Vessel with improved stability and method of navigation

Abstract

The invention relates to a vessel, consisting of a gondola (1), propelling torpedoes (2) with electric motors (3) and flaps (4) for steering, in which the propelling torpedoes (2) are connected to the gondola (1) by means of connecting arms (5) that comprise regulating means (6) for the distance between the gondola (1) and the propelling torpedoes (2), there being a control system to measure the waves and control the propelling torpedoes (2), the flaps (4) and the regulating means (6) of the connecting arms (5). The invention also refers to a method of navigation of an aero-submarine vessel in which, by acting on a control system on regulating means (6), the distance between the gondola (1) and the propelling torpedoes (2) being regulated up to a certain value at which the propelling torpedoes (2) are submerged and the gondola (1) is arranged above the waves.

Description

[0001] DESCRIPTION

[0002] Title

[0003] VESSEL WITH IMPROVED STABILITY AND METHOD OF NAVIGATION

[0004] Field of invention

[0005] The present invention belongs to the maritime sector, and more specifically to the field of boats and vessels for passengers and goods. The present invention relates to a vessel with a gondola attached to propelling torpedoes by connecting arms of variable length, and to a method of navigation of the vessel, in which the length of the connecting arms of the gondola and the propelling torpedoes is regulated until the propelling torpedoes are submerged and the gondola is arranged above the waves.

[0006] Background of the invention

[0007] Currently there is a wide variety of boats and vessels, for passengers, goods, or mixed, with different forms of propulsion, whether electric or hybrid of any type, but all of them present the problem of suffering the impacts of the waves, causing movements that cause dizziness in passengers and crew, and on the other hand unwanted movements of the merchandise, this being the main limitation for the use of this means of transport.

[0008] The applicant does not know of any vessel that has means to avoid these movements caused by waves.

[0009] It is therefore desirable to have a vessel that eliminates or minimizes the movements caused by waves, avoiding the inconveniences of existing systems in the state of the art.

[0010] Description of the invention

[0011] The present invention solves the problems existing in the state of the art by means of a vessel, which has a gondola, which has its own buoyancy and is configured to accommodate crew, passengers, and merchandises. This gondola is a “nacelle” or elongated capsule, although it could have any other shape. The vessel also has propelling torpedoes, arranged under the gondola, connected to said gondola, and aligned longitudinally with it, submersible under water, in which electric motors are arranged, along with the converters and electrical regulators necessary to provide propulsion to the vessel.

[0012] Additionally, the vessel has depth control means of the propelling torpedoes, for tilting up or down, as well as for lateral tilt.

[0013] The direction of the vessel is controlled in a conventional way, by means of the electric motors of the propelling torpedoes: a greater power in the electric motors on one side will induce a turn towards the opposite side, an effect that can be magnified if on the opposite side the electric motors are put into reverse. These propelling torpedoes sail submerged, below the surface waves, and they behave like submarines do, with stable, calm and smooth navigation, without being affected by the waves. Alternatively, other steering means already known and used in vessels could be used.

[0014] The vessel also has azimuth thrusters arranged in the gondola, auxiliary systems, and auxiliary batteries connected to both the electric motors and the azimuth thrusters, to provide the energy required for their operation.

[0015] The azimuth thrusters are electric, providing low speed and very high maneuverability for entering and exiting the port and can also be used as emergency propulsion in case of failure of the main system formed by the propelling torpedoes.

[0016] In particular, the vessel may also have auxiliary batteries arranged in the gondola, which function as a backup for the main ones, since they are totally independent of those.

[0017] In the present invention, the propelling torpedoes are connected to the gondola by means of connecting arms, which have regulating means for the distance between the gondola and the propelling torpedoes, the vessel also having a control system to measure the waves and control and operate the propelling torpedoes, the depth control and the regulating means for the distance between the gondola and the propelling torpedoes. These regulating means for the distance between the gondola and the propelling torpedoes include different embodiments. One of the embodiments may include connecting arms of variable length, for example telescopic connecting arms, and length regulating means to vary the length of said arms of variable length and consequently vary the distance between the gondola and the propelling torpedoes, or articulated connecting bars system, or scissor-articulated connecting bars system. Alternatively, another embodiment may include connecting arms of fixed length and regulating means to vary the distance between the gondola and the propelling torpedoes, for example a rack-and-pinion system, although different solutions could be used depending on the particular needs, such as friction rollers, or alternative controlled displacement systems of a profile under load. Preferably four vertical arms will be used, although there could be six or eight. Furthermore, these vertical arms may have a vertical arrangement, being parallel to each other, or on the contrary, they may be oblique, converging towards a common point.

[0018] The control system is similar to that of a submarine or a drone and controls all elements and performs the operations necessary for navigation by means of azimuth thrusters and propelling torpedoes. The control system features control software and motion and sea state sensors that determine the height of the vessel and the depth of the propelling torpedoes regarding the sea surface, and corrects heeling, trimming, and rolling.

[0019] In particular, the depth control means are formed by a plurality of flaps configured for tilting the propelling torpedoes up and down.

[0020] Particularly, the vessel may have a structure of horizontal bars connecting the propelling torpedoes in which the flaps are arranged. This specific embodiment has the advantage of constituting a structure and providing integrity to the whole. Likewise, this structure prevents the resonance between the bow and the stern part and that the propelling torpedoes end up oscillating.

[0021] Alternatively, the depth control means have means for tilting the propelling torpedoes with respect to the connecting arms, such as ball joints or connectors with various degrees of tilt and rotation. Thus, through this configuration, the connecting arms are structural arms with a wing profile and very low resistance that are solidly fixed to the propelling torpedoes but that allow the gondola to regulate its distance to the propelling torpedoes. In this way you can set both the depth of the propelling torpedoes as the height of the gondola, so that none of them are affected by the waves, which will be between the gondola and the propelling torpedoes and will not affect the navigation of the vessel.

[0022] Particularly, the gondola can be made of composite material, and preferably it presents a sandwich-type structure made up of flax fibers, reinforcing carbon fibers and epoxy bio resins vacuum-laminated and post-cured in an oven.

[0023] Alternatively, the gondola may be made of light metal alloys, which may particularly include aluminum or titanium alloys, presenting also a structure of transverse rings and longitudinal reinforcements.

[0024] According to different propulsion needs, the vessel may have two single propelling torpedoes arranged under the gondola, aligned with it, and arranged symmetrically with respect to vertical median planes of the gondola, and an electric motor arranged at each of the ends of the torpedoes, or present an alternative configuration, such as four propelling torpedoes with an electric motor each, also aligned with the gondola and also with symmetrical distribution with respect to vertical median planes of the gondola.

[0025] The batteries responsible for powering the electric motors and azimuth thrusters of the gondola can be lithium-ion batteries, or any other type that meets the required specifications. The batteries that power the electric motors could be housed directly in the propelling torpedoes, which would be the most common solution, to connect directly to the electric motors. Thus, if there is a problem with any of the batteries, such as a fire, the entire propelling torpedo could be released from where it is located to avoid risks and emergency situations. Alternatively, the batteries could be arranged in the gondola, which would involve a complex wiring system to the electric motors through the connecting arms. Regarding the batteries that feed the azimuth thrusters, these will be arranged in the gondola.

[0026] Furthermore, the invention preferably presents battery charging means, which can be, for example, a diesel or LNG generator or a hydrogen fuel cell. The current development of lithium-ion batteries, which are the most powerful, determines the ranges and speeds. Their weight is considerable, and their power will determine how many hours you can navigate without recharging them. The key is its density, that is, how many watts per kilogram of battery are available. Normal batteries currently on the market offer densities of 150 to 180 watts per kilogram. But the high- end ones, those used by the most advanced hypercars, already range between 220 and 250 watts per kilogram. This is practically 50% more power. For a means of transport like this vessel, this is a vital point: it must be capable of sailing reasonable distances that justify it. And we can now talk about ranges of 250 to 300 nautical miles.

[0027] Another object of the present invention is a method of navigation of a vessel, the vessel being the type that has a gondola connected to propelling torpedoes by connecting arms, so that the method has the following steps:

[0028] - Firstly, to start the vessel and maneuver in port, propulsion and navigation are carried out using azimuth thrusters arranged in the gondola, keeping the propelling torpedoes out of the water, until the vessel reaches a certain speed, which is when would they start actuate the depth control means, and that is usually approximately 10-15 knots.

[0029] - Next, by acting on depth control means (which can be flaps or any other, such as tilt means of the propelling torpedoes), activated through a control system, the propelling torpedoes are tilted to submerge them under the water, until they reach a certain depth.

[0030] - Afterwards, a measurement and control of the waves is carried out by the Control system, always evaluating the parameters that define said waves.

[0031] - Based on this measurement and control of the waves, the control system acts on the regulating means for the distance between the gondola and the propelling torpedoes, up to a certain distance in which the propelling torpedoes are submerged and the gondola is arranged above the waves, in such a way that both the propelling torpedoes and the gondola are out of the reach of said waves, avoiding at all times the movement that said waves would produce. - Once the propelling torpedoes and the gondola are arranged in the required position to avoid the effect of the waves, the vessel carries out navigation by means of the action of the propelling torpedoes and the depth control mechanisms.

[0032] - When it is planned that navigation will be stopped, or the maneuver in port, due to the proximity of the destination, the propelling torpedoes are stopped and raised above the water by means of the depth control mechanisms.

[0033] - Finally, as at the beginning, at the end of the navigation and maneuver in port, propulsion and navigation is carried out using the azimuth thrusters arranged in the gondola, keeping propelling torpedoes out of the water until the vessel stops.

[0034] That is, when the vessel arrives at a port, for example, its speed decreases, and the flaps lose effectiveness, and the propelling torpedoes sink due to neutral buoyancy, descending slowly until the gondola floats. This is compensated by the control system through the regulating means for the distance between the gondola and the propelling torpedoes, which causes the connecting arms to be “hoisted”, raising the propelling torpedoes and remaining stuck to the gondola, which will then touch the water, it will float like an autonomous vessel and will be propelled with azimuth thrusters or “rudder propellers”, which can rotate 360°, also with electric propulsion and less power, which will allow the vessel to navigate at reduced speed but with total maneuverability to dock at the destination dock. To start a new navigation again, the process is reversed: the gondola undocks and navigates with its azimuth thrusters, until in open waters the propelling torpedoes begin to lower, submerge, and start up, gaining speed and then being the whole vessel controlled by these propelling torpedoes and depth control means. The software will then readjust the gondola height and the depth of the propelling torpedoes so that it can navigate in conditions of maximum tranquility and stability.

[0035] Thus, through this method of navigation, the vessel leaves the port propelled by the azimuth thrusters (azimuthal pods, or rudder propellers) at low speed, and begins to submerge the propelling torpedoes (which were kept out of the water until that moment to avoid fouling and carry out control and maintenance tasks) as its speed increases. When the electric motors of the torpedo thrusters submerge, they replace the azimuth thrusters, at the same time that the control system takes control and synchronizes the speed of the propelling torpedoes with the movement of regulating the distance between the gondola and the propelling torpedoes. In this dynamic way (because of speed on the depth control means, such as fins or flaps) both depth and lateral tilting are controlled (just as navigation is controlled in an airplane). Thus, the propelling torpedoes navigate in calm waters at speeds of 25 knots or higher, while the gondola moves over the waves without suffering their fluctuations. The buoyancy of the propelling torpedoes is neutral or, if positive, there is a ballast system to regulate the buoyancy depending on the full displacement: if the vessel stops, it slowly descends until the gondola floats on its own in the sea.

[0036] In this way, through the present invention a 100% electric vessel is obtained, scalable to any size, capacity, and use; immune to the effects of waves and enormously attractive in marketing terms, thus providing a vessel and a method of navigation in which the gondola “does not touch the water” and moves above the waves, and underwater propelling torpedoes moving beneath the waves, linked to the gondola by connecting arms.

[0037] Therefore, the vessel can be considered as a concept of aero-submarine navigation, given that the propelling torpedoes navigate under the water and, mainly, under the influence of the waves, that is, in relatively quiet waters, powered by batteries, in which the control system determines at what depth the propelling torpedoes should be placed, and how long the distance between the gondola and the propelling torpedoes should be, or in other words, at what height the gondola should be placed, so that the vessel sails smoothly, quickly and without oscillations, allowing the waves to pass between the gondola and the propelling torpedoes. This navigation concept therefore has no similarity with vessels with foils or side ailerons, since there are no foils or ailerons that allow the vessel to “fly”, or navigate above the waves, nor is the depth based on the support of these foils. In this case, these are neutrally buoyant or regulated-buoyancy underwater propelling torpedoes, in which the depth control means (for example, flaps, or elevators) maintain a certain depth, while the gondola is positioned just above the waves. That is, it is a dynamic depth control. Changes in direction are produced by acceleration / deceleration of each propelling torpedo, as is done in a tank or tracked excavator. In this way, the vessel avoids the impact of the waves on the gondola and eliminates the effects of seasickness by making the underwater propelling torpedoes navigate in deeper, and therefore calm, waters, while the gondola does so at a sufficient height above of the waves so that it does not suffer their onslaught. The connection between the two is produced by connecting arms with regulating means for the distance between the gondola and the propelling torpedoes, which present minimal resistance to progress, allowing for calm navigation regardless of sea conditions.

[0038] Brief description of the drawings

[0039] Next, to facilitate the understanding of the invention, by way of illustration but not limitation, an embodiment of the invention will be described with reference to a series of figures.

[0040] Figure 1 is an elevation view of an embodiment of the vessel object of the invention.

[0041] Figure 2 is a plan view of the vessel of Figure 1.

[0042] Figure 3 is a side view of the vessel of Figures 1 to 2, in a starting or stopping position, in which the propelling torpedoes are out of the water, and the vessel is moved by azimuth thrusters of the gondola.

[0043] Figure 4 is a side view of the vessel of Figures 1 to 3, similar to that of Figure 3, but in this case in a navigation position, in which the propelling torpedoes are submerged underwater and the gondola is arranged on the water level to avoid wave action.

[0044] Figure 5 is a perspective view of an embodiment of the vessel that is the object of the invention.

[0045] Figure 6 is a perspective view of the vessel of Figure 5, arranged in the water, in a starting or stopping position, in which the propelling torpedoes are out of the water, and the vessel is moved by azimuth thrusters of the gondola. Figure 7 is a perspective view of the vessel of Figures 5 to 6, arranged in the water, in this case in a navigation position, in which the torpedoes thrusters are submerged underwater, and the gondola is arranged above the water level to avoid wave action.

[0046] Figure 8a shows a front view of an embodiment of the vessel with depth control means consisting of two propelling torpedoes with tilting means with respect to its connecting arms. Figure 8b shows a front view of an embodiment of the vessel with depth control means consisting of tilting means but in this case arranged in four propelling torpedoes.

[0047] Figure 9 is a schematic view in sequence that shows the navigation method object of the invention of a vessel going from a first position with greater waves to a last position without waves, and in the maneuvering position of the vessel in port.

[0048] Figure 10 is a schematic view in sequence that shows a particular embodiment of regulating means for the distance between the gondola and the propelling torpedoes comprising an articulated connecting bars system.

[0049] Figure 11 is an alternative view in sequence that shows a particular embodiment of regulating means for the distance between the gondola and the propelling torpedoes comprising a scissor-articulated connecting bars system.

[0050] These figures refer to a set of elements that are:

[0051] 1. vessel gondola

[0052] 2. propelling torpedoes

[0053] 3. electric motors

[0054] 4. flaps

[0055] 5. connecting arms of the gondola and torpedoes

[0056] 6. regulating means of the connecting arms

[0057] 7. horizontal connecting bars of the propelling torpedoes

[0058] 8. azimuth thrusters

[0059] 9. means for tilting the propelling torpedoes with respect to the connecting arms

[0060] Detailed description of the invention

[0061] An object of the present invention is a vessel for stable navigation, firmly and without being affected by waves.

[0062] As can be seen in the figures, the vessel has a gondola (1), which has its own buoyancy and is configured to house crew, passengers, and merchandises. In use, said gondola (1) may carry the crew, and with it either passengers, or merchandise, or even a combination of both, according to the needs, sizes, and layout of said gondola

[0063] (1). The vessel also has propelling torpedoes (2), arranged under the gondola (1), connected to said gondola (1), and aligned longitudinally with it, submersible underwater, in which electric motors (3) are arranged, along with the batteries, converters and electrical regulators necessary to provide propulsion to the vessel. Therefore, these propelling torpedoes (2), thanks to the electric motors, will be responsible for providing propulsion to the vessel in a conventional way. Additionally, the vessel has depth control means for the propelling torpedoes (2), for the tilt up or down, as well as for lateral tilt. These depth control means also work in a conventional way, raising and lowering, to rise to the surface, or submerge, the propelling torpedoes

[0064] (2), and therefore the vessel. The vessel also has azimuth thrusters (8) that are arranged in the gondola (1), which function as means of propulsion when the propelling torpedoes (2) are not activated, in starting, stopping and navigation maneuvers in port and docking. These azimuth thrusters (8) also serve as auxiliary propulsion means in conventional navigation in case the propelling torpedoes (2) fail. The vessel also has other batteries arranged in the gondola (1), connected both to the electric motors (3) of the propelling torpedoes (2) and to the azimuth thrusters (8), to provide the energy required for their operation.

[0065] In particular, the vessel can also have arranged in the gondola (1) auxiliary batteries, as a backup or back-up of the main batteries.

[0066] As can be seen in the figures, the propelling torpedoes (2) are connected to the gondola (1) by means of connecting arms (5), which have regulating means (6) for the distance between the gondola (1) and the propelling torpedoes (2), the vessel also having a control system to measure the waves and control and operate the propelling torpedoes (2), the depth control flaps and the regulating means for the distance between the gondola (1) and the propelling torpedoes (2).

[0067] In particular, as can be seen in Figures 2 and 5, the depth control means can be formed by a plurality of flaps (4) configured for the tilting of the propelling torpedoes (2) up and down.

[0068] Particularly the vessel may have a structure of horizontal bars (7) connectors for the propelling torpedoes in which the flaps (4) are arranged, as seen in figure 2. In this configuration, the propelling torpedoes (2) are joined transversely to the bow and stern by two wing profiles, which are the horizontal bars (7).

[0069] Alternatively, the flaps (4) may be arranged on the propelling torpedoes themselves (2), as seen in figure 5.

[0070] Alternatively, as seen in Figures 8a and 8b, the depth control means may consist of tilting means (9) of the propelling torpedoes (2) with respect to the connecting arms (5), such as ball joints or connectors with various degrees of tilting and rotation.

[0071] The regulating means (6) for the distance between the gondola (1) and the propelling torpedoes (2) include different embodiments. One of the embodiments may include connecting arms (5) of variable length, for example telescopic connecting arms, and length regulating means (6) to vary the length of said arms (5) of variable length and consequently vary the distance between the gondola (1) and the propelling torpedoes (2), or articulated connecting bars system, or scissor-articulated connecting bars system. Figure 10 shows a particular embodiment of regulating means (6) for the distance between the gondola (1) and the propelling torpedoes (2) having an articulated connecting bars system, and figure 11 shows a similar embodiment of regulating means (6) having a scissor-articulated connecting bars system.

[0072] Alternatively, as shown in figures 1 and 3-8, another embodiment includes connecting arms (5) of fixed length and regulating means (6) to vary the distance between the gondola (1) and the propelling torpedoes (2), for example a rack-and-pinion system, although different solutions could be used depending on the particular needs, such as friction rollers, or alternative controlled displacement systems of a profile under load, or others, depending on the particular needs and requirements of the vessel.

[0073] According to different particular embodiments, the gondola (1) can be made of composite, and preferably has a sandwich structure, formed by flax fibers, reinforcing carbon fibers and bio epoxy resins laminated in a vacuum and post-cured in an oven, which come from recycled plastics. Alternatively, and depending on the size of the vessel, it is feasible to use light aluminum or titanium metal alloys for the gondola (1), also presenting a structure of transverse rings and longitudinal reinforcements.

[0074] According to different propulsion needs, the vessel may have two single propelling torpedoes (2) arranged under the gondola (1), aligned with it, and arranged symmetrically with respect to vertical median planes of the gondola (1), in such a way that they present an electric motor (3) arranged at each end of the propelling torpedoes (2), as seen for example in figure 5, or it may have an alternative configuration, such as four propelling torpedoes (2) with an electric motor (3) each, also aligned with the gondola (1) and also with symmetrical distribution with respect to vertical median planes of the gondola (1).

[0075] The batteries responsible for powering the electric motors (3) and the azimuth thrusters (8) of the gondola (1) can be lithium-ion batteries, or any other type that meets the required specifications.

[0076] Furthermore, the invention preferably presents battery charging means, which can be, for example, a diesel or LNG generator or a hydrogen fuel cell, solar panels, shore power chargers, and any combination thereof.

[0077] Another object of the present invention is a method of navigation of a vessel, the vessel being the type of those that have a gondola (1) connected to propelling torpedoes (2) by connecting arms (5), so that the method presents the following stages:

[0078] - Firstly, to start the vessel and maneuver in port, propulsion and navigation are carried out using azimuth thrusters (8) that are arranged in the gondola (1), while maintaining the propelling torpedoes (2) out of the water, until the vessel reaches a certain speed.

[0079] - Next, by acting on depth control means, which can be flaps (4) or tilting means (9) of the propelling torpedoes (2), powered through a control system, the propelling torpedoes (2) are tilted to submerge them under water until they reach a certain depth.

[0080] - Afterwards, a measurement and control of the waves is carried out by the control system, evaluating at all times the parameters that define said waves, to establish navigation conditions.

[0081] - Based on this measurement and control of the waves, the control system acts on the regulating means (6) of the connecting arms (5), until a certain distance between the gondola (1) and the propelling torpedoes (2) is established in which the propelling torpedoes (2) are submerged in the water under the waves, and the gondola (1) is arranged on the waves, in such a way that both the propelling torpedoes (2) and the gondola (1) are out of the reach of said waves, avoiding at all times the movement that this would produce.

[0082] - With this arrangement of the propelling torpedoes (2) and the gondola (1) in the required position to avoid the effect of the waves, the vessel carries out navigation through the operation of the propelling torpedoes (2) and the depth control means.

[0083] - When it is planned that navigation will be stopped, or the maneuver in port, due to the proximity of the destination, the propelling torpedoes (2) are stopped and raised above the water by means of the depth control system.

[0084] - Finally, as at the beginning, at the end of the navigation or maneuver in the port, propulsion and navigation is carried out using the azimuth thrusters (8) arranged in the gondola (1), keeping propelling torpedoes (2) outside the water until the vessel stops.

Claims

CLAIMS1. Vessel, which includes- a self-buoyant gondola or gondola (1) configured to accommodate crew, passage, and merchandise,- propelling torpedoes (2) under the gondola, connected to said gondola (1), and aligned longitudinally with it, submersible under water, in which electric motors (3) are arranged,- depth control means for the propelling torpedoes (2),- azimuth thrusters (8) arranged in the gondola (1),- and main batteries connected to the electric motors (3) and azimuth thrusters (8), characterized by- the propelling torpedoes (2) are connected to the gondola (1) by means of connecting arms (5) that comprise regulating means (6) for the distance between the gondola (1) and the propelling torpedoes (2),- the vessel comprising a control system configured to measure the waves and control and operate the propelling torpedoes (2), the depth control means and the regulating means (6) for the distance between the gondola (1) and the propelling torpedoes (2).

2. Vessel according to claim 1, wherein the depth control means comprise a plurality of flaps (4) configured for tilting the propelling torpedoes (2) up and down.

3. Vessel, according to claim 2, comprising horizontal bars (7) connectors of the propelling torpedoes (2) in which the flaps (4) are arranged.

4. Vessel, according to claim 1, wherein the depth control means comprise tilting means (9) of the propelling torpedoes (2) with respect to the connecting arms (5).

5. Vessel, according to any of the preceding claims, in which the regulating means (6) for the distance between the gondola (1) and the propelling torpedoes (2) are selected from a rack-and-pinion system, friction rollers, telescopic connecting arms (5) system, articulated connecting bars (6) system, scissor-articulated connecting bars (6) system, or alternative systems of controlled displacement of a profile under load.

6. Vessel, according to any of the previous claims, in which the gondola (1) is made of composite.

7. Vessel, according to claim 6, wherein the gondola (1) comprises a sandwich structure that in turn comprises flax fibers, reinforcing carbon fibers and epoxy bio resins laminated in a vacuum and post-cured in an oven.

8. Vessel, according to any of claims 1 to 5, wherein the gondola (1) is made of light metal alloys.

9. Vessel, according to claim 8, in which the light metal alloys are aluminum or titanium and comprise a structure of transverse rings and longitudinal reinforcements.

10. Vessel, according to any of the preceding claims, comprising two propelling torpedoes (2) and an electric motor (3) arranged at each of the ends of the propelling torpedoes (2).

11. Vessel, according to any of claims 1 to 9, comprising four propulsion torpedoes (2), and an electric motor (3) arranged in each of the torpedoes (2).

12. Vessel, according to any of the previous claims, in which the batteries are lithium ion.

13. Vessel, according to any of the previous claims, which It includes battery charging means, selected from diesel or LNG generators, hydrogen fuel cells, solar panels, shore power chargers, and combination thereof.

14. Vessel, according to any of the previous claims, which includes auxiliary batteries.

15. Method of navigation of the vessel, the vessel being of the type that comprise a gondola (1) connected to propelling torpedoes (2) by connecting arms (5), which comprises the following stages:- at the beginning of navigation and maneuver in port, propulsion and navigation is carried out using azimuth thrusters (8) arranged in the gondola (1), keeping the propelling torpedoes (2) out of the water, up to a certain vessel speed,- tilting of the propelling torpedoes (2) to submerge them under water by means of depth control means actuated by a control system, up to a certain depth of the propelling torpedoes (3),- wave measurement by the control system,- action by the control system of regulating means (6) of the length of the connecting arms (5) up to a certain length in which the propelling torpedoes (2) are submerged and the gondola (1) is arranged above the waves,- navigation through the action of the propelling torpedoes (2) and the depth control means,- stopping the propelling torpedoes (2) and raising them above the water by activating the depth control means, - at the end of the navigation and maneuver in port, propulsion and navigation is carried out using the azimuth thrusters (8) arranged in the gondola (1) keeping propelling torpedoes (2) out of the water until the vessel stops.

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