Nautical propulsion device and watercraft equipped with the propulsion device

Abstract

A nautical propulsion device 15 for propelling and directing a watercraft 1, comprising: two thrusters 19 fixed to each other, each provided with a motor 21 and a propeller 23, the motor 21 driving the propeller; a support arm 29 provided with an upper part configured for fixing to a watercraft and with a lower part 33 fixed to the thrusters 19 at a distance from the two thrusters 19 with a free rotary connection within the support arm about a pivot axis, the thrusters being free to rotate with respect to said upper part 31; an angular sensor kinematically linked to the thrusters, configured to detect an orientation about said pivot axis, the angular sensor being configured to transmit thruster-orientation data; a control member 39 configured to generate upstream control setpoints; and a calculation unit 45 connected to the control member 39 and configured to receive and process said data coming from the angular sensor and said upstream control setpoints, and calculate downstream control setpoints intended for the thrusters.

Description

Description Title of the invention: Nautical propulsion device and ship equipped with the propulsion device

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

[0002] To move, a ship has a propulsion system and a steering system. The propulsion system allows the ship to move forward in the water and the steering system allows the ship to steer along a chosen course.

[0003] In some cases, the propulsion organ and the orientation organ are separated. The propulsion unit is fixed relative to the vessel. The propulsion unit generates thrust, or propulsion flow, collinear with a longitudinal axis of the vessel. The propulsion unit is generally an engine equipped with one or more propellers. The propulsion unit may include several engines. The steering unit then includes one or more control surfaces, or rudders, which can be steered relative to the vessel. Changing the steering unit's orientation generates a hydrodynamic torque causing the vessel to turn. When the steering unit is oriented in the direction of the vessel's longitudinal axis, the hydrodynamic torque is zero, and the vessel moves straight ahead. The steering unit includes a pivot connecting it to the vessel. Steering is oriented either directly by a tiller or wheel, or indirectly by a remotely controlled rudder motor.

[0004] Direct steering requires the ship's pilot to be close to the helm. He is therefore not free to move. An offset steering wheel requires a complex mechanical or hydraulic transmission system between the wheel and the rudder. Such a system is an integral part of the ship's architecture. Indirect steering requires a complex dedicated motor system.

[0005] Other ships combine propulsion and steering.

[0006] The ship then comprises a propulsion member and a steering member acting on the propulsion member. The steering member allows the propulsion member to pivot and therefore to change the direction of the propulsion flow. Thus, by changing the direction of the propulsion flow relative to the ship, a hydrodynamic torque is generated, causing the ship to turn. The steering member comprises a motor without a propulsion role. Since the torque to be transmitted by the steering member is high and the angular speed of the steering is low, the motor is generally coupled to a reducer. The steering member may include a tiller or a wheel.

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

[0008] The Applicant sought to reduce the number of equipment items and to simplify the attachment of the ship's propulsion and steering organ while providing a system for propelling and steering the ship.

[0009] The invention improves the situation. To this end, the invention provides a nautical propulsion device for propelling and steering a ship. The nautical propulsion device comprises two thrusters fixed to each other, each provided with a motor and a propeller, the motor driving the propeller, a support arm provided with an upper part configured for attachment to a ship and a lower part fixed to the thrusters at a distance from the two thrusters, a free rotating connection within the support arm about a pivot axis, the thrusters being free to rotate relative to said upper part, an angular sensor kinematically linked to the thrusters, configured to detect an orientation about said pivot axis, the angular sensor being configured to transmit thruster orientation data, a control member configured to generate upstream control instructions,and a computing unit connected to the control member and configured to receive and process said data from the angular sensor and said upstream control instructions, and to calculate downstream control instructions intended for the thrusters. The free-mounted propulsion device allows simple and inexpensive installation on a ship.,

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

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

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

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

[0014] In one embodiment, the nautical propulsion device further comprises a first wireless transmission member and a second wireless transmission member, the first transmission member being mechanically connected to the thrusters and connected to the angular sensor or, where appropriate, to the inertial unit, the second transmission member being configured to be connected to the control member, the first transmission member and the second transmission member being configured to transmit and receive data between them. The installation and use of the propulsion device on the ship is facilitated. The installation and use of the propulsion device on the ship is flexible.

[0015] In one embodiment, said control member is configured to be attached to a steering bar or handle of a vessel and said control member comprises an additional angular sensor connected to the computing unit and configured to detect an orientation of the steering bar, the computing unit being configured to calculate the displacement of the vessel, the displacement of the steering bar relative to the vessel and the displacement of the thrusters relative to the vessel. The accuracy of the propulsion device is improved. Steering habits are maintained. Safety is improved and learning is reduced.

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

[0017] In one embodiment, the upper portion of the support arm attached to the surface of the vessel comprises a slide mount. The position of the propulsion device on the vessel is adjustable.

[0018] In one embodiment, the angular sensor comprises a gyroscope.

[0019] The invention also relates to a vessel comprising a nautical propulsion device. The upper portion of the support arm is fixed to a surface of the vessel and said free rotating connection is spaced from a center of thrust of the vessel. The free-mounted propulsion device allows simple and inexpensive installation on a variety of vessel types.

[0020] In one embodiment, the upper portion of the support arm attached to the surface of the vessel is rigid and removable. Installation of the propulsion device on the vessel is facilitated.

[0021] Other characteristics and advantages of the invention will appear on examining the detailed description below, and the attached drawings, in which:

[0022] [Fig. 1] is a perspective view of a vessel equipped with a propulsion device moving forward

[0023] [Fig. 2] is a perspective view of the vessel equipped with a propulsion device turning to port.

[0024] [Fig. 3] is a perspective view of the vessel equipped with a propulsion device according to another embodiment.

[0025] [Fig. 4] is a perspective view of a vessel equipped with a propulsion device according to another embodiment.

[0026] [Fig. 5] is a block diagram of the propulsion device.

[0027] [Fig. 6] is a detailed block diagram of the propulsion device.

[0028] [Fig. 7] is a partial perspective view of a vessel equipped with a propulsion device.

[0029] [Fig. 8] is a partial perspective view of a vessel equipped with a monopropulsor propulsion system.

[0030] [Fig. 9] is a perspective view of a vessel equipped with a transverse thruster propulsion device.

[0031] The attached drawings may not only serve to complete the invention, but also contribute to its definition, where appropriate.

[0032] The vessel 1 comprises a hull, part of which is submerged, called the hull. The hull can be rigid or flexible, as for example for an inflatable boat. The Ship 1 comprises a bow 7 and a stern 9. Bow 7 denotes a forward portion of ship 1. Bow 7 faces the direction of travel. Stern 9 denotes a rear portion of ship 1. Stern 9 is opposite bow 7.

[0033] In the nautical field, specific terms are used to define the ship 1 and its movements unambiguously. The ship 1 has a longitudinal axis 5, a port 11 and a starboard 13. The ship follows a course when in motion.

[0034] Thus, heading refers to the direction in which the ship is pointing or moving at a given time. It is an imaginary line that connects a ship's position to a point of aim on the Earth's surface at a given time. Heading is usually expressed in degrees. For example, a heading of 90 degrees indicates an easterly direction.

[0035] The ship is symmetrical along a vertical plane passing through the longitudinal axis 5. The longitudinal axis 5 extends from the front part of the ship 1 (or the bow 7), towards the rear part of the ship 1 (or the stern 9). The longitudinal axis 5 is essential for the navigation and orientation of the ship 1. The longitudinal axis 5 is used as a reference to describe the direction and position of the ship 1. The port 11 and starboard 13 sides are defined relative to the longitudinal axis 5. Generally, when the ship 1 is moving forward, the heading is the same as the longitudinal axis 5. The heading and the longitudinal axis 5 may have a non-zero angle when the ship is moving forward at an angle relative to a sea current in which the ship 1 is sailing or to the wind.

[0036] Port 11 is the left side of the vessel 1 when looking from stern 9 to bow 7. Starboard 13 is the right side of the vessel when looking from stern 9 to bow 7. Starboard 13 is the side opposite port 11 in relation to the vessel's longitudinal axis 5.

[0037] The ship 1 has a hydrodynamic center of thrust 14. The hydrodynamic center of thrust 14 of the ship 1 is the point of application of the resultant of the hydrodynamic forces on the hull outside of the forces generated by the propulsion. Said hydrodynamic forces have a horizontal component and a vertical component. The hydrodynamic center of thrust 14 is generally distinct from the center of gravity of the ship 1 and from the center of Archimedes' thrust.

[0038] When ship 1 is submerged in water, upward buoyancy forces are exerted on it. These forces are generated by Archimedes' buoyancy force, which is equal to weight of the volume of water displaced by the ship's hull 1. Buoyancy forces act upward from every point on the hull.

[0039] The positioning of the center of thrust 14 relative to the center of gravity of the ship 1 determines the stability of the ship 1.

[0040] If a propulsion force of the ship 1 is applied to the center of thrust 14, the ship 1 moves in the direction of the propulsion force without turning on itself. Generally, the center of thrust 14 is located on the longitudinal axis 5. Thus, if the direction of the propulsion force coincides with the longitudinal axis 5, the ship 1 moves forward. In this case, the heading coincides with the longitudinal axis 5. neglecting the effects of the current and the wind.

[0041] The ship 1 comprises at least one propulsion device 15. The propulsion device is installed at a distance from the center of thrust 14. Here, the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the stern 9. Alternatively, the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the bow 7. Here the propulsion device 15 is electric.

[0042] The propulsion device 15 comprises at least one thruster 19. The thruster 19 comprises a motor 21 and a propeller 23. The propeller 23 is driven in rotation by the motor 21 about an axis of rotation 25. The propeller 23 and the motor 21 are connected in direct or indirect drive (for example by a reducer, pinions, a chain or even a belt, etc.). The propeller 23 can be driven alternately in two opposite directions of rotation so as to generate a propulsion flow in two opposite directions, normal to the propeller 23.

[0043] The propulsion device 15 comprises two thrusters 19 fixed to each other in the embodiment of Figures 1-4. In the context of the invention, the thrusters 19 are submersible, in particular in that the propulsion device 15 is designed to be permanently submerged when the ship 1 is afloat. In what follows, the term submersible will therefore be implicit with regard to the thrusters. It should be understood that everything that makes the thrusters 19 submersible is intended, whether this relates to their engines or to the propulsion elements.

[0044] The axes of rotation 25 of the two propellers 19 are here parallel. The two propellers 19 are here mounted along a horizontal plane parallel to the longitudinal axis 5. One of the propellers 19 is mounted to the starboard side of the propulsion device 15 when the thrusters 19 are oriented from stern to bow, forming the right thruster. The other of the thrusters 19 is mounted to the port side of the propulsion device 15, forming the left thruster. The right thruster is configured to generate a first thrust. The left thruster is configured to generate a second thrust. The propulsion device 15 is configured to generate a primary thrust. The primary thrust is a resultant of the first thrust and the second thrust. When the primary thrust is collinear or coincident with the longitudinal axis 5, the ship 1 moves forward along the longitudinal axis 5.

[0045] Here, the propulsion device 15 further comprises a rigid structure securely connecting the thrusters 19. Here, the thrusters 19 are secured to each other via a connecting beam 27. The two thrusters 19 and the connecting beam T1 form a propulsion assembly 17.

[0046] The propulsion device 15 comprises a free rotating connection between the ship and the propulsion assembly 17.

[0047] The propulsion assembly 17 is capable of being mounted for rotation relative to the ship 1 along a pivot axis 28. The propulsion assembly 17 is mounted for free rotation relative to the ship 1 by means of the free rotating connection or pivot connection. The pivot axis 28 is a vertical axis relative to the ship 1, in the embodiment of FIGS. 1-4.

[0048] Here, the pivot axis 28 is arranged equidistant from the two thrusters 19. The pivot axis 28 intersects the connecting beam 27 or the rigid structure, preferably in the middle of the connecting beam 27.

[0049] In the embodiment shown, the propulsion device 15 comprises a support arm 29. The support arm 29 connects the ship 1 and the propulsion assembly 17. The support arm 29 is provided with an upper part 31 and a lower part 33. Here, the upper part 31 is rigidly fixed to the hull 3 of the ship 1. The lower part 33 is fixed to the propulsion assembly 17. The free rotating connection is arranged within the support arm 29.

[0050] The support arm 29 comprises a hollow tube or a solid beam. Alternatively, the tube may have a wing shape, so as to reduce hydrodynamic drag.

[0051] In the embodiment of Figure 4, the upper part 31 comprises a fixing member 43 making it possible to rigidly fix the support arm 29 to the ship 1. The fixing member 43 is removable to separate the support arm 29 from the ship 1. Here the fixing member 43 is liftable. Here the fixing member 43 is orientable in a vertical plane comprising the longitudinal axis of the ship. The lower part 33 comprises a rotary fixing member or pivot connection, here a rolling bearing, so as to fix the support arm 29 to the propulsion assembly 17 while allowing free rotation about the pivot axis 28. The rolling bearing comprises an inner ring secured to the support arm 29, an outer ring secured to the propulsion assembly 17 and rolling elements between the inner ring and the outer ring. Alternatively, the rotary fixing member may comprise a plain bearing with a bronze bushing.

[0052] Alternatively, the upper part 31 is mounted to rotate about the pivot axis 28 on the hull 3 of the ship 1 and the lower part 33 is fixed to the propulsion assembly 17 in a fixed manner.

[0053] Alternatively, the free rotating connection is arranged between the upper part 31 and the lower part 33.

[0054] Alternatively, the upper portion 31 is attached to the ship 1 by means of a slide. The slide may extend along the longitudinal axis 5 or perpendicular to the longitudinal axis 5. The slide makes it possible to adjust the position of the propulsion device 15 relative to the ship 1. The slide comprises a lock for securely attaching the support arm 29 to the ship 1 after positioning the propulsion device 15.

[0055] In other words, the propulsion device 15 comprises a free rotating connection within the support arm 29 along the pivot axis 28. The free rotating connection allows the thrusters 19 to be free to rotate relative to the upper part 31 of the support arm 29.

[0056] The support arm 29 may be removable or dismountable. Thus, maintenance of the propulsion device 15 is easy. The same propulsion device 15 may be adapted to different ships. The support arm 29 is then an adaptation part or comprises an adapter.

[0057] In an embodiment not shown, the propulsion assembly is rotatably mounted directly on the ship. The arm belongs to the ship.

[0058] In an embodiment not shown, the propulsion device comprises a primary submerged thruster and a transverse thruster mounted perpendicular to the primary submerged thruster. The transverse thruster is configured to pivot the primary submerged thruster about the pivot axis. The primary submerged thruster and the transverse thruster are thus arranged along axes passing through intersecting vertical planes, in particular perpendicular ones. The transverse thruster is arranged on the upstream or downstream side of the primary submerged thruster.

[0059] In a non-shown embodiment, the propulsion device comprises a control surface disposed in the propulsion flow. The control surface is rotated by a control surface motor. The rotation of the control surface generates a hydrodynamic torque on the propulsion assembly, causing it to rotate. The control surface is disposed downstream of the propeller or upstream.

[0060] The propulsion assembly 15 also comprises at least one magnetic heading sensor or an angular acceleration sensor or an angular speed sensor or an angular position sensor 35, i.e. an angular sensor. For example, the angular sensor is a gyroscope. The angular sensor 35 is capable of providing angular orientation data 100 of the propulsion assembly 17 relative to a reference. The reference may be defined by a mechanical stop, an electromechanical stop or by a magnetic stop. The reference comprises a part belonging to the movable part and a part belonging to the fixed part of the free rotating connection relative to the propulsion assembly 17. In the case of a mechanical stop, the rotation of the rotating connection is free over almost one revolution.

[0061] The angular sensor 35 is kinematically linked to the propulsion assembly 17 and therefore to the thrusters 19. Here, the angular sensor 35 is integral with the thrusters 19. The angular sensor can be mounted on the connecting beam 27.

[0062] Once the propulsion device 15 is mounted on the ship 1, the angular sensor 35 is able to provide the angular orientation data 100 of the propulsion assembly 17 relative to the longitudinal axis 5 of the ship 1.

[0063] Alternatively, the propulsion assembly 17 further comprises at least one other motion and position sensor such as an acceleration sensor and / or a speed sensor and / or a magnetic heading sensor and / or an angular acceleration sensor with integration to obtain the angular speed then the angular position and / or an angular speed sensor with integration to obtain the angular position. The magnetic heading sensor is capable of providing angular position data of the propulsion assembly. propulsion 17 relative to magnetic north. Thus, the propulsion assembly 17 comprises an inertial unit. The inertial unit makes it possible to determine the geographical position of the propulsion assembly 17 relative to the external environment of the ship 1 and the angular position of the propulsion assembly 17 relative to the heading of the ship 1 and relative to the longitudinal axis 5 of the ship 1.

[0064] A pilot of the vessel 1 provides navigation instructions 200 to the propulsion device 15. The navigation instructions 200 may be a relative change of orientation of the vessel, i.e. a change of orientation of the longitudinal axis 5 of the vessel 1 relative to an initial orientation of the longitudinal axis 5. Alternatively, the navigation instructions 200 may be absolute, i.e. be an objective heading of the vessel 1, or more precisely a particular fictitious orientation of the longitudinal axis 5 of the vessel 1 relative to magnetic north.

[0065] The pilot provides the navigation instructions 200 via a human-machine interface 40.

[0066] The human-machine interface 40 may be a mobile application on a mobile telephone device. The mobile telephone device is wirelessly connected to the propulsion device 15, for example via Bluetooth and / or Wi-Fi, directly or indirectly. Alternatively, the human-machine interface 40 may be an on-board computer of the ship 1 on which a navigation plan has been determined or is determined in real time. The on-board computer provides, as navigation instructions 200, an objective course to be followed in real time. The connection between the on-board computer and the propulsion device 15 may be wired or wireless.

[0067] To increase accuracy, a GPS can be used, either integrated into the propulsion system or externally and connected by wire or wirelessly to the propulsion or to the interface or GPS of a telephone.

[0068] The propulsion device 15 comprises a control member 39. The control member 39 receives the navigation instructions 200 from the human-machine interface 40. The control member 39 is configured to generate upstream control instructions 300 from the navigation instructions 200.

[0069] Alternatively, the human-machine interface 40 may be a steering bar, i.e. a wheel or a tiller. The propulsion device 15 then comprises a second angular sensor 41, a gyrometer, or an inertial unit with three gyrometers, three accelerometers and a magnetic heading sensor, mounted on the steering wheel of the vessel 1 and connected to the control member 39. The second angular sensor is configured to provide an orientation of the steering wheel to the control member 39. The second angular sensor may be a gyroscope.

[0070] In one embodiment, the human-machine interface 40 may be integrated into the propulsion device 15, being for example a remote control. The remote control may be in wireless or wired connection with the propulsion device 15, in particular with the control member 39. Alternatively, the control member 39 is physically integrated into the remote control.

[0071] The propulsion device 15 comprises a computing unit 45. The computing unit 45 is functionally connected to the control member 39.

[0072] The calculation unit 45 is configured to receive, on the one hand, the angular orientation data 100 of the propulsion assembly 17 from the angular sensor 35 or, where appropriate, from the inertial unit, and on the other hand, the upstream control instructions from the control member 39.

[0073] The computing unit 45 is configured to process the angular orientation data 100 from the sensors of the propulsion assembly 17 and the upstream control instructions 300. The computing unit 45 is configured to provide downstream control instructions 400 to the thrusters 19, see figure 5.

[0074] The downstream control instructions 400 provided to the thrusters 19 allow the thrusters 19 to pivot the propulsion assembly 17 around the pivot axis 28.

[0075] The rotation of the propulsion assembly 17 is obtained by differential propulsion of the thrusters 19. To rotate the propulsion assembly 17, the first thrust and the second thrust are of different standards and / or opposite directions.

[0076] To steer the propulsion assembly 17 to port 11, the first thrust is greater than the second thrust. To steer the propulsion assembly 17 to starboard 13, the second thrust is greater than the first thrust.

[0077] Thus the thrusters 19 can be controlled in angular position relative to the longitudinal axis 5. The corrector can be of the PID type.

[0078] A pivoting of the propulsion assembly 17 causes a change in the orientation of the primary thrust, except in the special case of first thrust and second thrust of equal standards and opposite directions. When the primary thrust and the longitudinal axis 5 have a non-zero angle with respect to each other, the primary thrust has a resultant perpendicular to an axis connecting the center of thrust 14 and the pivot axis 28, in particular perpendicular to the longitudinal axis 5 in the embodiment shown, and a resultant parallel to the axis connecting the center of thrust 14 and the pivot axis 28, in particular parallel to the longitudinal axis 5 in the embodiment shown. The perpendicular resultant generates a rotational torque of the ship 1 around the center of thrust 14. The rotational torque causes the ship 1 to turn. The parallel resultant causes the ship 1 to move forward.The more the propulsion assembly 17 pivots relative to the longitudinal axis 5, the greater the perpendicular resultant norm and the faster the ship 1 turns. The more the propulsion assembly 17 pivots relative to the longitudinal axis 5, the lower the parallel resultant norm and the less the ship 1 tends to move forward.

[0079] In the embodiment where the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the stern 9, a turn of the ship 1 towards starboard 13 is obtained by an orientation of the propulsion assembly 17 towards port 11. A turn of the ship 1 towards port 11 is obtained by an orientation of the propulsion assembly 17 towards starboard 31.

[0080] In the embodiment where the propulsion device 15 is installed on the longitudinal axis 5, between the center of thrust 14 and the bow 7, a turn of the ship 1 towards starboard 13 is obtained by an orientation of the propulsion assembly 17 towards starboard 13. A turn of the ship 1 towards port 11 is obtained by an orientation of the propulsion assembly 17 towards port 11.

[0081] Alternatively, for faster rotation of the propulsion assembly 17, one of the two thrusters 19 may be configured to generate thrust in one direction, the other of the two thrusters 19 is then configured to generate thrust in the opposite direction. This embodiment may be useful for maneuvering, for example in a harbor.

[0082] In one embodiment, the computing unit 45 is connected to heading data of the vessel 1. The heading data of the vessel 1 may come from position sensors of the ship 1, or ship 1 instruments. The heading data is orientation data of the longitudinal axis 5 of the ship 1 relative to magnetic north. Alternatively, the propulsion device comprises intrinsic position sensors providing heading or orientation data of the longitudinal axis 5 of the ship 1 relative to magnetic north.

[0083] The calculation unit 45 can then include a control of the position of the ship relative to magnetic north and the objective heading of the ship 1, or upstream control instructions 300, defined by the control member 39.

[0084] The servo-control comprises a corrector providing the downstream instructions 400 to the thrusters 19 when the heading of the ship 1 deviates from the objective heading so as to correct the heading by aligning the longitudinal axis 5 of the ship 1 parallel to the objective heading. The corrector can be PID. Thus, the downstream control instructions 400 evolve dynamically.

[0085] The propulsion device 15 may further comprise a first transmission member 37. The first transmission member 37 is configured to transmit the angular orientation data 100 from the angular sensor 35 or, where appropriate, from the inertial unit. The first transmission member 37 is supported by the propulsion assembly 17. The first transmission member 37 may be supported by one of the thrusters 19 or by the connecting beam 27.

[0086] The propulsion device 15 further comprises a second transmission member 38. The second transmission member 38 is configured to receive the angular orientation data 100 from the first transmission member 37.

[0087] The first transmission member 37 and the second transmission member 38 each comprise a data transmitter and a data receiver. The data transmitter of the first transmission member 37 is configured to transmit data to the data receiver of the second transmission member 38. The data transmitter of the second transmission member 38 is configured to transmit data to the data receiver of the first transmission member 37.

[0088] The connection between the first transmission member 37 and the second transmission member 38 may be wired or preferably wireless.

[0089] In one embodiment, the computing unit 45 is connected to the second transmission member 38. In this embodiment, the computing unit 45 is on board the ship 1.

[0090] The propulsion device 15 may comprise a housing arranged on board the ship 1. The housing may comprise the control member 39 and the computing unit 45. The housing may also comprise the human-machine interface 40.

[0091] Alternatively, the remote control may physically comprise the control member 39, the second transmission member 38 and possibly the calculation unit 45.

[0092] In these embodiments, the second transmission member 38 is configured to transmit the downstream control instructions 400. The first transmission member 37 is configured to receive the downstream control instructions 400, see figure 6.

[0093] In another embodiment, the computing unit 45 is connected to the first transmission member 37 by wire. In this embodiment, the propulsion assembly 17 comprises the computing unit 45. In this embodiment, the second transmission member 38 is configured to transmit the upstream control instructions 300. The first transmission member 37 is configured to receive the upstream control instructions 300, see FIG. 7.

[0094] When starting the propulsion device 15, the calculation unit 45 is configured to determine a zero from the reference. Determining the zero makes it possible to know the orientation of the propulsion assembly 17 relative to the longitudinal axis 5. From the determined zero, the calculation unit 45 can provide the downstream control instructions 400 allowing the ship 1 to move forward. Here, when starting the propulsion device 15, the calculation unit 45 provides a downstream control instruction 400 pivoting the propulsion assembly to the reference. The calculation unit 45 then records the zero from the position of the propulsion assembly 17.In a preferred variant, the computing unit 45 provides downstream control instructions 400 ordering a submersible thruster 19, here the left thruster, to generate high forward thrust and the other submersible thruster 19, here the right thruster, to generate reverse thrust, by driving the propeller in the reverse thrust direction. Thus, the propulsion assembly 17 pivots rapidly clockwise until it reaches the reference stop. Reverse pivoting is also possible.

[0095] To determine a magnetic zero, the propulsion device 15 may comprise a magnetic sensor, for example a Hall effect sensor, and a magnetic marker. When the magnetic sensor faces the magnetic marker, the computing unit 45 records the zero.

[0096] In an embodiment illustrated in Figure 8, the propulsion device 15 comprises a single submersible thruster 19. The thruster 19 is mounted in line with the pivot axis 28. The propulsion device 15 may not have a connecting beam. The propulsion device 15 also comprises a control surface 43 for orienting the thruster 19 in bearing or azimuth. The control surface 43 is pivotally mounted along an axis parallel to the pivot axis 28. The control surface 43 is supported by a fairing 47 surrounding the propeller 23. The fairing 47 has an annular shape. The fairing 47 is supported by ribs 49 extending the engine 21 towards the rear. The control surface 43 is controlled in angular orientation by the computing unit 45.

[0097] In an embodiment illustrated in Figure 9, the propulsion device 15 may comprise a single submersible thruster 19. The thruster 19 is mounted in line with the pivot axis 28. The propulsion device 15 may be devoid of a connecting beam. The propulsion device 15 is devoid of a rudder. The propulsion device 15 further comprises a transverse thruster 51 for orienting the thruster 19 in bearing or azimuth. The transverse thruster 51 is mounted at the front of the thruster 19, here in a zone of increasing diameter from front to rear. Alternatively, the transverse thruster 51 is mounted at the rear of the thruster 19. The transverse thruster 51 is mounted in a transverse lumen. The light has an axis perpendicular to a longitudinal axis of the thruster 19. The transverse thruster 51 is offset relative to the pivot axis 28, forward or backward.The transverse thruster 51 comprises a motor and a propeller for exerting a transverse force in front of the pivot axis 28, thus applying a pivoting torque to the propulsion device 15 as a whole during rotation of the propeller of the transverse thruster 51. The transverse thruster 51 is controlled in rotation by the computing unit 45.

[0098] In one embodiment, the propulsion device 15 comprises three, or even four, five, six or more, thrusters 19. The three or four (or more) submersible thrusters are capable of generating differential thrust so as to pivot the propulsion assembly 17.

[0099] In one embodiment, the vessel 1 comprises several propulsion devices 15. The propulsion devices 15 may be arranged on the longitudinal axis 5 or on an axis perpendicular to the longitudinal axis 5.

[0100] In one embodiment, the propulsion device 15 comprises several propulsion assemblies 17. The calculation unit 45 is configured to provide downstream control instructions 400 to the different propulsion assemblies 17. This embodiment is particularly interesting for ships 1 having significant inertia.

[0100] In other words, a ship propulsion device comprises electric motors mounted in free rotation relative to a fixing member along an axis of rotation. The fixing member is configured to connect the ship propulsion device to the ship. The free rotation of the motors relative to the ship can be carried out near the motors or near the fixing to the ship. The motors are equipped with an angular sensor providing data on the orientation of the motors relative to the ship. The motors are controlled by a computing unit mounted near the motors or on board the ship. The propulsion device receives upstream commands as input from a pilot or an on-board computer. The upstream commands are transmitted to the computing unit. The computing unit determines, from the data from the angular sensor and the upstream commands, downstream commands to the motors. Each motor generates independent thrust.When the thrusts of the two engines are different, the engines generate differential thrust. Differential thrust causes the engines to rotate relative to the rotation axis followed by stabilization of the thrust axis.

Claims

Claims

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

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

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

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

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

6. Nautical propulsion device (15) according to one of the preceding claims, further comprising a first wireless transmission member (37) and a second wireless transmission member (38), the first transmission member (37) being mechanically connected to the thrusters (19) and connected to the angular sensor (35) or where appropriate to the inertial unit, the second transmission member (38) being configured to be connected to the control member (39), the first transmission member (37) and the second transmission member (38) being configured to transmit and receive data between them.

7. Nautical propulsion device (15) according to one of the preceding claims, wherein said control member (39) is configured to be attached to a steering bar or handle (40) of a ship (1) and said control member (39) comprises an additional angular sensor (41) connected to the calculation unit (45) and configured to detect an orientation of the steering bar (40), the calculation unit (45) being configured to calculate the displacement of the ship (1), the displacement of the steering bar (40) relative to the ship (1) and the displacement of the thrusters (19) relative to the ship (1). [Claim s] Nautical propulsion device (15) according to one of the preceding claims, in which said control member (39) is devoid of a wired signal transmission connection.

9. A nautical propulsion device (15) according to one of the preceding claims, wherein the upper portion (31) of the support arm (29) fixed to the surface of the vessel (1) comprises a slide fixing.

10. A nautical propulsion device (15) according to one of the preceding claims, wherein the angular sensor (35) comprises a gyroscope.

11. A vessel (1) comprising a nautical propulsion device (15) according to one of the preceding claims, wherein the upper portion (31) of the support arm (29) is fixed to a surface of the vessel (1) and said free rotating connection is distant from a center of thrust of the vessel.

12. A vessel according to claim 10, wherein the upper portion (31) of the support arm (29) fixed to the surface of the vessel (1) is rigid and removable.

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