Floating machine comprising an animated metal structure

Abstract

The invention relates to a floating machine (1) characterized in that it comprises:  a craft (50) comprising at least one float (51, 52), at least one propulsion element (70), a rudder (40) and at least one ballast (53);  a mechanical structure (10) representing a living being comprising a chassis forming the body and lower limbs, said lower limbs being driven in a movement corresponding to the gait of said living being, said mechanical structure (10) comprising a control system (20) for actuating the propulsion element (70) and making it possible to control the orientation of the rudder (40);  a connecting mast (30) for securing the mechanical structure (10) to said craft (50); and  at least one electrical power supply for powering said propulsion element (70).

Description

[0001] FLOATING VEHICLE WITH AN ANIMATED METAL STRUCTURE

[0002] Scope of the invention

[0003] The field of the invention relates to mechanical structures in motion and their stability during movement on a body of water. More specifically, the field of the invention relates to animated metal structures and their control to ensure a decomposition effect of the movement while maintaining the structure's displacement. Another area of ​​the invention is that of structures moving on water and the stability of that movement.

[0004] State of the art

[0005] There are animated structures for which we seek to obtain a decomposition of movement that is fluid and faithful to the movement of what we are trying to represent, for example the movement of an animal such as an elephant, a horse, etc.

[0006] Generally, these structures are controlled either from a cabin inside 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 different parts.

[0007] The goal is usually to make the structure's guidance system discrete, giving the illusion that the intrinsic movement of the 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 structure's speed of movement.

[0008] However, there is no such animated structure that can move on water using a guidance system that allows the structure to be moved on the water surface while simultaneously animating the structure with its own kinematic movement.

[0009] Indeed, one drawback of movement on water is that the intrinsic movements of the structure, combined with movements resulting from the structure itself, make it unstable. Furthermore, its control is necessarily carried out from within the structure by an individual whose movements are also a source of instability.

[0010] One final problem is that camouflaging the vehicle, in this case a ship, is made very difficult by Archimedes' principle, which tends to make part of the ship emerge.

[0011] Summary of the invention

[0012] According to one aspect, the invention relates to a floating device comprising:

[0013] ■ a vessel (50) comprising at least one float, at least one propulsion element (70), a keel and at least one ballast;

[0014] ■ 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 to actuate the propulsion element and allowing to control the orientation of the drift;

[0015] ■ a connecting mast to secure the mechanical structure of said vessel and;

[0016] ■ at least one source of electrical power to supply the piloting system and said propulsion element, at least one ballast being arranged within the vessel so as to submerge at least 80% of the vessel when launched and so that the stroke of the movement of said members is carried out above the waterline.

[0017] 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.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.

[0018] According to this aspect, all the embodiments of the mechanical structure described in this description relate to this second aspect of the invention.

[0019] According to another aspect, the invention relates to a floating device comprising:

[0020] ■ a vessel comprising at least one float, at least one propulsion element, a keel and at least one ballast;

[0021] ■ 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;

[0022] ■ a connecting mast to secure the mechanical structure of said vessel and;

[0023] ■ at least one source of electrical power to supply the piloting system and said propulsion element, the floating craft being balanced in mass so that the freeboard of at least one float is less than 30 cm and the absolute height between the lowest point of the stroke of said lower members and the upper surface of at least one float is less than 30 cm.

[0024] One advantage is that it allows 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.

[0025] 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.

[0026] One advantage is the ability to design a vessel that is both mass-optimized and stealthy. The benefit of stealth is that the ship disappears below the surface of the water when moving at a certain speed.

[0027] 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.

[0028] In 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.

[0029] 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.

[0030] According to one embodiment, the propulsion element is a propeller engine.

[0031] 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.

[0032] In one embodiment, the floating device is mass-balanced so that at least 90% of the vessel's volume is submerged when launched. In another embodiment, at least one ballast is arranged within the vessel so that at least 95% of the vessel's volume is submerged when launched.

[0033] One advantage is obtaining a stealth ship that is virtually invisible, or very barely visible, when in motion.

[0034] In one embodiment, the distance between the lowest point of the movement of said lower limbs and the water surface is less than 30 cm. In another embodiment, this distance is less than 15 cm, or even 10 cm depending on the vessel's navigation regime.

[0035] 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, one front lower member and one rear lower member, which 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.

[0036] In one embodiment, the mechanical structure comprises:

[0037] ■ 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;

[0038] ■ 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.

[0039] According to one embodiment, the mechanical structure includes a computer configured to drive the drive shafts with a configurable offset so that the cycle of the coordinated movement of the lower limbs of the first lateral part is out of phase with the cycle of the coordinated movement of the lower limbs of the second lateral part.

[0040] According to one embodiment, each lower limb 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 limb to another from a connecting rod.

[0041] 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 each being 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.

[0042] 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.

[0043] According to one embodiment, the coating comprises an anodized aluminum shell and parts covered with silver leaf treated with a varnish.

[0044] 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.

[0045] In one embodiment, a computer positions each drive shaft in rotation relative to a reference point, thereby generating a phase shift between the two movement cycles of each of the two chain trains. The reference point is acquired by a pair of sensors positioned on either side of the sagittal plane on the mechanical structure. One advantage is the ability to realistically simulate the movement of a living being, such as a galloping horse.

[0046] In one embodiment, the floating device comprises a plurality of floats, including a central float with an opening for the passage and attachment of the connecting mast. This central float also includes a mounting for receiving a keel and a mounting for securing the propulsion element. An advantage is the resulting secure and robust connection between the vessel and the mechanical structure.

[0047] 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 central float including an attachment to hold the propulsion element and including an attachment to support two lateral wings each including a fin.

[0048] In one embodiment, the piloting system includes a nominal navigation mode corresponding to an operating speed of the main engine that drives the propulsion element to achieve a nominal vessel speed of between 12 and 20 knots. An advantage is achieving a speed equivalent to that of a galloping horse.

[0049] In one embodiment, the floating device comprises a central float and two lateral floats, each lateral float being attached to the central float via a profiled joint. One advantage is the reduction of the ship's drag.

[0050] Brief description of the figures

[0051] Other features and advantages of the invention will become apparent from the detailed description that follows, with reference to the attached figures, which illustrate:

[0052] Figure 1: an example of the realization 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;

[0053] Figure 2: an example of a metal structure representing a horse and having lower limbs formed from a plurality of animated portions whose body is formed by a sheet defining a metallic skin;

[0054] Figure 3: an example of a metal structure representing a horse and having lower limbs formed from a plurality of portions animated by a movement to represent the decomposition of the movement of a horse's race; Figure 4: an example of a 3D metal structure seen from above representing a horse and comprising two drive shafts with right-angle gearboxes to animate two mechanically independent chain trains;

[0055] Figure 5: an example of a representation of the head of an animated metal structure representing the head of a horse, including parts that allow the head to move when the horse moves;

[0056] Figure 6: an example of the realization of an upper junction of a lower member to the chassis of the structure so as to hold said member while allowing animation of the animated structure;

[0057] Figure 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;

[0058] Figure 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;

[0059] Figure 9: an example of the realization 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;

[0060] Figure 10: an example of achieving coordination of the movement of the portions of the forelimbs obtained from two independent chain trains;

[0061] Figure 11: an example of achieving coordination of the movement of the portions of the rear lower limbs obtained from two independent chain trains;

[0062] Figure 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;

[0063] Figure 13: a front view of an example of the realization of a metal structure representing a horse;

[0064] Figure 14: a top view of an example of an embodiment of a metal structure representing a horse; Figure 15: a front view of an example of a floating device of the invention supporting an animated mechanical structure representing a horse;

[0065] Figure 16: a representation of the different reference planes of the body of a 4-legged animal such as a cat, a horse, etc.;

[0066] Figure 17: Examples of float profiles according to different variants of the invention,

[0067] Figure 18: A top view of an example of a float profile or 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.

[0068] Detailed description

[0069] Figure 1 illustrates 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 coated sheet metal body.

[0070] In one embodiment, the mechanical structure is a two-legged structure, like a human. In this case, the two legs are animated so that they skim the surface of the water during their movement, thanks to the stealth vessel. The legs are animated by means of rods assembled and held together by pivot joints, the movement of which is driven by one or more chain trains.

[0071] 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 mains power supply. The skin can be made of another material such as a polymer, natural hide, or any other textile element suitable for covering a surface on the chassis.

[0072] The coating on certain parts of the mechanical structure 10 incorporates silver leaf. Some parts of the structure's hull have an anodized aluminum coating. One advantage is the light reflection effect, which is itself reflected off the water's surface. The surface can also be treated with a varnish. The sheet metal is produced through a metalworking and / or hammering process, resulting in a realistic representation of animal skin, allowing for the appearance of muscles, for example. The hammered sheet metal allows for the representation of veins on the surface of the skin.

[0073] The mast 30 is fixed on one side to the frame by means of a fitting that secures the end of the mast 30 to the frame of the metal structure 10. The mast 30 is also fixed 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. In one example, the mast 30 is extended by a section forming a keel.

[0074] Ship architecture

[0075] Figure 1 represents a ship 50 comprising a plurality of floats 51, 52, links between these floats, a keel 40 and a propulsion element 70.

[0076] The ship 50 of the invention can include different architectures.

[0077] A first design 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, design, a single port lateral float and a single starboard lateral float are each connected to the central float. This design is of the trimaran type. A second design comprises a central support connected to two lateral floats 51. This design is not shown and corresponds to a catamaran-type vessel.

[0078] A third design features a single central float forming a wing that extends laterally on either side of the sagittal plane PS of the metal structure. The ends of the float forming the wing incorporate guiding elements such as fins to stabilize the ship's course.

[0079] Other ship architectures can be implemented according to different designs of the floating craft.

[0080] 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 buoyancy. In this embodiment, the central float 51 has a lower elevation above the waterline 100 than the lateral floats 52. One advantage is to make the section supporting the connecting mast 30 as discreet and unobtrusive as possible.

[0081] 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 put into motion.

[0082] In 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.

[0083] In the example shown in Figure 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 smaller than the average width of the submerged portion of the float 52.

[0084] Floats. Floats can have different profile designs defining their buoyancy, particularly the submerged and emerged portions of the float. Figure 17 shows some examples of float profiles 51, 52. These designs correspond to general shapes, but may have some variations. The first float profile shape is a circular shape of revolution. The second float profile shape is oval. This shape reduces the emerged portion, known as the freeboard, of the float and contributes to the vessel's stealth, as it is less visible above the waterline 100. The third float profile shape is rounded, with a plane of symmetry along the transverse plane PT and a greater curvature on the upper part intended to be above water than on the lower part intended to be submerged.This shape allows for improved stealth by limiting the visible portion and increasing the submerged portion. Finally, a fourth float profile shape is shown with an elongated upper portion designed to be above water, forming a guiding element that improves the ship's navigational stability while maintaining its stealth. This upper portion is more curved than the lower portion of the float, which is designed to be submerged.

[0085] In 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 and well-isolated space separate 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.

[0086] 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.

[0087] According to another embodiment, the float 51 is offset by a given distance from the two lateral floats 52 towards the rear of the vessel 50. This distance can be from 0.5 m to 4 m, taking as a reference the forward ends of one part of the float 51 and the other of the floats 52. According to another example, the float 51 is substantially aligned with the two lateral floats 52 to within a few tens of centimeters.

[0088] Material

[0089] For example, the ship's floats are made of carbon fiber or fiberglass, reinforced plastic, aluminum, or composite materials.

[0090] Stage

[0091] According to one embodiment, the vessel 51 includes a set of ballast 53 or ballast elements to balance the vessel's waterline and to maximize its immersion. 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 to a height of between 1 cm and 25 cm when static on the water; this portion is denoted as the float's freeboard.

[0092] When a ship is in motion, the freeboard height tends to decrease with increasing speed, and the ship tends to disappear. At speeds between 15 and 20 knots, only a small portion of the ship is above water, a portion with a height of less than 20 cm, or even less than 10 cm or 5 cm.

[0093] 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.

[0094] To achieve this result, the ballast can be distributed over all the floats or only certain floats such as the central float or for example within the lateral floats.

[0095] In one embodiment, the ballast is arranged in ballast compartments of the float. For this purpose, 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 others are designed to hold ballast, for example, water or sand, to ensure proper immersion of the vessel.

[0096] 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).

[0097] According to one embodiment, when the mechanical structure has two lower limbs, the weight of a rider is not to be taken into account.

[0098] For example, the ballast elements 53 are reservoirs for holding liquid or granular materials such as sand or any other material 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 multiple elements to finely adjust its weight. These elements can be balls, a chain, plates, etc. One advantage is that the weight of each ballast element can be adjusted according to the mass distribution configuration of the metal structure 10 and its weight, as well as the weight of the rider.

[0099] Advantageously, the ballasts 53 are fixed to attachment elements inside each float. For example, the ballasts 53 move along a sliding link inside the float to adjust its position according to the mass distribution of the metal structure.

[0100] The ballast, mass balance, and shape of the floats contribute to submerging the vessel 30 in such a way as to render it stealthy. In 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 allows for almost complete stealth of the vessel 50. The animated mechanical structure 10 then appears to move on the water surface 100.

[0101] ship's main engine

[0102] In one embodiment, the vessel 50 is propelled by a propeller motor. The complete set of components enabling propulsion is called the propulsion system, and the propulsion element 70 corresponds to a propeller. Such a motor is driven by an electrical power source, for example, supplied by batteries. At least one propeller constitutes 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.

[0103] The main propulsion system 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 that allows 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 additional benefit is to generate visual consistency between the animation of the members of the mechanical structure 10 and the speed of the vessel 50.

[0104] Ship's power supply

[0105] 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. In another embodiment, the batteries can be grouped together to reduce the number of electrical cables present in the float 51.

[0106] As an example, battery set 56 includes between 1 and 30 batteries, for example between 12 and 18 batteries.

[0107] In 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.

[0108] Navigation system

[0109] In one embodiment, the navigation system includes a steering system 4 for steering the vessel 50 and a system for controlling the vessel's speed 50, accessible via an actuator, which may be, for example, a touchscreen. In one embodiment, the steering system 4 is shown in Figure 12. In one example of a steering system, this system includes reins 47, 48, possibly equipped with handles 46, 45 at the distal end of the reins, and a rudder 44 whose rotation is driven by the reins 47, 48 or any other actuation means. The rotation of the rudder 44 advantageously drives a gear or pinion 43 connected to a mast 42 that maintains the centerboard 40. The rudder 44 is advantageously secured to the vessel's frame 50 by means of a body

[0110] 49, the rudder is in pivot connection with body 49.

[0111] 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.

[0112] 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.

[0113] The 40 drift is advantageously submerged to a depth of 1.3m to 2m reached by its distal end below the water level 100. According to an example the drift is submerged to a depth of 1.5m.

[0114] According to one design example, the keel includes at its deepest end a wing profile to stabilize the ship's navigation

[0115] 50.

[0116] In one example, lines are used to steer the rudder. These lines can be connected to reins, which are links held by a rider.

[0117] In another embodiment, the steering system 4 includes an actuator, such as a lever, for actuating the rudder 40 to change its orientation. In 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 touchscreen 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.

[0118] The 20 screen is advantageously positioned at the part of the structure forming the junction between the body and the head so that a rider can access it.

[0119] 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.

[0120] In one example, a throttle lever for operating the engine is used in conjunction with a 20-inch screen to monitor ignition parameters. The screen then allows the user to check navigation constants, external parameters such as wind speed, the planned trajectory (if applicable), and emergency stop commands. In another example, the screen can be used to duplicate navigation controls, allowing the user to override the steering (controlled by the reins) or the engine speed.

[0121] 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.

[0122] According to one embodiment, the ship can also be piloted 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.

[0123] According to one example, the control of the mechanical structure 10 can be activated remotely from a tablet, smartphone, or any electronic device capable of establishing a wireless connection with the electronic control unit of the electrical box. A Bluetooth, LoRa, Wi-Fi, or any other data exchange protocol can be used.

[0124] According to another aspect, the invention relates to a standalone mechanical structure 10, without being associated with a vessel 50. In this scenario, 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 comprising a control interface for transmitting messages via a wireless link. Thus, an electronic board with a communication interface can be integrated into the electrical box embedded in the mechanical structure to control the starting and operating speed of the drive shafts.

[0125] According to an alternative, commands are transmitted via a wired connection using an electrical cable to link a remote control unit a few meters away to the motor controller.

[0126] In one embodiment, the mast 30 is fixed to a base that supports the structure. The base can advantageously be weighted and / or fixed to the ground.

[0127] Mechanical structure

[0128] In one aspect, the invention relates to a mechanical structure associated with a ship. In 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.

[0129] The mechanical structure 10 is also called a metal structure. However, when the mechanical structure 10 is not made of metal, the term "mechanical structure" is preferred. The mechanical structure 10 comprises a frame forming a part 15 shown in Figure 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 body skin. An example of such a skin is shown in Figure 2.

[0130] In one embodiment, the mechanical structure 10 is made of steel. In another embodiment, the mechanical structure is made of aluminum. In yet another embodiment, all or part of the aluminum components are anodized. In one example, 90% of the parts are anodized.

[0131] However, the mechanical structure of the invention can be made of another metal. In another embodiment, the mechanical structure 10 is made of carbon or polymer.

[0132] According to one embodiment, the skin is formed by sheet metal elements.

[0133] 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.

[0134] In one embodiment, the chassis further includes 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 running to the vessel 50 via the connecting mast 30. 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 of the mechanical structure. In particular, the electronic control unit allows for setting the offset between the two main gears driven respectively by the two drive shafts 18, 19.

[0135] 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 drive assemblies. This offset produces 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 shift between the two drive shafts as soon as the movements of the mechanical structure are initiated. Finally, this phase shift 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. A first sensor can be positioned 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 opposite side of a lower limb relative to its position. One advantage is that, with each revolution, it records a marker of the connecting rod's position as it protrudes from the lower limb, thus obtaining a precise reference point within the cycle performed by each lower limb. The sensor can be positioned, for example, within an opening in the structure. Other sensor configurations are possible depending on the specific design.

[0136] A second sensor can be positioned identically on the other side of the structure. The offset between the two markers is then analyzed by the electronic control unit, allowing the drive shafts to be realigned in real time.

[0137] 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.

[0138] Head

[0139] The mechanical structure 10 includes a part forming a head 14 comprising a mechanical structure including rods and bearing elements and fixings so as to define a support that can accommodate a covering forming a skin representing the head of a mammal such as a horse.

[0140] Figure 5 represents a detailed part, labeled A, of Figure 2.

[0141] 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 Figure 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.

[0142] 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.

[0143] Lower limb

[0144] Figure 6 shows connecting elements for animating a front lower limb 11 and all of these portions having a pivot joint with another portion of the same lower limb. To this end, 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.

[0145] Figure 7 shows a junction between two portions of a lower limb before 11. The chain train (not shown in this figure) transmits rotational motion 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 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 motion is transmitted step by step to the end of each lower limb, allowing for a decomposition of the lower limb's movement 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.

[0146] Figure 8 shows a junction between two sections of a hind limb 12. The junction elements are essentially the same as those used for the forelimbs. However, the rotation angles of the limbs can vary depending on the location of the pivot joints of the sprockets and connecting rods. The operation is identical to the breakdown of the movement of a forelimb 11. The lengths of the rods and their placement can be adapted to best represent the postures of a given animal.

[0147] It is understood that the lower limb 12 of figure 8 is animated in a coordinated manner with the front lower limb 11 of figure 7 because a single chain train connects the two lower limbs 11, 12 together.

[0148] 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.

[0149] A connecting rod is a longitudinal component with two circular distal openings that define two axes of rotation. It is used to offset the axis of rotation of a chain-driven sprocket, creating an eccentric and driving a new rotating component. When the connecting rod itself is fitted with a sprocket, a chain can be set in motion again, driving a sprocket attached to the connecting rod. A new connecting rod can then propagate the motion once more.

[0150] Thus, each portion of a lower limb 11, 12 containing 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 limb by means of a single chain train.

[0151] In one embodiment, the height of the ends of the lower limbs at the lowest point of their travel is substantially the same as the upper surface of the float or support holding the connecting mast. That is to say, when the lower limbs complete a full cycle, the lowest point reached by the ends of the lower limbs is at the same height as the float or support holding the connecting mast.

[0152] In one design, the width of the float is narrowed at the point where the lower limbs move. This design allows the lower limbs to be at the same level as the float when their tips are at their lowest point. One advantage is that it creates the impression that the horse is walking on water as the vessel moves forward. As the vessel 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.

[0153] Figure 18 shows an example of a float profile 51 in a top view. According to this view, in its central section, 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.

[0154] According to one embodiment, the distance of the mast can be adapted so that the ends of the lower limbs 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.

[0155] According to one embodiment, the distance of the mast can be adapted so that the ends of the lower limbs 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.

[0156] In 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.

[0157] Tail

[0158] 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 section. 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 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.

[0159] Power supply for the mechanical structure

[0160] The mechanical structure 10 is powered by a set of batteries 55, also called a battery pack. These batteries 55 are, for example, distributed within the main float 51 and can define ballast elements that can be distributed to balance the masses. In another embodiment, the batteries 55 are grouped together to reduce the number of electrical cables in the float 51. In yet another embodiment, to further reduce the number of cables, the batteries needed to power the drive shafts 18, 19 of the mechanical structure 10 are arranged near the connecting mast 30.

[0161] As an example, battery pack 55 includes at least one battery.

[0162] According to one embodiment, the batteries are distributed into two power sources to supply the two drive shafts of each of the lateral parts of the mechanical structure 10.

[0163] In one embodiment, the batteries 55 power a lighting system mounted on the mechanical structure 10 to illuminate it. For example, a backlighting system can illuminate constituent parts of the mechanical structure 10. The lighting devices can, for example, be mounted on elements of the chassis of the mechanical structure 10.

[0164] When the mechanical structure 10 is not associated with a float, its power supply can come directly from a 220V mains electrical outlet or from a battery integrated into the mechanical structure 10.

[0165] Lower limb actuation. According to one example, the mechanical structure 10 comprises two lateral portions forming the two sides of a frame intended to support an animal's body. 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.

[0166] The chassis is preferably made of metal. In another example, it is made of carbon fiber. The chassis supports the lower limbs 11 and 12. The lower limbs 11 and 12 comprise a series of metal sections joined together by pivot joints. Each pivot joint includes a toothed wheel forming a pinion, which is driven in rotation by the movement of a chain connected to another pinion. All the sections of each lower limb are driven in a coordinated manner by a chain train connecting the pinions to each other via connecting rods.

[0167] 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.

[0168] According to this embodiment, a second chain train forming a single chain train connects all the sprockets of the front lower member and the rear lower member 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.

[0169] 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.

[0170] 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 also 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 representing 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 side of the mechanical structure 10.

[0171] Figure 11 represents the stroke of one end of a rear lower limb 12, noted 121.

[0172] Mechanical structure motors

[0173] 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 that drive at least one pinion, also called a gear.

[0174] Figure 4 shows a 3D top view illustrating 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 sections at an angle of 90° to each other.

[0175] The drive shafts 18 and 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, thus driving a chain along a plane parallel to the sagittal plane. One advantage is the ability to drive a gear or pinion along an axis of rotation parallel to the transverse plane.

[0176] 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 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. For example, the first drive shaft is called the starboard drive shaft, corresponding to the lateral portion of the mechanical structure 10 located on the starboard side. The second drive shaft is called the port drive shaft, corresponding to the lateral portion of the mechanical structure 10 located on the port side.

[0177] An example of the invention's arrangement 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 it. This is because the drive shaft passes through the structure at the sagittal plane (PS). This configuration reduces the engine's overall size. Similarly, the second port drive shaft, which generates the torque required by the main pinion located on the starboard side, is therefore not located on the same side as the latter, since the drive shaft also passes through the structure at the sagittal plane.

[0178] This configuration can be further optimized by offsetting the two motors 18 and 19, allowing them to pass through the structure at the sagittal plane via two openings. The two motors are therefore offset from each other.

[0179] For 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 sections of each lower member 11, 12 and, where applicable, the head 14 or the tail 13.

[0180] 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.

[0181] 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.

[0182] In 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 ceases to drive, or when the torque is too high, for example under the weight of a falling lower limb, the shaft brakes.

[0183] In one example, each motor is configured to drive each primary shaft at 20 revolutions per minute. This speed ensures smooth movement of each lower limb segment, avoiding any jerky or abrupt movements across the entire limb. This rotational speed also allows for a realistic simulation 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 results in a fast and generally smooth movement. A speed below 25 revolutions per minute improves the fluidity of the movement while still creating the effect of a running animal.A speed of around 20 revolutions per minute, that is to say between 17 revolutions / minute and 23 revolutions / minute, is optimum to offer a decomposition of the movements of the lower limbs that can be visually decomposed by a spectator while offering a realistic speed effect of the race.

[0184] The motor speed can be adjusted using an adjustable potentiometer that controls a command voltage to deliver the desired speed to the motor shafts. When a speed is requested, the speed profile at startup is gradual.

[0185] Weight

[0186] The metal structure, when the mechanical structure is made of metal such as steel, advantageously has a weight between 200 kg and 400 kg. In one example, the metal structure has a weight between 275 kg and 325 kg.

[0187] 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.

[0188] 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 can bear, 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 with the movement of the metal structure's members is that it can make the vessel unstable. Consequently, oversizing the vessel's capacity makes Vessel 50 stable with respect to the movements of the metal structure and the movements of the person on board.

[0189] Under these conditions, the ship can absorb the variations induced by the movements of the mechanical structure.

[0190] Connecting mast

[0191] In one embodiment, the mechanical structure 10 is attached to the vessel 50 by means of a connecting mast 30. The connecting mast 30 can be made of steel, aluminum, or carbon. Advantageously, the connecting mast 30 is a component of the vessel 50, which is, for example, made of the same material as the connecting mast 30, for example, carbon.

[0192] 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 incorporate any type of structural reinforcement necessary to ensure the support of such a load. Since the mechanical structure 10 is intended to be in motion due to the trajectory of the vessel 50 and its intrinsic movement resulting from the articulation of the various parts of the mechanical structure 10, the mast 30 is designed to absorb some of the vibrations resulting from these movements and to resist any transverse or lateral deformation for a mechanical structure weight of less than 1 tonne.

[0193] In one embodiment, the connecting mast 30 includes an internal channel for 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 ship's propulsion system 50.

[0194] The internal channel also allows the passage of electrical cables to supply electrical components of the mechanical structure 10, including 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 Figure 1 by a propulsion element: a propeller.

[0195] Figure 16 represents a general shape of a four-legged animal that could correspond to the representation of a mechanical structure of the invention. The general shape of the animal shown includes reference planes such as the sagittal plane PS, the transverse plane PT, and the frontal plane PF. These planes allow for the definition and referencing of elements relative to one another.

[0196] According to one embodiment, a data acquisition unit allows the acquisition of a set of data such as outside temperatures and temperature data in certain areas near the engine(s), wind, rainfall, battery charge level, etc. 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. Mechanical structure (10) representing a living being comprising a chassis forming the body and at least two lower limbs (11, 12), said lower limbs (11, 12) 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 (PS) of the mechanical structure (10), each lateral part of said mechanical structure comprising at least one lower limb set in motion from a chain train (151, 152), each lower limb (11, 12) of each lateral part of the structure (10) being set in motion by a drive shaft (18, 19).

2. Mechanical structure (10) according to claim 1, characterized in that it represents a living being comprising a chassis forming the body and at least four lower limbs (11, 12), said lower limbs being animated in 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 (PS) of the mechanical structure, each lateral part of said mechanical structure (10) comprising at least one front lower limb (11) and one rear lower limb (12) set in motion from a chain train, said chain train being driven by a drive shaft (18, 19) to coordinate the movements of the front lower limb (11) with the movements of the rear lower limb (12).

3. Mechanical structure (10) 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).

4. Mechanical structure (10) according to claim 1 characterized in that the first power supply (55) comprises at least a battery powering a lighting system for said mechanical structure (10).

5. Mechanical structure (10) according to any one of the preceding claims, characterized in that it 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 movement 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 members (11, 12) of the second lateral part, the rear lower member (12) and the front lower member (11) following their own cyclic motion and being positioned relative to each other in their movement so that they do not come into contact during their stroke 6. Mechanical structure (10) according to claim 5 characterized in that it 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 members (11, 12) of the first lateral part is out of phase with the cycle of the coordinated movement of the lower members (11, 12) of the second lateral part.

7. Mechanical structure (10) according to any one of claims 5 to 6, characterized in that each lower member (11, 12) comprises a set of portions fixed together by means of minus one pivot joint, each pivot joint having a sprocket driving a chain coordinating the movements of one member to the other from a connecting rod.

8. Mechanical structure (10) according to any one of claims 5 to 7 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 to each other 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 to each other by pivot links and at least one pinion driven by the second chain train.

9. Mechanical structure (10) according to any one of claims 1 to 8 characterized in that the mechanical structure (10) comprises a covering forming a metallic skin enabling the support of the piloting system (20) and forming a seat for a rider.

10. Mechanical structure (10) according to claim 9 characterized in that the coating comprises an anodized aluminium shell and parts covered with silver foil treated with a varnish.

11. Mechanical structure (10) according to any one of claims 5 to 10 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.

12. Mechanical structure (10) according to any one of claims 5 to 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 cycles of movement 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).

13. Floating device (1) characterized in that it comprises: ■ a ship (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) according to any one of claims 1 to 12, said mechanical structure (10) further comprising a ship piloting system (20) enabling the propulsion element (70) to be actuated and enabling the orientation of the drift (40) to be controlled; ■ a connecting mast (30) to secure 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.

14. Floating device (1) according to claim 13 characterized in that a first source of electrical power (56) comprises at least one battery supplying said at least one drive shaft (18, 19) of said mechanical structure (10), said first electrical source corresponding to a ballast element (53) arranged in a first position of the vessel (50), the electrical current delivered being routed to the mechanical structure (10) via a channel made within the connecting mast (30).

15. Floating device (1) according to claim 14 characterized in that the first power supply source (55) comprises at least one battery supplying the steering system (20).

16. Floating device (1) according to any one of claims 13 to 15 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).

17. Floating device (1) according to any one of claims 13 to 16 characterized in that the propulsion element (70) is a propeller engine.

18. Floating device (1) according to any one of claims 13 to 17 characterized in that the freeboard of at least one float (51, 52) is between 5 and 15 cm.

19. Floating device (1) according to any one of claims 13 to 18 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.

20. Floating device (1) according to any one of claims 13 to 19 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.

21. Floating device (1) according to any one of claims 13 to 20 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 cm.

22. Floating device (1) according to any one of claims 13 to 21 characterized in that it comprises a plurality of floats (51, 52), a central float (51) having an opening for the passage and attachment of the connecting mast (30), said central float (51) having a attachment to receive a fin (40) and an attachment to hold the propulsion element (70).

23. Floating device (1) according to any one of claims 13 to 22 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.

24. Floating device (1) according to any one of claims 13 to 23 characterized in that the piloting system (20) includes a nominal navigation mode corresponding to an operating regime of the main engine enabling the propulsion element to be driven so as to obtain a speed of the vessel (50) between 12 and 20 knots.

25. Floating device (1) according to any one of claims 13 to 24 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.

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