cm in the static state and less than 15 cm when the vessel is moving within its nominal speed range.

[0023] According to one embodiment, the floating device is balanced in mass so as to submerge at least 90% of the volume of the vessel when it is put into the water.

[0024] According to one embodiment, at least one ballast is arranged within the ship so as to submerge at least 95% of the ship's volume when it is launched.

[0025] One advantage is to obtain a stealth ship that is almost invisible, or very barely visible, when in motion.

[0026] According to one embodiment, the distance between the lowest point of the movement of said lower limbs and the water surface is less than 30 cm. According to another embodiment, this distance is less than 15 cm, or even 10 cm depending on the vessel's navigation regime.

[0027] According to one embodiment, the mechanical structure comprises four lower members and includes a first lateral part and a second lateral part on either side of a sagittal cutting plane, each lateral part comprising two lower members, of which a front lower member and a rear lower member are set in motion from a chain train driven by a drive shaft coordinating the movements of the front lower member with the movements of the rear lower member.

[0028] According to one embodiment, the mechanical structure comprises: • a first chain train driven by a first drive shaft, said first chain train comprising a set of sprockets, chains and connecting rods to coordinate the movements of the lower limbs of the first lateral part, the rear lower limb and the front lower limb traveling in their own cyclic motion and being positioned in their movement relative to each other so that they do not come into contact during the course of their movement; • a second chain train driven by a second drive shaft, said second chain train comprising a set of sprockets, chains and connecting rods to coordinate the movements of the lower limbs of the second lateral part, the rear lower limb and the front lower limb traveling in their own cyclic motion and being positioned in their movement relative to each other so that they do not come into contact during the course of their movement.

[0029] According to one embodiment, the mechanical structure comprises a computer configured to drive the drive shafts with a configurable offset so as that the cycle of coordinated movement of the lower limbs of the first lateral part is out of phase with the cycle of coordinated movement of the lower limbs of the second lateral part.

[0030] According to one embodiment, each lower member comprises a set of portions fixed together by means of at least one pivot joint, each pivot joint comprising a sprocket driving a chain coordinating the movements of one member to the other from a connecting rod.

[0031] According to one embodiment, the mechanical structure comprising a first mechanical part forming a head and a second mechanical part forming a mechanical tail, the first and second parts being each connected to said chassis forming the body of said mechanical structure, the mechanical tail being set in motion by means of portions connected to each other by pivot links and at least one pinion driven by the first chain train, the mechanical head being set in motion by means of portions connected to each other by pivot links and at least one pinion driven by the second chain train.

[0032] According to one embodiment, the mechanical structure (10) includes a covering forming a metallic skin to support the navigation system and forming a seat for a rider.

[0033] According to one embodiment, the coating comprises an anodized aluminum shell and parts covered with silver leaf treated with a varnish.

[0034] According to one embodiment, the electrical commands supplying each motor shaft are generated so as to drive said motor shafts at the same rotational speed, said rotational speed being between 15 revolutions per minute and 30 revolutions per minute.

[0035] According to one embodiment, a computer allows each drive shaft to be positioned in rotation relative to a reference point so as to generate a phase shift between the two movement cycles of each of the two chain trains, the reference point being acquired by a pair of sensors positioned on either side of the sagittal plane on the mechanical structure. One advantage is that it allows for a realistic configuration of the movement of a living being, such as a galloping horse.

[0036] According to one embodiment, the floating device comprises a plurality of floats, a central float having an opening for the passage and attachment of the connecting mast, said central float having a fitting for receiving a keel and a fitting for retaining the propulsion element. An advantage is obtaining a solid and robust attachment between the vessel and the mechanical structure

[0037] According to one embodiment, the floating device comprises a single central float including an opening for the passage and attachment of the connecting mast, said float central comprising a fixing to hold the propulsion element and comprising a fixing to support two lateral wings each comprising a fin.

[0038] According to one embodiment, the piloting system includes a nominal navigation mode corresponding to an operating regime of the main engine that drives the propulsion element so as to obtain a nominal speed of the vessel of between 12 and 20 knots. An advantage is obtaining a speed corresponding to the speed of a galloping horse.

[0039] According to one embodiment, the floating device comprises a central float and two lateral floats, each lateral float being attached to the central float by means of a profiled joint. One advantage is the reduction of the vessel's drag. Brief description of the figures

[0040] Other features and advantages of the invention will become apparent from the following detailed description, with reference to the accompanying figures, which illustrate:

[0041] [Fig-1]: an example of an embodiment of a floating device of the invention comprising a mechanical structure representing a horse and a ship intended to be almost completely submerged for its guidance;

[0042] [Fig.2]: an example of a metallic structure representing a horse and having lower limbs formed of a plurality of animated portions whose body is formed by a sheet defining a metallic skin;

[0043] [Fig.3]: an example of a metal structure representing a horse and having lower limbs formed of a plurality of portions animated by a movement to represent the decomposition of the movement of a horse's race;

[0044] [Fig.4]: an example of a 3D top-view metallic structure representing a horse and comprising two drive shafts with angle drives to power two mechanically independent chain trains;

[0045] [Fig.5]: an example of a representation of the head of an animated metal structure representing the head of a horse comprising parts allowing the head to be moved when the latter is moved;

[0046] [Fig.6]: an example of the realization of an upper junction of a lower member to the chassis of the structure so as to maintain said member while allowing animation of the animated structure;

[0047] [Fig.7]: a first example of the realization of a junction linking two metallic portions of a lower limb so as to allow a rotational movement of one relative to the other when the animated structure is set in motion;

[0048] [Fig.8]: a second example of the realization of a junction linking two metallic portions of a lower limb so as to allow a rotational movement of one relative to the other when the animated structure is set in motion;

[0049] [Fig.9]: an example of an embodiment of a metallic portion of the structure of the invention forming a tail of an animal and pivot links driven by a chain train so as to allow a coordinated movement of said tail with the movement of the lower limbs when the animated structure is set in motion;

[0050] [Fig. 10]: an example of achieving coordination of the movement of the portions of the front lower limbs obtained from two chains independent of each other;

[0051] [Fig. 11]: an example of achieving coordination of the movement of the portions of the rear lower limbs obtained from two chains independent of each other;

[0052] [Fig. 12]: an example of the realization of a rudder controlled from an offset rudder, itself controlled from a pivot link driven by a steering system;

[0053] [Fig. 13]: a front view of an example of the realization of a metal structure representing a horse;

[0054] [Fig. 14]: a top view of an example of the realization of a metal structure representing a horse;

[0055] [Fig. 15]: a front view of an example of a floating device of the invention supporting an animated mechanical structure representing a horse;

[0056] [Fig. 16]: a representation of the different reference planes of the body of a 4-legged animal such as a cat, a horse, etc.;

[0057] [Fig. 17]: Examples of float profiles according to different variants of the invention,

[0058] [Fig. 18]: a top view of an example of a profile of a float or a support holding the connecting mast having a notch for the passage of the lower ends of the lower members of the mechanical structure at their lowest point of their stroke. Detailed description

[0059] Figure 1 represents one embodiment of the device of the invention. In this example, a mechanical structure 10 is mounted on a float 51 by means of a support mast 30. The mechanical structure 10 represents, for example, a horse. According to other embodiments, the mechanical structure represents a four-legged mammal such as a dog, a cat, a lion, etc. Such a mechanical structure is metallic and comprises a frame forming a structure that supports metallic portions forming lower limbs, a metallic portion forming a head, a metallic portion forming a tail and possibly a metallic skin, such as a machined or body-like sheet metal.

[0060] According to one embodiment, the mechanical structure is a two-legged structure, such as a human. In this case, the two legs are animated so that they skim the surface of the water during their movement by means of the stealth vessel. The legs are then animated by means of rods assembled and held together by pivot joints, the movement of which is driven by one or more chain trains.

[0061] According to another aspect of the invention, the mechanical structure of the invention is mounted on a base, a fixed plinth, or the ground. In the latter case, the mechanical structure 10 is driven by at least one drive shaft, which can be powered by a current source such as a battery or directly from the general power supply.

[0062] The skin can be formed of another material such as a polymer, a natural skin or any other textile element allowing a surface to be covered on the chassis.

[0063] The coating forming certain parts of the body of the mechanical structure 10 includes the application of silver leaf. Certain parts forming the hull of the mechanical structure have an anodized aluminum coating. One advantage is the light reflection effect, which is itself reflected on the surface of the water. The surface can also be treated by applying a varnish. The sheet metal is obtained through a metalworking and / or hammering process, allowing for a realistic representation of animal skin, making it possible, for example, to create the appearance of muscles. The effects obtained with the hammered sheet metal allow for the representation of veins on the surface of the body's skin.

[0064] The mast 30 is fixed on one side to the frame by means of a fastener securing the end of the mast 30 to the frame of the metal structure 10. The mast 30 is fixed on the other side to a main or central float 51. For this purpose, the mast may pass through the float 51 so as to form a structural element of the float. According to one example, the mast 30 is extended by a section forming a keel. Ship architecture

[0065] Fig. 1 represents a vessel 50 comprising a plurality of floats 51, 52, links between these floats, a keel 40 and a propulsion element 70.

[0066] The vessel 50 of the invention can comprise different architectures.

[0067] A first architecture comprises a main float 51 and at least one port lateral float and at least one starboard lateral float. Figure 1 shows two starboard lateral floats and two port lateral floats connected by links 54, which may be wing profiles, rods, or flat surfaces. According to another, unshown, case, a single port lateral float and a single starboard lateral float are each connected to the central float. This architecture is of the trimaran type.

[0068] A second architecture includes a central support connected to two lateral floats 51. This architecture is not shown and corresponds to a catamaran-type vessel.

[0069] A third architecture comprises a single central float forming a wing extending laterally on either side of the sagittal plane PS of the metal structure. The ends of the float forming the wing include guiding elements such as fins to stabilize the ship's course.

[0070] Other ship architectures can be implemented according to different designs of the floating craft.

[0071] Figure 15 illustrates an example of an architecture comprising two lateral floats 52, a central float 51 containing ballast compartments, electrical compartments, and compartments providing the flotation function. In this embodiment, the central float 51 has a height above the waterline 100 that is less than the height of the lateral floats 52. One advantage is to make the part supporting the connecting mast 30 as discreet and unobtrusive as possible.

[0072] According to one embodiment, means for fixing the connecting mast 30 in the central float 51 allow the mast 30 to be fixed to the float 51 and possibly allow a sliding connection so as to adjust the height of the mast 30. One advantage is to adjust the height of the mechanical structure 10 so that the lower members can be flush with the water surface 100 when they are set in motion.

[0073] According to one embodiment, the height adjustment of the mechanical structure 10 can be moved from a few centimeters to a few tens of centimeters. For example, the height of the feet defining the ends of the lower limbs, such as hooves, can be adjusted by a few centimeters to set the height of the structure.

[0074] In the example shown in [Fig. 15], the above-water portion of each lateral float 52 comprises a section defining two discrete above-water lines extending along the upper part of each float. Discretion or stealth is ensured, in particular, by an upper portion of the float 52 having a width less than the average width of the submerged portion of the float 52. Floats

[0075] Floats can have different profile designs defining their buoyancy, and in particular the submerged and emerged parts of the float. Figure 17 shows some examples of float profiles 51, 52. These designs correspond to general shapes, but may have some variations from these general shapes. A first float profile shape is a shape of revolution, representing a circular profile. A second float profile shape is an oval shape. This shape makes it possible to reduce the emerged part, known as the freeboard. The float's profile contributes to the ship's stealth, making it less visible above water level 100. A third float profile is a rounded shape with a plane of symmetry along the transverse plane PT and a greater curvature on the upper portion, which is intended to be above water, than on the lower portion, which is intended to be submerged. This shape improves stealth by minimizing the exposed portion and increasing the submerged portion. Finally, a fourth float profile is shown with an elongated upper portion, designed to be above water, forming a guiding element that improves the ship's navigational stability while also enhancing its stealth. This upper portion is more curved than the lower portion of the float, which is intended to be submerged.

[0076] According to one embodiment, a compartment in the main float 51 is designed to house the electrical equipment and batteries; this compartment is called the electrical compartment. One advantage of grouping the electrical equipment in a single compartment is to create a secure compartment that is well isolated from the rest of the vessel. A ventilation system can be integrated by routing an air duct into the electrical compartment and by providing an air outlet.

[0077] According to one embodiment, the float 51 is offset by a given distance from the two lateral floats 52 towards the front of the ship 50. This distance can be from 0.5 m to 4 m, taking as a reference the front ends of one part of the float 51 and the other of the floats 52.

[0078] According to another embodiment, the float 51 is offset by a given distance from the two lateral floats 52 towards the rear of the ship 50. This distance can be from 0.5 m to 4 m, taking as a reference the front ends of one part of the float 51 and the other of the floats 52.

[0079] According to another example, the float 51 is substantially aligned with the two lateral floats 52 to within a few tens of centimeters. Material

[0080] For example, the ship's floats are made of carbon fiber or fiberglass, reinforced plastic, aluminum, or composite materials. Ballast

[0081] According to one embodiment, the vessel 51 comprises a set of ballast 53 or ballast elements to balance the vessel's waterline and to maximize its immersion depth. In one example, the ballast 53 is distributed and arranged within the floats so that each float is submerged to a depth of between 0.5 m and 2.5 m when static on the water and that each float is above water at a depth of between 0.5 m and 2.5 m. height between 1 cm and 25 cm when static on the water, this part is noted as freeboard of the float.

[0082] When the vessel is in motion, the height corresponding to the freeboard tends to decrease with increasing speed; the vessel tends to disappear. At speeds between 15 and 20 knots, only a small portion of the vessel is above water, an above-water portion with a height of less than 20 cm, or even less than 10 cm or 5 cm.

[0083] According to one example, the emerged part of the float, or the freeboard of the float, is between 1.2 m and 1.8 m and the emerged part is between 5 cm and 20 cm when the ship is in a static state.

[0084] In order to obtain this result, the ballasts can be distributed over all the floats or only certain floats such as the central float or for example within the lateral floats.

[0085] According to one embodiment, the ballasts are arranged in ballast compartments of the float. To this end, each float comprises a plurality of compartments that are watertight. Some compartments are designed to hold a volume of air or gas to ensure buoyancy, while some compartments are designed to hold ballast, for example water or sand, to ensure proper immersion of the vessel.

[0086] According to one embodiment, the ballast(s) 53 are configured on the one hand according to the weight and mass distribution of the deadworks, i.e. the weight of the mechanical structure 10 and the weight of the strut or strut as appropriate, and their mass distribution on the ship and on the other hand according to the structural characteristics of the floats and the weight and mass distribution of the liveworks, i.e. the underwater hull of the connecting elements and the floats, the rudder, the propeller(s).

[0087] According to one embodiment, when the mechanical structure has two lower limbs, the weight of a rider is not to be taken into account.

[0088] For example, the ballast elements 53 are reservoirs for holding liquid or granular elements such as sand or any other element that can be used to define ballast, such as a steel element, bricks, or a cast iron element. The ballast can take the form of a plurality of elements in order to finely adjust its weight. These elements can be balls, a chain, plates, etc. One advantage is that it allows the weight of each ballast to be adjusted according to the mass distribution configuration of the metal structure 10 and its weight, as well as the weight of the rider.

[0089] Advantageously, the ballasts 53 are fixed to attachment elements inside each float. According to one example, the ballasts 53 move along a sliding link inside the float to adjust the position of the latter according to the mass distribution of the metal structure.

[0090] The ballast, mass balancing, and shape of the floats contribute to submerging the vessel 30 in such a way as to render it stealthy. According to one embodiment, in a trimaran configuration, by reducing the width of the lateral floats 52 of the part intended to be above water and defining the freeboard, it is possible to obtain a configuration in which the floats are above water by a maximum distance of 10 to 15 cm, or even 5 to 10 cm. Such an extension above the waterline 100 makes it possible to obtain almost complete stealth for the vessel 50. The animated mechanical structure 10 then appears to move on the water surface 100. ship's main engine

[0091] In one embodiment, the vessel 50 is driven by a propeller motor. The assembly of parts enabling propulsion is called a propulsion system, and the propulsion element 70 corresponds to a propeller. Such a motor is powered by an electrical current source, for example, supplied by electric batteries. At least one propeller forms a propulsion element. In one embodiment, a single propeller 70 is attached to the main float, i.e., the central float. In another embodiment, a plurality of propellers can be used, for example, on each lateral float.

[0092] The main navigation engine can be a drive shaft driving the propeller 70. The drive shaft is configured to propel the vessel 50 at a speed of 14 to 20 knots and possibly within a range of 15 to 16 knots in steady speed. In one embodiment, the vessel can have an engine speed allowing it to reach a speed of 25 to 30 knots. In another embodiment, an engine speed allows the speed to be reduced to low speeds of a few knots. One advantage of the speed parameterization and speed stabilization is to adapt the vessel's speed to that of an animal represented by the mechanical structure, or more generally a mammal, such as a human. An advantage is to generate visual consistency between the animation of the members of the mechanical structure 10 and the speed of the vessel 50. Vessel power supply

[0093] The electrical power supply for the vessel 50 is provided by a set of batteries 56, also called a battery pack. These batteries 56 are, for example, distributed within the main float 51 and can define ballast elements that can be distributed to balance the masses. According to another embodiment, We want to group the batteries together to reduce the electrical cables present in the float 51.

[0094] According to one example, the battery set 56 comprises between 1 and 30 batteries, for example between 12 and 18 batteries.

[0095] According to one embodiment, the power supply provides a bilge pump to pump a volume of water into the floats. The pump can, for example, be automatically activated when a water level exceeding a threshold is detected. The pumping then discharges a portion of the pumped water from the vessel. Navigation system

[0096] According to one embodiment, the navigation system includes a steering system 4 for steering the vessel 50 and a system for controlling the speed of the vessel 50 accessible from an actuator which can be, for example, a touch screen.

[0097] In one embodiment, the steering system 4 is shown in [Fig. 12]. According to one example of a steering system, the latter comprises reins 47, 48 possibly equipped with handles 46, 45 at the distal end of the reins, a rudder 44 whose rotation is driven by the reins 47, 48 or any other means of actuation. The rotation of the rudder 44 advantageously drives a toothed wheel or pinion 43 connected to a mast 42 maintaining the centerboard 40. The rudder 44 is advantageously secured to the ship's frame 50 by means of a body 49; the rudder is pivotally connected to the body 49.

[0098] Such a steering system 4 can be directly operated from the back of the mechanical structure 10 by a rider holding the reins. The reins can comprise two sections, each connected to the rudder, or a single closed section looping back at the rider's position. In the latter case, the reins 47, 48 do not include a handle 45, 46, since a single strand 47 allows the rudder 44 to be steered to port or starboard depending on the pull applied. However, a handle can be positioned at the point where the reins 47, 48 are held.

[0099] According to one example, the rudder 44 is arranged on a portion of the ship 50 so as to directly drive the centerboard 40. A system of gears and chains can be used for example to transmit the movement of the rudder 44 to the centerboard 40.

[0100] The drift 40 is advantageously submerged to a depth of 1.3m to 2m reached by its distal end under the water surface 100. According to one example the drift is submerged to a depth of 1.5 m.

[0101] According to one design example, the keel includes at its deepest end a wing profile to stabilize the ship's navigation 50.

[0102] According to one embodiment, rudder cables are used to drive the rudder. These cables can be connected to reins, i.e., lines held by a rider.

[0103] According to another embodiment, the steering system 4 includes an actuator, such as a lever for actuating the fin 40 so as to change its orientation.

[0104] According to one embodiment, the navigation system also includes a ship speed control system 50. Such a system may include a control screen 20, for example a touch screen 20, for generating a setpoint for the engine speed of the propulsion element 70. This setpoint is then transmitted via a wired or wireless connection to a computer 60, which sends an engine command to the ship's engine 50. The engine command drives the drive shaft that drives the propeller 70.

[0105] The screen 20 is advantageously positioned at the level of the part of the structure forming the injunction between the body and the head so that a rider can access the latter.

[0106] According to another example, the ship speed control system 50 includes a lever or actuator for generating a setpoint for an engine speed of the propulsion element 70. For example, a throttle lever allows a given engine speed to be activated.

[0107] In one example, a throttle lever for operating the engine is used in combination with a screen 20 to check the ignition parameters. The screen then allows the navigation constants, external parameters such as wind speed, the planned trajectory (if applicable), and emergency stop commands to be checked. In another example, the screen allows the navigation controls to be duplicated, enabling the user to take over the steering provided by the reins or the engine speed.

[0108] According to one embodiment, the touch screen 20 allows the control of the ship 50 and that of the animation of the mechanical structure 10 to be shared. For this purpose, a mode is accessible from the touch screen 20 to activate the motor shafts 18, 19, deactivate them and possibly adjust the parameters of the movements and start-up.

[0109] According to one embodiment, the piloting of the ship can also be carried out from an actuator and a wireless link allowing commands to be sent to a piloting unit 60 to generate engine commands and / or steering commands.

[0110] According to one embodiment, the control of the mechanical structure 10 can be activated remotely from a tablet, a smartphone, or any electronic equipment enabling a wireless connection with the electronic brain of the electrical box. A Bluetooth, LoRa, Wifi or any other data exchange protocol connection can be used.

[0111] According to another aspect, the invention relates to a mechanical structure 10 alone, without association with a vessel 50. In this case, electronic equipment for controlling the drive shafts can be remotely located so that the mechanical structure 10 can be operated remotely, for example, by means of a control terminal having a control interface for transmitting messages via a wireless link. Thus, an electronic card having a communication interface can be integrated into the electrical box embedded in the mechanical structure to control the starting of the drive shafts and their speed. Mechanical structure

[0112] According to one aspect, the invention relates to a mechanical structure associated with a ship. According to another aspect, the invention relates solely to the mechanical structure. All embodiments of the mechanical structure 10 are compatible with either aspect of the invention.

[0113] The mechanical structure 10 is also called a metallic structure. However, when the mechanical structure 10 is not made of metal, the term "mechanical structure" is preferred. The mechanical structure 10 comprises a chassis forming a part 15 shown in [Fig. 3] to which the lower limbs and the connecting mast 30 are attached, a part of the structure 10 forming a head 15 and a part of the structure forming a tail 13, and possibly a covering forming a skin of the body. An example of a skin is shown in [Fig. 2].

[0114] In one embodiment, the mechanical structure 10 is made of steel. In another embodiment, the mechanical structure is made of aluminum. In one embodiment, all or part of the aluminum elements are anodized. In one example, 90% of the parts are anodized.

[0115] However, the mechanical structure of the invention can be made of another metal. According to another embodiment, the mechanical structure 10 is made of carbon or polymer.

[0116] According to one embodiment, the skin is formed by sheet metal elements.

[0117] The chassis 15 includes a set of bars and connecting elements allowing a degree of rotational freedom of a plurality of metallic portions in order to move the lower limbs 11, 12, the tail 13 and the head 14.

[0118] According to one embodiment, the chassis further comprises an electrical box held within the space forming the body of the mechanical structure 10. The electrical box allows for the connection of all electrical cables originating from or traveling to the vessel 50 via the connecting mast 30. The box The electrical box also includes a connector for at least one emergency stop button. In one embodiment, the electrical box includes one or more circuit breakers. In another embodiment, the electrical box includes variable speed drives. Furthermore, the electrical box includes a computer and memory, for example, an electronic board, a microcontroller, or an FPGA. The computer and memory can form the electronic control unit for the mechanical structure. In particular, the electronic control unit allows the offset between the two main gears driven respectively by the two motor shafts 18 and 19 to be set.

[0119] To this end, a position sensor on the main shaft of each motor can be used to configure and maintain a position offset between the two chain trains. This offset produces a coordinated movement of the lower limbs to accurately reproduce the running motion of a given animal. The electronic control unit is then able to introduce a phase offset between the two drive shafts as soon as the movements of the mechanical structure are initiated. Finally, this phase offset between the two drive shafts 18, 19 can be readjusted and maintained in real time by regular measurements of the relative position of each drive shaft using the position sensors.

[0120] A first sensor can be arranged on one side of the structure. The sensor can be oriented at 90° to the sagittal plane to read the position of a limb, for example. In one example, the sensor is oriented so that it can detect the passage of a connecting rod located on the other side of a lower limb relative to its position. One advantage is that, with each revolution, a marker of the position of the connecting rod protruding from the lower limb is recorded, thus obtaining a precise reference within the cycle performed by each lower limb. The sensor can be positioned, for example, within an opening in the structure. Other sensors are possible depending on different embodiments.

[0121] A second sensor can be positioned identically on the other side of the structure. The offset of the two markers is then analyzed by the electronic control unit and allows the drive shafts to be realigned in real time.

[0122] The position of the rear lower limb is deduced from the position of the front lower limb 11 when the sensor is positioned on the front area of ​​the structure, i.e. positioned by reading a marker of the front lower limb 11. The deduction is made thanks to the chain train which reads the movements of the front lower limb 11 and the rear lower limb 12 on the same side of the structure. Head

[0123] The mechanical structure 10 comprises a part forming a head 14 having a mechanical structure comprising rods and bearing elements and fixings in such a way as to define a support that can accommodate a covering forming a skin representing the head of a mammal such as a horse.

[0124] [Fig.5] represents a detailed part, labeled A, of [Fig.2].

[0125] The skin can be formed from a sheet metal body 141 so as to define surface effects representing the head of a particular animal. The part forming the head 14 is connected to the main frame forming the body of the mechanical structure representing the body of an animal by means of two metal rods 143, 142 shown in [Fig. 5]. The rods include connecting elements (not shown) allowing rotation of the rods 143 and 142. Rotation of the distal part of the head is permitted by means of a pivot joint 144. These connecting elements can be bearings or PTFE bushings, also called polytetrafluoroethylene bushings, which are a type of seal or washer made from PTFE.

[0126] In order to ensure the movement of the part 14 representing the head relative to the rod 142, a pantograph, a camshaft or a rolling element such as a pinion can be driven by a chain forming part, for example, of a chain train of a lateral part of the mechanical structure 10 can be used. Lower limb

[0127] Figure 6 shows connecting elements for animating a front lower limb 11 and all of these portions having a pivot connection with another portion of the same lower limb. For this purpose, a chain drives a sprocket which in turn drives a connecting rod 101 to rotate a portion 102 of the lower limb with a larger diameter of rotation than the rotation of the sprocket causing the connecting rod to rotate.

[0128] Figure 7 represents a junction between two portions of a lower limb 11. The chain train (not shown in this figure) transmits a rotational movement from one portion of a limb to a connected portion of the same limb. To this end, the chain (not shown) connects a sprocket (not shown) to another sprocket 114, which transmits a rotation via a connecting rod 115 to another longitudinal component attached to a sprocket. This sprocket, in turn, drives the rotation of a chain, thus driving a new sprocket, and so on. The movement is transmitted step by step to the end of each lower limb, allowing for the decomposition of the movement of the lower limb 11, 12. The number of portions chosen corresponds preferably to the skeleton of an animal whose anatomy and the accuracy of the movement of each bony portion are to be represented.

[0129] Figure 8 shows a junction between two portions of a hind lower limb 12. The junction elements are substantially identical to those used for the fore lower limbs. However, the rotation angles of the limbs may vary. depending on the location of the pivot points of the gears and connecting rods. The operation is identical to the breakdown of the movement of a lower limb before 11. The lengths of the rods and their placement can be adapted to best represent the postures of a given animal.

[0130] It is understood that the lower limb 12 of [Fig.8] is animated in a coordinated manner with the front lower limb 11 of [Fig.7] because a single chain train connects the two lower limbs 11, 12 together.

[0131] One advantage of using a single chain train to coordinate a rear lower limb 12 and front is to ensure reliable adjustment between the movements of each lower limb on the same side of the mechanical structure 10. This solution ensures that the movements of the two lower limbs on the same side of the structure do not shift relative to each other.

[0132] It is recalled that a connecting rod is a longitudinal member having two circular distal openings that define two axes of rotation. It is used to offset the axis of rotation of a sprocket driven by a chain to create an eccentric and drive a new rotating member. When the connecting rod is itself fitted with a sprocket, a chain can again be set in motion to drive, in turn, a sprocket attached to said member; a new connecting rod can then propagate the motion again.

[0133] Thus, each portion of a lower member 11, 12 comprising a sprocket can be associated with a connecting rod to drive an adjacent portion in rotation. The propagation of the motion occurs step by step along the length of the lower member by means of a single chain train.

[0134] According to one embodiment, the height of the ends of the lower members at the lowest point of their stroke is substantially the same height as the upper surface of the float or support holding the connecting mast. That is to say, when the lower members complete a full cycle, the lowest point reached by the ends of the lower members is at the same height as the float or support holding the connecting mast.

[0135] According to one embodiment, the width of the float is narrowed at the point where the lower limbs move. This embodiment allows the lower limbs to be at the same level as the float when the extremities of the lower limbs are at their lowest point.

[0136] One advantage is to obtain a genuine impression that the horse is walking on water as the vessel moves forward. When the vessel 50 gains speed, the freeboard reduces its height due to aerodynamics. The mechanical structure is thus adapted to give the impression of running or walking on water.

[0137] Figure 18 shows an example of an embodiment of a float profile 51 in a top view. According to this view, in its central part, the float has a reduced width of a portion d1 over a length d2. Advantageously, the length d2 is adapted to the width of the structure. For example, in the case of a mechanical structure representing a horse, the distance d2 can be between 1 m and 2 m.

[0138] According to one embodiment, the distance of the mast can be adapted so that the ends of the lower members are a few centimeters lower than the upper surface of the float 51 or of the support holding the mast 30, for example, with a height difference of between 0 and 10 cm.

[0139] According to one embodiment, the distance of the mast can be adapted so that the ends of the lower members are a few centimeters higher than the upper surface of the float 51 or of the support holding the mast 30, for example, with a height difference of between 0 and 10 cm.

[0140] According to one embodiment, the movement of the lower limbs corresponds to the movement of a horse galloping. To achieve such a movement, the pivot joints, the joint opening angles, the pivot placement, and the chain train lengths are determined in such a way as to reproduce a movement corresponding to that of a horse galloping. Tail

[0141] Part 13 of the mechanical structure 10 representing a tail may include a set of cams extending the movements of a chain train from a lateral part. Figure 9 shows an example of an embodiment of a mechanical part forming an animal's tail. In one embodiment, the mechanical part of the structure 10 comprises a set of rods connected to each other by pivot joints and cams for actuating the rods relative to each other. At least one rod 131, connected on one side to the last sprocket of a lateral chain train, is connected to a set of rods via pivot joints such as bearings or bushings. One advantage of using cams is that they allow rotational movement over a small angle, for example, less than 30°, or even less than 20°.Conversely, using a chain train to drive the movements of each portion of each lower limb allows for greater angles of rotation. Power supply for the mechanical structure

[0142] The electrical power supply to the mechanical structure 10 is provided by a set of batteries 55, also called a battery pack. These batteries 55 are, for example, distributed in the main float 51 and can define ballast elements that can be distributed to balance the masses. According to another method of In implementation, we wish to group the batteries 55 together to reduce the electrical cables present in the float 51. According to one embodiment, in order to reduce the presence of cables, the batteries necessary to supply the motor shafts 18, 19 of the mechanical structure 10 are arranged near the connecting mast 30.

[0143] According to one example, the battery set 55 includes at least one battery.

[0144] According to one embodiment, the batteries are distributed into two power sources to power the two drive shafts of each of the lateral parts of the mechanical structure 10.

[0145] According to one embodiment, the batteries 55 power a lighting system arranged on the mechanical structure 10 in order to illuminate the latter. For example, a backlighting system illuminates constituent parts of the mechanical structure 10. The lighting devices can, for example, be arranged on elements of the chassis of the mechanical structure 10.

[0146] When the mechanical structure 10 is not associated with a float, its power supply can come directly from a 220V mains power outlet or from a battery integrated into the mechanical structure 10. Lower limb actuation

[0147] According to one example, the mechanical structure 10 comprises two lateral portions forming the two sides of a chassis intended to support the body of an animal. Figure 13 shows a front view of an example embodiment of the mechanical structure 10 and the sagittal plane PS. Figure 14 shows a top view of an example embodiment of the mechanical structure 10 and the sagittal plane PS.

[0148] The frame is preferably metallic. According to another example, it is made of carbon. The frame supports the lower members 11, 12. The lower members 11, 12 comprise a set of metallic portions fixed together by means of pivot joints. Each pivot joint includes a toothed wheel forming a pinion driven in rotation by the movement of a chain connected to another pinion. All the portions of each lower member are driven in a coordinated manner by means of a chain train connecting the pinions to each other via connecting rods.

[0149] According to one embodiment, a first chain train forming a single chain train connects all the sprockets of the front lower member 11 and the rear lower member 12 located on the same lateral portion of the mechanical structure 10. According to one embodiment, the chain train also connects the sprockets of each metal portion of the tail.

[0150] According to this embodiment, a second chain train forming a single chain train connects all the sprockets of the front lower limb and the lower limb rear 12 located on the other lateral portion of the mechanical structure 10. According to one embodiment, the chain train also connects the sprockets of each metal portion of the head.

[0151] One advantage is to allow the movements of the front lower limb 11 to be calibrated with the movements of the rear lower limb 12 so that their course does not cross.

[0152] Figure 10 shows the travel of the extremities of the front lower limbs 11, labeled 111 and 112 respectively for the two front lower limbs 11. Figure 10 shows sprockets and chains of a chain train 151 for one of the lateral sides of the mechanical structure 10 with respect to the sagittal plane. Sprockets and chains of the chain train 151 are also shown in Figure 11, which represents the rear of the mechanical structure 10. The chain train 151 connects all the movements generated by the rotations of the sprockets driven by one of the drive shafts 18, 19. The same is true for the chain train 152 on the other lateral part of the mechanical structure 10.

[0153] The [Fig. 11] represents the stroke of one end of a rear lower limb 12, noted 121. Mechanical structure motors

[0154] According to one embodiment, the mechanical structure 10 comprises two motors 18, 19: a port motor and a starboard motor. The motors are drive shafts for driving at least one pinion, also called a gear.

[0155] Figure 4 shows a 3D top view representing the placement of the two motors 18 and 19, which are enlarged over the area of ​​interest. The motors 18 and 19 form elbows comprising two portions having an angle of 90° to each other.

[0156] The drive shafts 18, 19 can be held in the frame along a transverse axis, i.e., parallel to the transverse plane PT. In this embodiment, each drive shaft can be a right-angle drive so as to drive a chain along a plane parallel to the sagittal plane. One advantage is driving a toothed wheel or sprocket along an axis of rotation parallel to the transverse plane.

[0157] Preferably, each lower member 11, 12 of the same lateral portion of said mechanical structure 10 with respect to the sagittal plane PS is driven by means of the movement of a drive shaft 18, 19 and a chain train 151, 152. Consequently, each lateral portion of the mechanical structure 10 comprises a drive shaft 18 or 19. By way of example, the first drive shaft is called a starboard drive shaft, corresponding to the lateral portion of the mechanical structure 10 located on the starboard side. The second drive shaft is called a port drive shaft, corresponding to the lateral portion of the mechanical structure 10 located on the port side.

[0158] An example of an arrangement of the invention allows the first starboard drive shaft to be positioned on the opposite side of the sagittal plane from the main pinion located on the port side, which is driven by the latter. This results from the fact that the drive shaft passes through the structure at the level of the sagittal plane PS. This configuration allows for a reduction in the overall size of the engine.

[0159] Similarly, the second port drive shaft generating the torque required for the main pinion located on the starboard side is therefore not located on the same side as the latter because the drive shaft passes through the structure at the sagittal plane.

[0160] This configuration can be further optimized by offsetting the two motors 18, 19 from each other, thus allowing them to pass through the structure at the sagittal plane in two openings. The two motors are therefore offset from each other.

[0161] According to one example, the motor is a 48V low-voltage motor that drives a shaft, referred to as the drive shaft or primary shaft, which in turn drives a chain train. The chain train drives all the portions of each lower member 11, 12 and, where applicable, the head 14 or the tail 13.

[0162] According to the aspect of the invention corresponding to the mechanical structure mounted on a base, a plinth or the ground without the ship, a 220V power supply is suitable to power the drive shafts.

[0163] According to one embodiment, each drive shaft 18, 19 includes a reduction gear. During reduction, the differential is used to produce the torque necessary to drive the gears.

[0164] According to one embodiment, each drive shaft is controlled by a torque value that it must deliver to the main pinion. Thus, the drive shaft self-regulates its energy output because when the torque is reached, it is no longer driving, or when the torque is too high, for example under the weight of a falling lower limb, the shaft brakes.

[0165] In one example, each motor is configured to drive each primary shaft at a speed of 20 revolutions per minute. This speed ensures smooth movement of each lower limb segment, avoiding jerky movements across all segments of a limb. Furthermore, this rotational speed allows for a realistic depiction of a galloping horse. In other configurations, the primary shaft speed can be adjusted to suit specific needs. A speed below 30 revolutions per minute provides a fast and generally smooth movement. A speed below 25 revolutions per minute improves the smoothness of the movement while still creating the effect of a running animal. A speed around 20 revolutions per minute, i.e., between 17 revolutions per minute and 23 revolutions per minute is optimum to offer a breakdown of lower limb movements that can be visually broken down by a spectator while providing a realistic speed effect of the race.

[0166] The motor speed can be adjusted using an adjustable potentiometer that controls a control voltage to deliver a desired speed command to the motor shafts. When a speed is requested, the speed profile during startup is gradual. Weight

[0167] The metal structure, when the mechanical structure is made of metal such as steel, advantageously comprises a weight between 200 kg and 400 kg. According to one embodiment, the metal structure comprises a weight between 275 kg and 325 kg.

[0168] Considering a rider weighing between 50 kg and 100 kg, the metal structure and the rider have a combined weight of between 325 kg and 425 kg.

[0169] The vessel 50 is dimensioned, and in particular the dimensions of at least one float are chosen to allow it to support a total weight of at least twice the maximum weight it is designed to support, i.e., 2 x 450 kg = 950 kg. One advantage of oversizing the structure is to provide stability to the floating craft. Indeed, the problem of animating the members of the metal structure is that it can make the craft unstable. Consequently, oversizing the vessel's capabilities makes the vessel 50 stable with respect to the movements of the metal structure and the movements of the straddle or straddle.

[0170] Under these conditions, the ship can absorb the variations induced by the movements of the mechanical structure. Connecting mast

[0171] According to one embodiment, the mechanical structure 10 is held to the ship 50 by means of a connecting mast 30. The connecting mast 30 can be made of steel, aluminum or carbon.

[0172] Advantageously, the connecting mast 30 is a constituent part of the vessel 50 which is, for example, made of the same material as the connecting mast 30, for example carbon.

[0173] The connecting mast is designed to support a load of 200 kg to 1.5 tonnes. Preferably, it is dimensioned to support a weight of 1 tonne. To this end, the mast may include any type of structural reinforcement to ensure that it can withstand such a load. The mechanical structure 10 is intended to be in motion due to the trajectory of the vessel 50 and due to having an intrinsic movement by the animation of the different parts of the mechanical structure 10, the mast 30 is made so as to absorb part of the vibrations resulting from the movements and to resist any transverse or lateral deformation for a mechanical structure weight of less than 1 tonne.

[0174] In one embodiment, the connecting mast 30 includes an internal channel for providing an air intake. In another embodiment, the internal channel includes air ducts (not shown) for cooling the engine(s), in particular the two drive shafts fixed to the frame and the main drive shaft driving the vessel's propulsion system 50.

[0175] The internal channel also allows the passage of electrical cables to supply electrical components of the mechanical structure 10, in particular the drive shafts, and to carry navigation controls to the main drive shaft of the ship 50 intended to operate the propulsion system, represented in [Fig.1] by a propulsion element: a propeller.

[0176] Fig. 16 represents a general form of a four-legged animal that can to correspond to the representation of a mechanical structure of the invention. The general shape of the animal represented includes reference planes such as the sagittal plane PS, the transverse plane PT, and the frontal plane PF. These planes allow elements to be defined and referenced relative to each other.

[0177] According to one embodiment, a data acquisition unit makes it possible to acquire a set of data such as data on outside temperatures and in certain areas near the motor(s), wind, rainfall, battery charge level, etc.

[0178] According to one aspect of the invention, the connecting mast 30 can be fixed not to a ship but to a base on the ground or a flat bottom.

Claims

Demands

1. Floating device (1) characterized in that it comprises: • a vessel (50) comprising at least one float (51, 52), at least one propulsion element (70), a keel (40) and at least one ballast (53); • a mechanical structure (10) representing a living being comprising a chassis forming the body and lower limbs (11, 12), the mechanical structure (10) further comprising at least one drive shaft (18, 19) driving said lower limbs in a motion corresponding to a gait of said living being, said mechanical structure (10) comprising a vessel steering system (20) enabling the propulsion element (70) to be actuated and the keel (40) to be controlled; • a connecting mast (30) for attaching the mechanical structure (10) to said vessel (50) and;• at least one source of electrical power to supply the piloting system (20) and said propulsion element (70), the floating device (1) being balanced in mass so that the freeboard of at least one float (51, 52) is less than 30 cm and the absolute height between the lowest point of the stroke of said lower members (11, 12) and the upper surface of at least one float (51, 52) is less than 30 cm.;

2. Floating device (1) according to claim 1 characterized in that a first power supply source (56) comprises at least one battery supplying said at least one drive shaft (18, 19) of said mechanical structure (10), said first power supply corresponding to a ballast element (53) arranged in a first position of the vessel (50), the delivered electric current being routed to the mechanical structure (10) via a channel made within the connecting mast (30).

3. Floating device (1) according to claim 2 characterized in that the first power supply (55) comprises at least a battery powering the control system (20) and a lighting system for said mechanical structure (10).

4. Floating device (1) according to claim 1 characterized in that a second power supply (56) comprises at least one battery supplying said at least one propulsion element (70), said second power supply (56) corresponding to a ballast element (53) arranged in a second position of the vessel (50).

5. Floating device (1) according to claim 1 characterized in that the propulsion element (70) is a propeller engine.

6. Floating device (1) according to claim 1 characterized in that the freeboard of at least one float (51, 52) is between 5 and 15

7. cm. Floating device (1) according to claim 1 characterized in that the floating device (1) is balanced in mass so as to submerge at least 90% of the volume of the vessel (50) when it is put into the water.

8. Floating device (1) according to claim 1 characterized in that at least one ballast (53) is arranged within the vessel (50) so as to submerge at least 95% of the volume of the vessel (50) when it is put into the water.

9. Floating device (1) according to claim 1 characterized in that the distance between the lowest point of the stroke of the movement of said lower limbs (11, 12) and the water surface (100) is less than 30

10. cm. Floating device (1) according to claim 1 characterized in that the mechanical structure (10) comprises four lower members (11, 12) and that it comprises a first lateral part and a second lateral part on either side of a sagittal cutting plane (PS), each lateral part comprising two lower members (11, 12) of which a front lower member (11) and a rear lower member (12) are set in motion from a chain train driven by a drive shaft (18, 19) coordinating the movements of the front lower member (11) with the movements of the rear lower member (12).

11. Floating device (1) according to claim 10 characterized in that the mechanical structure (10) comprises: • a first chain train driven by a first drive shaft, said first chain train comprising a set of sprockets, chains and connecting rods to coordinate the movements of the lower members (11, 12) of the first lateral part, the rear lower member (12) and the front lower member (11) following a proper cyclic motion and being positioned in their movement relative to each other so that they do not come into contact during the stroke of their movement; • a second chain train driven by a second drive shaft, said second chain train comprising a set of sprockets, chains and connecting rods to coordinate the movements of the lower members (11, 12) of the second lateral part, the rear lower member (12) and the front lower member (11) following a proper cyclic motion and being positioned in their movement relative to each other so that they do not come into contact during the stroke of their movement.

12. Floating device (1) according to claim 10 characterized in that the mechanical structure (10) comprises a computer configured to drive the drive shafts (18, 19) with a parameterizable offset so that the cycle of the coordinated movement of the lower limbs (11, 12) of the first lateral part is out of phase with the cycle of the coordinated movement of the lower limbs (11, 12) of the second lateral part.

13. Floating device (1) according to claim 6 characterized in that each lower member comprises a set of portions fixed together by means of at least one pivot joint, each pivot joint comprising a sprocket driving a chain coordinating the movements of one member to the other from a connecting rod.

14. Floating device (1) according to claim 11 characterized in that the mechanical structure (10) comprises a first mechanical part forming a head (14) and a second mechanical part forming a mechanical tail (13), the first and second parts each being connected to said chassis forming the body (15) of said mechanical structure (10), the mechanical tail (13) being set in motion by means of portions connected together by pivot links and at least one pinion driven by the first chain train, the mechanical head (14) being set in motion by means of portions connected together by pivot links and at least one pinion driven by the second chain train.

15. Floating device (1) according to claim 6 characterized in that the mechanical structure (10) comprises a coating forming a metallic skin enabling the support of the piloting system (20) and forming a seat for a rider.

16. Floating device (1) according to claim 15 characterized in that the coating comprises an anodized aluminium hull and parts covered with silver foil treated with a varnish.

17. Floating device (1) according to claim 1 characterized in that the electrical commands supplying each motor shaft (18, 19) are generated so as to drive said motor shafts at the same rotational speed, said rotational speed being between 15 revolutions per minute and 30 revolutions per minute.

18. Floating device (1) according to claim 11 characterized in that a computer allows each drive shaft (18, 19) to be positioned in rotation relative to a reference point so as to generate a phase shift between the two movement cycles of each of the two chain trains, the reference point being acquired by a pair of sensors positioned on either side of the sagittal plane on the mechanical structure (10).

19. Floating device (1) according to claim 1 characterized in that it comprises a plurality of floats (51, 52) of which a central float (51) has an opening for the passage and attachment of the connecting mast (30), said central float (51) having an attachment for receiving a fin (40) and an attachment for retaining the propulsion element (70).

20. Floating device (1) according to claim 1 characterized in that it comprises a single central float (51) including an opening for the passage and attachment of the connecting mast (30), said central float (51) including an attachment for retaining the propulsion element (70) and including an attachment for supporting two lateral wings each comprising a fin.

21. Floating device (1) according to claim 1 characterized in that the piloting system (20) comprises a nominal navigation mode

22. corresponding to an operating regime of the main engine enabling the propulsion element to be driven in such a way as to obtain a speed of the ship (50) between 12 and 20 knots. Floating device (1) according to claim 1 characterized in that it comprises a central float (51) and two lateral floats (52), each lateral float being fixed to the central float (51) by means of a profiled joint.