EP4155187B1 - Drone maritime - Google Patents

Drone maritime

Info

Publication number
EP4155187B1
EP4155187B1 EP22197182.3A EP22197182A EP4155187B1 EP 4155187 B1 EP4155187 B1 EP 4155187B1 EP 22197182 A EP22197182 A EP 22197182A EP 4155187 B1 EP4155187 B1 EP 4155187B1
Authority
EP
European Patent Office
Prior art keywords
wing
wing sail
drone
maritime
hull
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP22197182.3A
Other languages
German (de)
English (en)
Other versions
EP4155187C0 (fr
EP4155187A1 (fr
Inventor
Stefano Malagodi
Andrea Tiberio
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oceandrone Srl
Original Assignee
Oceandrone Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oceandrone Srl filed Critical Oceandrone Srl
Publication of EP4155187A1 publication Critical patent/EP4155187A1/fr
Application granted granted Critical
Publication of EP4155187B1 publication Critical patent/EP4155187B1/fr
Publication of EP4155187C0 publication Critical patent/EP4155187C0/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/14—Hull parts
    • B63B3/38—Keels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H9/00—Marine propulsion provided directly by wind power
    • B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
    • B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
    • B63H9/061—Rigid sails; Aerofoil sails
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H9/00—Marine propulsion provided directly by wind power
    • B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
    • B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
    • B63H9/061—Rigid sails; Aerofoil sails
    • B63H9/0621—Rigid sails comprising one or more pivotally supported panels
    • B63H9/0635—Rigid sails comprising one or more pivotally supported panels the panels being pivotable about vertical axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating

Definitions

  • the present invention regards a maritime drone, according to the preamble of the main claim 1.
  • the present maritime drone has particular application in the field of production of automated naval surface vehicles, i.e. vessels capable of navigating in an entirely autonomous manner, in particular by means of remote control, which are, therefore, lacking human personnel on board.
  • the present maritime drone has particular application in the field of production of automated naval surface vehicles provided with propulsion at least partially wind-assisted, i.e. a propulsion which exploits the thrust exerted by the wind on a sail, in particular wing sail, of the vessel itself.
  • Such drones are used in numerous fields of the art, such as for example in the field of scientific research, given that they are provided with several sensors suitable to measure parameters indicating the quality of water, to measure variations in the thermal content of certain marine currents, to monitor the health or the degree of activity of marine fauna and vegetation or the like, in the field of security, since it is capable of detecting the presence of boats not reported to the port control bodies and, therefore, possibly involved in illegal activities, such as for example fishing not allowed in protected areas, illegal immigration, submarine warfare, smuggling, drug trafficking and the like, and in the offshore industry, since they can communicate with submergible drones and transmit information received regarding the integrity of pipelines, platforms, and oilfield sites.
  • the movement means adapted to move the wing sail have proven to be particularly complex from a structural standpoint. Indeed, such movement means are arranged both for tilting the wing sail around the overturing axis between the operative position and the non-operative position, and for rotating the wing sail, when this is in operative position, around the vertical rotation axis, so as to modify the incidence angle between wind and wing profile.
  • the movement means comprise a leverage connected to the hull and actuatable by a corresponding linear actuator in order to move a support base around the overturing axis, which carries the wing sail rotatably mounted around a corresponding shaft, an electric motor and motion transmission members between the electric motor itself and the shaft.
  • the electric motor being mounted on the support base which rotates in order to tilt the wing sail between the operative position and the non-operative position, the electric motor itself is placed outside the hull and hence its electrical connections are exposed, and therefore can be easily damaged.
  • a boat provided with telescopic wing sail, i.e. composed of multiple modules that are collapsible in each other in order to reduce the extension of the sail itself.
  • the aforesaid telescopic sail is also supported by a support shaft actuatable to rotate around a vertical rotation axis by a motorized slewing bearing installed on the deck of the drone itself, so as to vary the incidence angle of the wing sail with respect to the direction of the wind.
  • the arrangement of a telescopic wing sail allows reducing at least the risk of breakage of the wing sail itself in the case of adverse weather conditions, since the length of the aforesaid wing sail can be shortened when the wind is particularly strong.
  • the use of a motorized slewing bearing in order to modify the tilt of the wing profile with respect to the direction of the wind renders particularly simple, from a structural standpoint, the movement means adapted to adjust the position of the telescopic wing sail.
  • the motorized slewing bearing is only provided with a ring fixed to the deck and with a rotatable base, which is rotatably mounted on the ring around a vertical rotation axis, carries the support shaft fixed thereto and is actuatable to rotate with respect to the ring by a suitable motor.
  • the main drawback lies in the fact that the telescopic wing sail, even if it can be actuated to reduce its extension, is unable to be completely withdrawn with respect to the action of the wind, but rather it still remains above the deck of the hull even when collapsed.
  • the motorized slewing bearing which carries the support shaft mounted at the rotatable base, does not allow the telescopic wing sail to be retracted into any containment volume obtained inside the hull. Therefore, the telescopic wing sail in its collapsed configuration, even if there is a low risk of it being broken by the force of the wind, is still susceptible of being thrust thereby and risks consequently overturning the maritime drone.
  • the problem underlying the present invention is therefore that of eliminating the problems of the abovementioned prior art, by providing a maritime drone, which is provided with a wing sail that is movable between an operative position exposed to the wind and a non-operative position in which it does not intercept the wind and obtained without substantially limiting the space usable above the hull.
  • a further object of the present invention is to provide a maritime drone, which is provided with a wing sail easily movable between the operative and non-operative positions and easily actuatable to rotate in order to modify its tilt with respect to the direction of the wind, in particular by means of movement means which are less complex than those of the maritime drones of the prior art.
  • a further object of the present invention is to provide a maritime drone, which is provided with a wing sail exposable to the wind even only partially, in a manner such that such wing sail can supply a thrust to the maritime drone even in the case of particularly strong wind, such to require a smaller wing sail.
  • a further object of the present invention is to provide a maritime drone, which is entirely efficient and reliable in operation.
  • a further object of the present invention is to provide a maritime drone, which is simple and expensive to attain.
  • the present maritime drone 1 has particular application in the offshore energy field and in the field of underwater communications, as it can be used, for example as a follower of submerged drones for transmitting signals in checks on the structural integrity of pipelines, underwater cables and umbilical cables.
  • Such maritime drone 1 can, in fact, be employed as a repeater between a remote-controlled submarine drone configured to monitor the soundness of a pipeline for other transport or to scan the seabed, and a base station positioned on the dry land or on a mother vessel.
  • the maritime drone 1, object of the present invention can follow the remote-controlled submarine drone during its deep navigation to improve data communication between the latter and the base station, as such the communication would otherwise be weak or even insufficient.
  • further fields in which the aforesaid maritime drone 1 has application is that of scientific research, given that the maritime drone 1 in question may be provided with a plurality of sensors suitable for detecting parameters indicating the quality of sea water, detecting the presence of pollutants, assessing the degree of activity and health of marine fauna and vegetation, detecting changes in the thermal content of certain marine currents or the like, or in the field of security, since such drone is suitable for detecting the presence of boats not reported to appropriate port control bodies and, therefore, possibly suspected of being involved in illegal activities, such as fishing not allowed in protected areas, smuggling, drug trafficking, illegal immigration and the like.
  • the maritime drone 1 comprises a hull 2 provided with an upper face 3 and with a lower face 4 and at least partially defining a containment volume 5 at its interior.
  • the hull 2 of the present maritime drone 1 comprises a deck 29, on which the upper face 3 is extended, and a keel 30, which encloses together with the deck 29 at least part of the containment volume 5 and on which the lower face 4 is extended.
  • transverse section of the wing profile it must be intended the transverse section obtained along a plane orthogonal to the main extension direction X of the wing sail 6, independent of the fact that such section can be obtained at the base portion 16 or at the operative portion 34 of the wing profile 7.
  • the transverse section of the wing profile 7 obtained at the base portion 16 has substantially the same shape and size as the transverse section of the wing profile 7 obtained at the operative portion 34, in a manner such that the guide channel 14 can support and guide, in the best possible manner, the wing profile 7 along the entire movement of the wing sail 6 between operative position and non-operative position, and, in addition, the base portion 16 is preferably made of a solid body, in a manner such to be provided with a rigidity greater than that of the operative portion 34 (preferably at least partially hollow) with the same sectional dimensions.
  • the transverse section obtained at the operative portion 34 has at least one dimension greater than the diameter of the stator ring 12 of the motorized slewing bearing 11 and the transverse section obtained at the base portion 16 (illustrated with lines in the aforesaid figure 9 ) is completely placed within the size of the rotatable support 13.
  • the stator ring 12 and the hull 2, on its upper face 3 are advantageously provided with a passage opening 36 susceptible of being traversed by the operative portion 34.
  • the first movement means 8 translates the wing sail 6 itself up to ensuring that the base portion 16 of the wing profile 7 is housed in the guide channel 14 of the rotatable support 13 and the operative portion 34 is placed outside the aforesaid guide channel 14 and projects from the upper face 3 of the hull 2.
  • such second embodiment variant on one hand allows employing a motorized slewing bearing 11 with particularly narrow dimensions, in particular having diameter of the stator ring 12 smaller than the width of the wing profile 7 between the leading edge 32 and trailing edge 33 measured at the operative portion 34, but on the other hand it complicates the operations for moving the wing sail 6 from the operative position to the non-operative position, since it is necessary to align the operative portion 34 of the wing profile 7 with the passage opening 36 of stator ring 12 and hull 2.
  • the rotatable support 13 of the motorized slewing bearing 11 comprises an internal wall 26 which defines the guide channel 14 and, at the aforesaid internal wall 26, carries multiple first bearings 57 mounted thereon, with which at least the wing profile 7 is slidably constrained.
  • first bearings 57 are rotatable around corresponding first revolution axes, which preferably lie on planes orthogonal to the translation axis Z and are tangent to the wing profile 7.
  • the first bearings 57 rotate in contact with the wing profile 7 around their corresponding first revolution axes in order to prevent or at least reduce the sliding friction between wing profile 7 and internal wall 26.
  • the motor means 15 of the motorized slewing bearing 11 comprise at least one first motor 17, preferably electric, in particular of stepper type, integral with the hull 2.
  • the aforesaid first motor 17 can be directly fixed to the hull 2, in particular to the deck 29, or (as illustrated in figure 6 ) it can be fixed to the stator ring 12 of the motorized slewing bearing 11, and such stator ring 12 is in turn fixed to the hull 2.
  • the motor means 15 comprise at least one first pinion 18, which is mechanically connected to the first motor 17 and is actuatable in rotation by the aforesaid first motor 17, and a first rack 19, which is mounted perimetrically on the rotatable support 13 and is engaged with the first pinion 18.
  • the stator ring 12 comprises a first cylindrical wall 20 concentric with the rotation axis Y of the wing sail 6 and extended along the rotation axis Y with a first depth. More in detail, the aforesaid first cylindrical wall 20 at its interior delimits the through hole of the stator ring 12.
  • the rotatable support 13 of the motorized slewing bearing 11 advantageously comprises a second cylindrical wall 21 inserted concentric with the first cylindrical wall 20 of the stator ring 12 and extended along the rotation axis Y with a second depth greater than the first depth.
  • the second cylindrical wall 21 of the rotatable support 13 is inserted within the through hole of the stator ring 12 and faces the first cylindrical wall 20 of the aforesaid stator ring 12.
  • the through opening of the hull 10 is substantially counter-shaped with respect to the first cylindrical wall 20 of the stator ring 12, which is inserted to traverse the aforesaid through opening 10, is laterally fixed to the hull 2, in particular to the deck 29, and projects in part within the containment volume 5 and in part from the upper face 3 of the hull 2.
  • the first cylindrical wall 20 of the stator ring can be fixed to the hull 2, in particular to the deck 29, on the upper face 3, in a manner such to be extended completely projecting starting from the aforesaid upper face 3, or it can be extended completely within the containment volume 5.
  • the second cylindrical wall 21 of the rotatable support 13 advantageously comprises a lower projecting portion 22, which projects with respect to the first cylindrical wall 20 of the stator ring 12 inside the containment volume 5.
  • the first rack 19 of the motor means 15 is perimetrically mounted on the lower projecting portion 22 of the second cylindrical wall 21.
  • the first motor 17 can preferably be placed inside the hull 2, in particular below the deck 29, in a manner such to be protected from the water and from the weathering agents in general.
  • the first cylindrical wall 20 of the stator ring 12 is provided with a lateral opening 55, extended in particular along an arc of circumference around the rotation axis Y subtended by a width angle substantially equal to 180°, and the first rack 19 of the motor means 15 is mounted on the second cylindrical wall 21 of the rotatable support 13 at the aforesaid lateral opening 55.
  • the motorized slewing bearing 11 advantageously comprises multiple second bearings 38 rotatably mounted on at least one between stator ring 12 and rotatable support 13 and engaged with the other between stator ring 12 and rotatable support 13.
  • the first cylindrical wall 20 is provided with an upper projecting portion, which projects with respect to the upper face 3 of the hull 2 and carries, rotatably mounted thereon, multiple second bearings 38, which are placed around the rotation axis Y and are rotatable around corresponding second revolution axes perpendicular to the rotation axis Y.
  • the rotatable support 13 is provided with a support flange 39, which projects laterally with respect to the second cylindrical wall 21 and is placed in abutment against such second rotary bearings 38.
  • the motorized slewing bearing 11 also comprises a support bracket 40 fixed to the hull 2, extended circumferentially around the stator ring 12, extended projecting from the upper face 3 of the hull 2 with height greater than that of the upper projecting portion of the first cylindrical wall 20 of the stator ring 12 and carrying, rotatably mounted thereon, multiple third bearings 41, which are placed around the rotation axis Y, are rotatable around corresponding third revolution axes perpendicular to the aforesaid rotation axis Y and are in abutment against the support flange 39 of the rotatable support 13.
  • the second cylindrical wall 21 of the rotatable support 13 projects from both sides with respect to the first cylindrical wall 20 of the stator ring 12 and carries, rotatably mounted thereon, multiple second bearings 38, which are placed around the rotation axis Y, are rotatable around corresponding second revolution axes perpendicular to the rotation axis Y and are distributed on two positioning planes a that are parallel to each other, orthogonal to the rotation axis Y and spaced along it by a distance greater than the first depth of the first cylindrical wall 20.
  • the first movement means 8 comprise a second motor 23 integral with the hull 2, a threaded rod 24 actuatable in rotation by the second motor 23 and extended parallel to the translation axis Z of the wing sail 6 and a nutscrew 25 coupled, by means of screw-nutscrew coupling, to the threaded rod 24 and mechanically connected to the wing sail 6.
  • the second motor 23 is placed within the containment volume 5 and is fixed to the centerboard 31, which is extended projecting from the lower face 4 of the hull 2.
  • the threaded rod 24 of the first movement means 8 is placed coaxial with the rotation axis Y and, at least with the wing sail 6 in non-operative position, is at least partially inserted in a housing hole 42 obtained within the wing sail 6 itself.
  • the nutscrew 25 is fixed to the base portion 16 of the wing profile 7 and the housing hole 42 of the wing sail 6, within which the threaded rod 24 is at least partially housed, traverses at least the base portion 16 and preferably is extended at least partly within the operative portion 34.
  • the second motor 23 of the first movement means 8 can be configured for rotating the threaded rod 24, compensating for the rotation of the nutscrew 25 induced by the second movement means 9.
  • the threaded rod 24 is placed in the containment volume 5 adjacent to the wing sail 6 and the nutscrew 25 carries, projectingly mounted thereon, a support base which is slidably inserted in the aforesaid containment volume 5 along the translation axis Z and on which the wing sail 6 is rotatably mounted around the rotation axis Y.
  • the first movement means 8 comprise a piston, e.g. hydraulic or pneumatic, which is placed along the rotation axis Y and is provided with a jacket fixed to the wing sail 6, in particular inserted in a seat obtained along the wing sail 6 itself, and with a cylindrical stem slidably inserted in the jacket and mechanically connected to the hull 2, i.e. in particular directly fixed to the hull 2, e.g. to the keel 30, or fixed inside the centerboard 31 extended projecting from the lower face 4 of the hull 2.
  • a piston e.g. hydraulic or pneumatic
  • the arrangement of a piston provided with cylindrical stem and placed along the rotation axis Y ensures that the wing sail 6 can be rotated by the second rotation means 9 with the jacket of the piston fixed thereto that rotates around the cylindrical stem mechanically connected to the hull 2.
  • the wing sail 6 itself comprises at least one first telescopic module 43, which internally defines a housing volume 44, and at least one second telescopic module 45, which is slidably inserted in the housing volume 44 of the first telescopic module 43 along the main extension direction X.
  • first and the second telescopic module 43, 45 together define at least part of the wing profile 7 of the wing sail 6.
  • the wing sail 6 advantageously comprises actuation means 46 mechanically connected to the first telescopic module 43 and to the second telescopic module 45 and arranged, at least with the wing sail 6 in operative position, in order to switch the wing sail 6 between an extended configuration, in which the second telescopic module 45 projects, preferably at least partially, from the housing volume 44 of the first telescopic module 43, and a collected configuration, in which the second telescopic module 45 is at least partially housed in the housing volume 44.
  • the arrangement of at least one first and second telescopic module 43, 45 allows modifying the extension of the wing sail 6 when in operative position, for example in order to adapt it to the speed of the wind, and on the other hand allows being able to more easily house the wing sail 6 in collected configuration within the containment volume 5.
  • the containment volume 5 (whether this is obtained inside the hull 2 or partly inside the hull 2 and partly inside the centerboard 31) has extension along the main extension direction X substantially equal to that of one between the first and second telescopic modules 43, 45 of the wing sail 6.
  • the present maritime drone 1 comprises an electronic control unit operatively connected to the first movement means 8, to the second movement means 9 and preferably also to the actuation means 46 of the wing sail 6.
  • the electronic control unit drives the first movement means 8 to arrange the wing sail 6 in operative position and the actuation means 46 to switch the aforesaid wing sail 6 into extended configuration, so as to exploit the thrust supplied by the wind as much as possible.
  • the electronic control unit drives the first movement means to place the wing sail 6 in operative position and the actuation means 46 to switch the aforesaid wing sail 6 into collected configuration, in a manner such to reduce the extension of the wing profile 7 exposed to the wind but in any case prevent using the propeller propulsion means.
  • the electronic control unit drives the first movement means 8 to place the wing sail 6 in non-operative position and the actuation means 46 to switch the aforesaid wing sail 6 into collected configuration, in a manner such that the wing profile 7 is housed in the containment volume 5 and thus cannot exert an aerodynamic resistance when the maritime drone 1 is pushed by the propeller propulsion means or does not risk being damaged by an overly strong wing.
  • the second telescopic module 45 comprises the base portion 16 of the wing profile 7 and a first part 34' of the operative portion 34 of the wing profile 7, and such first part 34' preferably has transverse section with dimension slightly smaller than the transverse section obtained at the base portion 16.
  • the first telescopic module 43 advantageously comprises a second part 34'' of the operative portion 34 of the wing profile 7, and within such second part 34'' the housing volume 44 is obtained with an access opening directed towards the base portion 16.
  • the housing volume 44 obtained inside the second part 34" of the operative portion 34 defined on the first telescopic module 43 has substantially the same extension or extension slightly greater along the main extension direction X with respect to the first part 34' of the operative portion 34 defined on the second telescopic module 45, in a manner such that, with the wing sail 6 in collected configuration, the second part 34" of the operative portion 34 is placed in abutment against the base portion 16.
  • the second part 34" of the operative portion 34 has transverse section having the same shape and size as the transverse section obtained at the base portion 16, in a manner such that, with the wing sail 6 in collected configuration, there is no interruption between the aforesaid second part 34" of the operative portion 34 and the base portion 16.
  • the actuation means 46 comprise a third motor 48 (in particular electric) mounted on the second telescopic module 45, at least one second pinion 49, which is mechanically connected to the third motor 48 and is actuatable in rotation by the aforesaid third motor 48, and a second rack 50, which is fixed to the first telescopic module 45.
  • a third motor 48 in particular electric
  • the second pinion 49 which is mechanically connected to the third motor 48 and is actuatable in rotation by the aforesaid third motor 48
  • a second rack 50 which is fixed to the first telescopic module 45.
  • the second telescopic module 45 is internally provided with a housing seat 47, within which third motor 48 is placed.
  • a housing seat 47 is communicating with the housing volume 44 obtained inside the first telescopic module 43.
  • the second rack 50 is extended preferably parallel to the main extension direction X, is fixed to the first telescopic module 43 inside the housing volume 44 and, at least with the wing sail 6 in collected configuration, is at least partially inserted in a guide seat 51 obtained within the second telescopic module 45.
  • the invention thus conceived therefore attains the pre-established objects.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Toys (AREA)

Claims (10)

  1. Drone maritime (1), comprenant :
    - une coque (2) munie d'une face supérieure (3) et d'une face inférieure (4) et définissant au moins partiellement en son sein un volume de confinement (5) ;
    - au moins une voile-aile (6), qui s'étend le long d'une direction de développement principale (X) transversale à la face supérieure (3) de ladite coque (2), est montée sur ladite coque (2) et est pourvue d'un profil d'aile (7) susceptible d'intercepter le vent pour mettre en mouvement ledit drone maritime (1) ; dans lequel le profil d'aile (7) de ladite voile-aile (6) s'étend, le long d'une direction orthogonale à ladite direction de développement principale (X), s'effilant d'un bord d'attaque (32) à un bord de sortie opposé (33) ;.
    ladite voile-aile (6) étant mobile entre une position opérationnelle, dans laquelle ledit profil d'aile (7) fait saillie de la face supérieure (3) de ladite coque (2) pour être exposé au vent, et une position non-opérationnelle, dans laquelle ledit profil d'aile (7) est au moins partiellement logé dans ledit volume de confinement (5) pour être rétracté du vent ;
    - des premiers moyens de mouvement (8) reliés mécaniquement à ladite coque (2) et à ladite voile-aile (6) et prédisposés pour mettre en mouvement ladite voile-aile (6) entre ladite position opérationnelle et ladite position non-opérationnelle ;
    - des seconds moyens de mouvement (9) reliés mécaniquement à ladite coque (2) et à ladite voile-aile (6) et prédisposés, au moins avec ladite voile-aile (6) en position opérationnelle, pour faire tourner ladite voile-aile (6) autour d'un axe de rotation (Y) sensiblement parallèle à la direction de développement principale (X) de ladite voile-aile (6) ;
    dans lequel lesdits premiers moyens de mouvement (8) sont prédisposés pour mettre en mouvement ladite voile-aile (6) le long d'un axe de translation (Z) sensiblement parallèle à ladite direction de développement principale (X) ;
    ladite coque (2) étant munie, sur ladite face supérieure (3), d'une ouverture traversante (10) en communication avec ledit volume de confinement (5) ;
    lesdits seconds moyens de mouvement (9) comprenant une sellette motorisée (11) pourvue de :
    - un anneau statorique (12), fixé à ladite coque (2) au niveau de ladite ouverture traversante (10) ;
    - un support pivotant (13), qui est monté pivotant et coaxial sur ledit anneau statorique (12) autour dudit axe de rotation (Y) de ladite voile-aile (6), qui est solidaire de manière pivotante dudit profil d'aile (7), et qui est muni d'un canal de guidage (14) traversant, se développant axialement de façon parallèle audit axe de translation (Z), communiquant avec ledit volume de confinement (5) et portant le profil d'aile (7) de ladite voile-aile (6) inséré de manière coulissante le long dudit axe de translation (Z) ;
    - des demi-moteurs (15) reliés mécaniquement audit support pivotant (13) et prédisposés pour faire tourner ledit support pivotant (13) autour dudit axe de rotation (Y).
  2. Drone maritime (1) selon la revendication 1, caractérisé en ce que, au moins avec ladite voile-aile (6) dans ladite position opérationnelle, le profil d'aile (7) de ladite voile-aile (6) est mis en prise en couplage de forme avec ledit canal de guidage (14).
  3. Drone maritime (1) selon la revendication 2, caractérisé en ce que le canal de guidage (14) du support pivotant (13) de ladite sellette motorisée (11) est sensiblement en contre-forme par rapport audit profil d'aile (7).
  4. Drone maritime (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que ledit profil d'aile (7) est pourvu d'une partie de base (16) inférieure et d'une partie opérationnelle (34) supérieure, qui se développe à partir de ladite partie de base (16) ;
    avec ladite voile-aile (6) en position opérationnelle, ladite partie de base (16) étant au moins partiellement logée dans le canal de guidage (14) dudit support pivotant (13) ; et
    avec ladite voile-aile (6) en position non-opérationnelle, ladite partie de base (16) étant logée dans ledit volume de confinement (5).
  5. Drone maritime (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que la section transversale dudit profil d'aile (7) de ladite voile-aile (6) est disposée entièrement dans l'encombrement dudit support pivotant (13).
  6. Drone maritime (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que lesdits demi-moteurs (15) comprennent :
    - au moins un premier moteur (17) solidaire de ladite coque (2) ;
    - au moins un pignon (18) relié mécaniquement audit premier moteur (17) et pouvant être entraîné en rotation par ledit premier moteur (17) ;
    - une première crémaillère (19) montée périphériquement sur ledit support pivotant (13) et mise en prise avec ledit pignon (18).
  7. Drone maritime (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que ledit anneau statorique (12) comprend une première paroi cylindrique (20) concentrique à l'axe de rotation (Y) de ladite voile-aile (6) et se développant le long dudit axe de rotation (Y) avec une première profondeur ;
    le support pivotant (13) de ladite sellette motorisée (11) comprenant une seconde paroi cylindrique (21) insérée de façon concentrique à la première paroi cylindrique (20) dudit anneau statorique (12) et se développant le long dudit axe de rotation (Y) avec une seconde profondeur plus grande que ladite première profondeur.
  8. Drone maritime (1) selon la revendication 6 et 7, caractérisé en ce que la seconde paroi cylindrique (21) dudit support pivotant (13) comprend une partie saillante inférieure (22), qui fait saillie par rapport à la première paroi cylindrique (20) dudit anneau statorique (12) à l'intérieur dudit volume de confinement (5) ;
    la première crémaillère (19) desdits demi-moteurs (15) étant montée de manière périphérique sur la partie saillante inférieure (22) de ladite seconde paroi cylindrique (21).
  9. Drone maritime (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que lesdits premiers moyens de mouvement (8) comprennent :
    - un second moteur (23) fixé à ladite coque (2) ;
    - une tige filetée (24) pouvant être entraînée en rotation par ledit second moteur (23) et se développant de façon parallèle à l'axe de translation (Z) de ladite voile-aile (6) ;
    - un écrou (25) couplé, par un accouplement vis-écrou, à ladite tige filetée (24) et relié mécaniquement à ladite voile-aile (6).
  10. Drone maritime (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que le support pivotant (13) de ladite sellette motorisée (11) comprend une paroi intérieure (26) définissant ledit canal de guidage (14) et, au niveau de ladite paroi intérieure (26), qui porte plusieurs premiers paliers (57) montés, auxquels au moins ledit profil d'aile (7) est lié de manière coulissante.
EP22197182.3A 2021-09-22 2022-09-22 Drone maritime Active EP4155187B1 (fr)

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IT202300020757A1 (it) * 2023-10-06 2025-04-06 Aldo Cichero Gruppo velico a sezioni rigide manovrabili telescopicamente
CN118376747B (zh) * 2024-04-25 2024-11-29 武汉兴得科技有限公司 一种水务水质检测预警装置及使用方法

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JPS5911478B2 (ja) * 1981-04-30 1984-03-15 財団法人日本舶用機器開発協会 船舶の可動帆装置
JPS5828098U (ja) * 1981-08-17 1983-02-23 日立造船株式会社 帆船
JPS58156490A (ja) * 1982-03-10 1983-09-17 Nippon Kokan Kk <Nkk> 荷役装置を利用した帆装装置
US5517940A (en) * 1995-05-08 1996-05-21 Beyer; Jay R. Variable width multi-hulled boat with telescoping mast
WO2012057178A1 (fr) * 2010-10-26 2012-05-03 エコマリンパワー株式会社 Module de propulsion destiné à être utilisé dans un navire et navire propulsé par le vent équipé dudit module de propulsion
CN104118551B (zh) 2014-08-11 2017-02-15 中国船舶重工集团公司第七○二研究所 自动收放式组合风翼装置
AU2016288162A1 (en) 2015-06-25 2018-01-04 Ocean Aero, Inc. Submersible vessel having retractable wing and keel assemblies

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