WATER DRONE

Abstract

The present invention concerns a modular water drone (10) able to perform a series of missions, even simultaneously, in any aquatic environment whatsoever, which comprises a stern module (11a), a main module (11), a bow module (12) and at least one intermediate module (13), which can be divided and connected to each other, wherein each intermediate module (13) comprises an intermediate operating unit (17) configured to perform the specific mission for which it was designed in the aquatic environment and/or in its neighboring zones.

Description

FIELD OF THE INVENTION

Embodiments described here concern a modular water drone, that is, an unmanned nautical vehicle, suitable for use in, for example, natural aquatic environments such as streams, rivers, lakes and seas, and also in artificial ones such as swimming pools, collection tanks, dams.

The water drone can be used in a versatile way such as, for example, to perform analyses of the water, to patrol the waters and the neighboring areas, to rescue people and to clean water, for bathymetry, monitoring and submarine interventions and for the transport of goods.

BACKGROUND OF THE INVENTION

Water drones configured to perform specific missions in aquatic environments are known. They are much more efficient, versatile and safe in completing a given mission compared to using manned boats.

A common disadvantage of all known water drones is that they are conceived, designed and built to perform only one specific mission.

The term mission, in this text, means any operation to be completed inside or in correspondence with the border areas of an aquatic environment.

Consequently, if it is required to perform more than one mission in a substantially short time, it becomes necessary to have a fleet consisting of as many water drones as there are missions to be performed, or to wait for a water drone to complete the first mission and then proceed with the second, and so on. This entails at least a considerable time delay for the execution of the missions, with the risk that, for example, the environmental conditions may change and the uniformity in the acquisition of information, data, etc. is lacking, and their comparison is difficult.

Another consequence is that the costs of execution and management of the missions are high, especially with regard to the initial phase of implementing the water drone and the final phase of withdrawing it once the mission is completed.

In addition, if several water drones are used, a storage and parking area for the drones has to be available.

There is therefore a need to perfect a water drone that can overcome at least one of the disadvantages of the state of the art.

In particular, one purpose of the present invention is to provide a single water drone that is able to perform a series of missions, even simultaneously, so as to reduce management costs and execution times, and so that missions that may be connected to each other are performed with substantially uniform environmental conditions to obtain a substantial uniformity in the acquisition, for example, of data.

Yet another purpose is to provide a water drone that can be easily transportable and is simple to store.

Another purpose of the present invention is to provide a water drone that can—according to the requirements of use—be modular, that is, it is possible to implement at least a part of it in order to make it usable for the execution of a series of missions, even simultaneously.

The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independent claim. The dependent claims describe other characteristics of the present invention or variants to the main inventive idea.

In accordance with the above purposes, this document describes a modular water drone capable of completing a series of missions, even simultaneously, in any aquatic environment whatsoever.

The water drone according to the present invention comprises a stern module, a main module, a bow module, at least one intermediate module and at least one underwater propulsion unit and/or a sail propulsion unit, which can be divided with respect to each other.

Each intermediate module is configured to connect in a continuous manner between the main module and the bow module, or with at least any one other intermediate module.

The stern module is configured to connect in a continuous manner with the rear part of the main module, of the bow module or of the at least one intermediate module.

Each main, bow and intermediate module comprises a lower attachment element and an upper attachment element which are located, respectively, in correspondence with the external wall of the bottom and of the top of the hull of the modules and are configured to connect with the underwater propulsion unit and/or with the sail propulsion unit.

Each intermediate module comprises an intermediate operating unit configured to perform a specific mission in the aquatic environment and/or in its neighboring zones.

According to one aspect of the invention, the water drone comprises a control unit configured at least to regulate the operation of one or more of the underwater propulsion unit, the sail propulsion unit and the intermediate operating units, as a function of the overall number of intermediate modules and the specific mission to be performed.

By way of example, seven missions performed by seven corresponding intermediate modules will be described below. The inventive idea can obviously provide more or less than seven intermediate modules, based on the number of missions that have to be performed.

A first intermediate module comprises a first intermediate operating unit configured to perform the analysis of the waters in the aquatic environment that the water drone has to monitor.

A second intermediate module comprises a second intermediate operating unit configured to interface with the main module in order to obtain visual images related to the patrolling of the aquatic environment and of its neighboring zones, with the aim of identifying the presence of people and taking them to safety, for example, by means of at least one rescue device coupled to the second intermediate module.

A third intermediate module comprises a third intermediate operating unit configured to perform the cleaning of the aquatic environment and its neighboring zones, so as to absorb and/or collect and store inside the third intermediate operating unit, for subsequent disposal, solid and/or liquid polluting substances and/or solid urban waste spilled into the aquatic environment.

A fourth intermediate module comprises a fourth intermediate operating unit configured to perform bathymetry operations, scanning the seabed of the aquatic environment in order to detect the depth and shape of the basin below the free surface of the water.

A fifth intermediate module comprises a fifth intermediate operating unit comprising a ROV (Remotely Operated Vehicle), remotely controlled by a user, which in a non-operating condition is secured to the fifth intermediate module, while in an operating condition it is released from the fifth intermediate module in order to perform a mission under the free surface of the water, remaining however connected by means of a cable configured to transfer data and to electrically power/recharge the ROV itself.

A sixth intermediate module comprises a sixth intermediate operating unit configured to transport goods on the surface of an aquatic environment to and from its borders or in an intermediate position thereof.

A seventh intermediate module is configured to allow the take-off and landing of at least one aircraft.

The seventh intermediate module comprises a seventh intermediate operating unit configured to automatically recharge the at least one aircraft.

The aircraft (for example, a multi-rotor air drone) is configured to perform long-range patrol missions of the aquatic environment and its neighboring zones, also with the aim of identifying the presence of people and/or identifying any predefined objectives.

According to another aspect of the present invention, each of the modules can be provided with draft adjustment means which can be selectively driven by the control unit on the basis of the draft required from the water drone in a given operating mode, in order to decrease or increase the level of the buoyancy line.

The draft adjustment means are disposed in correspondence with the bottom of the hull and comprise two compartments and at least one inflatable device disposed inside one or both of the compartments. Each inflatable device has two chambers which can be selectively filled/emptied with a gas and a liquid, respectively, by means of respective actuation units controlled by the control unit.

According to another aspect of the present invention, each of the modules can be provided with self-righting means to right the water drone in case of overturning and/or capsizing.

The self-righting means comprise a first compartment/zone and a second compartment/zone which are disposed in correspondence with the lateral walls of the hull, on opposite sides and, during use, above the buoyancy line. The first compartment/zone is configured to collect water inside it and the second compartment/zone is configured to define a positive thrust volume in the event that the water drone were to overturn and/or capsize.

According to another aspect of the present invention, each module comprises at least one connection junction comprising perimeter junction elements integral with, or forming part of, the structure of the modules, one or more U-shaped connection profiles configured to secure respective junction elements of adjacent modules in position, and fastening elements configured to fasten the connection profiles to the junction elements.

According to another aspect of the present invention, the hull of each module comprises internally a flat or inclined base wall to promote the outflow of water that can enter inside the water drone.

According to another aspect of the present invention, in the base wall there are one or more grooves, lowered with respect to the plane of the base wall and inclined, that is, provided with at least one inclined bottom wall, to promote the outflow of water toward suitable apertures that communicate with the outside.

According to another aspect of the present invention, the hull of each module is made of a material comprising linen, and/or fiber hemp, or recycled material, epoxy and/or ecological resins, and ecological internal material sandwich-laminated between the fibers. Preferably, the ecological internal material is distributed in a non-homogeneous manner to act as a reinforcement in some parts in order to create thickness.

The use of these materials allows to meet the increased demands in terms of environmental compatibility, while guaranteeing a waterproofness and strength of the hull comparable to that of traditional materials.

According to some embodiments, the water drone comprises coupling means suitable to couple, in an interchangeable manner, to any type of underwater propulsion unit whatsoever, selected from a group comprising at least one electric motor coupled to at least one propeller, a hydrofoil which comprises at least one electric motor coupled to at least one propeller, an underwater glider.

In this way, it is possible to modify the setup of the water drone on each occasion, and use the most suitable underwater and/or sail propulsion unit in relation to the operating units present and the missions to be performed.

A water drone is thus obtained that overcomes the limits of the state of the art and eliminates the defects present therein.

In particular, a water drone is obtained that has a simple and versatile modular structure, which can be used to perform various missions efficiently and reliably, which has low operating costs and is easy to transport and/or to store.

DESCRIPTION OF THE DRAWINGS

These and other aspects, characteristics and advantages of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein:

FIG. 1 is a schematic representation of a water drone according to some embodiments of the present invention;

FIG. 2 is a schematic cross-section view along the plane II-II of FIG. 1;

FIG. 3 is a schematic representation of a part of the self-righting system of the water drone of FIG. 1;

FIG. 4 is a schematic representation of a water drone with the various modules disconnected from each other according to other embodiments of the present invention;

FIG. 5 is a schematic representation of a water drone and of two possible motorized propulsion units that can be coupled to it according to other embodiments of the present invention;

FIG. 6 is a three-dimensional view of the hull of two adjacent intermediate modules connected to each other;

FIG. 7 is an enlarged detail of FIG. 6;

FIG. 8 is a three-dimensional view of the hull of two adjacent intermediate modules connected to each other, in which some parts are shown in transparency;

FIG. 9 is a section with respect to the plane IX-IX of FIG. 8.

To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can be conveniently combined or incorporated into other embodiments without further clarifications.

DESCRIPTION OF SOME EMBODIMENTS

We will now refer in detail to the possible embodiments of the invention, of which one or more examples are shown in the attached drawings, by way of a non-limiting illustration. The phraseology and terminology used here is also for the purposes of providing non-limiting examples.

The attached drawings are used to describe some embodiments of a water drone, that is, an unmanned nautical vehicle, indicated below with reference number 10, configured to complete a series of missions in an aquatic environment, as will be described in detail below.

The water drone 10, according to the present invention, is characterized by a modular structure comprising a stern module 11a, a main module 11, a bow module 12, at least one intermediate module 13 and at least one underwater propulsion unit 19 and/or a sail propulsion unit 20, which can be divided with respect to each other.

Each intermediate module 13 is configured to connect in a continuous manner between the main module 11 and the bow module 12, or with at least one other intermediate module 13.

The stern module 11a is configured to connect in a continuous manner with the rear part of the main module 11, of the bow module 12 or of the at least one intermediate module 13.

Each stern 11a, main 11, bow 12 and intermediate 13 module is configured to achieve, during use, the same buoyancy line L_G of the hull.

The connections between the modules 11, 11a, 12 and 13 comprise mechanical, electrical and electronic connections.

By means of the mechanical connections between the various modules 11, 11a, 12 and 13, a hull with continuous external lines/surfaces is obtained.

The electrical and electronic connections between each stern 11a, main 11, bow 12 and intermediate 13 module are created by means of watertight connectors (for example, preferably, with an IP68 degree of protection).

Furthermore, all the electrical and electronic signal and power components can be housed in suitable watertight containers 46, see for example FIG. 6. A perfect seal against water or other liquid can be created by depositing silicone spray on the electrical and electronic components, and/or by filling the corresponding containers with an insulating gel.

By way of example only, the insulating gel used can be a product known as MagicGel® which, when it polymerizes, makes the electrical and electronic components watertight/submarine or with an IP69 protection rating, reducing the costs of the components themselves. In fact, the components already designed with an IP69 protection rating have a very high purchase cost. When the water drone 10 has to be set up according to a new modular configuration, it will be sufficient to break the MagicGel® lattice, modify the configuration of the modules 11, 11a, 12 and 13 and pour the MagicGel®.

Each main 11, bow 12 and intermediate 13 module comprises a lower attachment element 24 and an upper attachment element 25.

At least the main module 11 and the bow module 12 also comprise at least one of either a photovoltaic power supply unit 21, at least one battery pack 22 or a solar charge regulator unit 23.

Each photovoltaic power supply unit 21 is configured to absorb light radiation, typically solar, and to generate the energy sufficient to power and recharge the battery packs 22, obtaining a potentially unlimited autonomy of navigation.

The main module 11 also comprises a charge management unit 26, a DC/DC conversion unit 27, a control unit 28, at least one video camera 29, at least one communication antenna 30 and a group of sensors 31.

The control unit 28 is configured to interface with the at least one video camera 29, with the at least one communication antenna 30 and with the group of sensors 31 in order to control the water drone 10.

According to some embodiments, the water drone 10 can move and perform the missions in a remote-assisted, remote-controlled or completely autonomous manner, on the basis of the data coming from the external environment and detected by the at least one video camera 29 and by the group of sensors 31.

The at least one communication antenna 30 is configured to transmit the data detected by the at least one video camera 29 and by the group of sensors 31, and the data coming from the control unit 28, to an external unit 32 which can be managed by a user.

The group of sensors 31 can comprise proximity sensors, level sensors, inclinometers, and others.

According to one variant, the at least one communication antenna 30 is also configured to receive data coming from the external unit 32 so as to transmit it to the control unit 28 in order to govern the water drone 10 in a manual, semi-automatic and/or automatic manner, providing the specific commands for each mission to be completed.

According to another variant, the water drone 10 is completely autonomous, exploiting artificial intelligence algorithms loaded into the control unit 28 and configured to automatically govern all the functionalities of the water drone 10, in such a way as to complete the desired missions in the aquatic environment and in its neighboring zones.

According to some embodiments, the control unit 28 comprises at least one microcontroller/memory medium 28a, a GPS (Global Positioning System) device 28b and a transceiver device 28c.

The GPS device 28b is configured to detect the geographical position of the water drone 10 in a continuous manner, receiving information from a plurality of satellites, and to interface directly with the microcontroller/memory medium 28a.

The transceiver device 28c is configured to interface with at least one communication antenna 30 in order to receive and transmit data to and from the outside.

According to some embodiments, the lower 24 and upper 25 attachment elements are located, respectively, in correspondence with the external wall of the bottom and of the top of the hull of the main 11, bow 12 and intermediate 13 modules, and they are configured to connect, respectively, with the underwater propulsion unit 19 and with the sail propulsion unit 20.

According to some embodiments, a plurality of underwater propulsion units 19 can be provided, each comprising a coupling element 14 configured to connect to the lower attachment element 24 of any main 11, bow 12 and intermediate 13 module whatsoever.

According to some embodiments, the connection between the coupling element 14 and the lower attachment element 24 can be created by means of bolts and/or by means of pins and/or by means of rapid coupling/release elements, or suchlike.

In this way, it is possible to connect, on each occasion, in the optimal position of the hull, the underwater propulsion unit 19 most suitable for the missions to be performed.

In accordance with a first variant, the underwater propulsion unit 19 comprises at least one electric motor coupled to at least one propeller 15.

In accordance with a second variant, the underwater propulsion unit 19 comprises a hydrofoil 16.

The hydrofoil 16 comprises the coupling element 14 in the upper part and at least one electric motor coupled to at least one propeller 15 in the lower part.

In accordance with a third variant, the underwater propulsion unit 19 comprises an underwater glider that uses the wave motion of the water to generate a forward thrust of the water drone 10.

According to the present invention, the water drone 10 can comprise, in an interchangeable manner, at least any one type of underwater propulsion unit 19 selected from the group comprising at least one electric motor coupled to at least one propeller 15, a hydrofoil 16 which comprises at least one electric motor coupled to at least one propeller 15, an underwater glider.

In this way, by choosing the type of underwater propulsion unit 19, it becomes possible to optimize the propulsive thrust and governability of the water drone 10 when it is traveling, as a function of the specific mission to be completed.

According to some embodiments, the underwater propulsion unit 19 can be connected in correspondence with the lower attachment element 24 closest to the position of the center of gravity of the water drone 10. This solution has the advantage of further optimizing the governability of the water drone 10 based on the mission to be performed.

According to a preferential embodiment, the underwater propulsion unit 19 comprising the hydrofoil 16 is installed in correspondence with the center of gravity of the water drone 10.

The underwater 19 and sail 20 propulsion units can be installed in the most suitable position in correspondence with each main, bow and intermediate module, in order to minimize the resistance to forward movement, as a function of the positions of the sailing center and the drift center, and to maximize the thrust forces of the hull, especially in the case of long-range and long-duration missions.

The underwater propulsion unit 19 is configured to interface with the DC/DC conversion unit 27 and with the control unit 28 of the main module 11, through each lower attachment element 24.

Inside at least the main module 11 and the bow module 12, the photovoltaic power supply units 21 are grouped according to similar characteristics of irradiation, and they are electrically connected to the power line of the corresponding battery pack 22 by means of the solar charge regulator unit 23.

The solar charge regulator unit 23, also called MPPT (Maximum Power Point Tracker), has the purpose of optimally using all the electric power generated by each photovoltaic power supply unit 21 in order to charge the battery packs 22.

The charge management unit 26 is electrically connected between the solar charge regulator unit 23 and the battery pack 22 of the main module 11. The charge management unit 26, also called BMS (Battery Management System), has the purpose of protecting the battery packs 22 and each of their individual cells from overcharger/undercharger and/or overcurrent/undercurrent phenomena, balancing the charging/discharging process of the battery packs 22.

According to a preferential embodiment, the charging/discharging process of the battery packs 22 occurs in an active and programmable manner through the control unit 28.

Each photovoltaic power supply unit 21 of each module 11, 11a, 12 and 13 is electrically connected by means of the corresponding solar charge regulator unit 23 to the charge management unit 26 comprised in the main module 11.

In this way, a stand-alone type photovoltaic system is created, which guarantees the autonomy of movement of the water drone 10 through the at least one underwater propulsion unit 19.

In addition, by means of the DC/DC conversion unit 27, there is obtained a continuous and optimized control of the electric power required to power the underwater propulsion unit 19 in the different navigation conditions of the water drone 10.

Each of the intermediate modules 13 comprises, respectively, an intermediate operating unit 17 configured to perform a specific mission.

Each intermediate operating unit 17 is configured to interface with the control unit 28 and to electrically connect to the photovoltaic power supply unit 21 through the power line, and to the battery pack 22 at least of the corresponding intermediate module 13.

According to some embodiments, the intermediate operating unit 17 closest to the bow module 12 is also electrically connected to the battery pack 22 of the latter.

Consequently, each intermediate operating unit 17 can transmit the detected data to the external unit 32, or it can store it in the microcontroller/memory medium 28a so that it can be subsequently downloaded by a user or sent to a server by means of a suitable logical connection port.

The control unit 28 is configured at least to regulate the operation of one or more of either the underwater propulsion unit 19, the sail propulsion unit 20 and the intermediate operating unit/s 17 as a function of the total number of intermediate modules 13 and the specific mission to be performed.

According to other embodiments, the control unit 28 is also configured to adjust the buoyancy line, that is, the draft of the drone 10, as a function of the type/number of intermediate modules 13, of the mission to be performed and/or as a function of the seabed of the waterway in which this mission is to be performed, by acting on respective adjustment means as will be described below.

Possible embodiments of seven intermediate modules 13 will be described below, of which FIG. 2 shows six intermediate modules 13 which have been each identified with an uppercase letter A-F, while the respective operating units are identified with respective lowercase letters a-f.

A first intermediate module 13A comprises a first intermediate operating unit 17a configured to perform the analysis of the waters in the aquatic environment that the water drone 10 has to monitor.

A second intermediate module 13B comprises a second intermediate operating unit 17b configured to interface with the main module 11 in order to obtain visual images, communicating with the external unit 32, related to the patrolling of any aquatic environment whatsoever and of its neighboring zones, such as, for example, protected marine areas, coastal areas, bathing areas, etc., with the aim of identifying the presence of people within the aquatic environment and sending an alarm signal in case of danger, together with the corresponding geolocation coordinates.

According to some embodiments, the second intermediate operating unit 17b can comprise at least one rescue device fastened to the hull of the second intermediate module 13, configured to take the people identified to safety.

A third intermediate module 13C comprises a third intermediate operating unit 17c configured to perform the cleaning of an aquatic environment and its neighboring zones, such as, for example, coastal areas. The third intermediate operating unit 17c is configured to absorb and/or collect and store inside it, for subsequent disposal, solid and/or liquid polluting substances and/or solid urban waste spilled into the aquatic environment.

A fourth intermediate module 13D comprises a fourth intermediate operating unit 17d configured to perform bathymetry operations, scanning the seabed of the aquatic environment, for example through the use of a sonar, in order to detect the depth and shape of the basin below the free surface of the water.

A fifth intermediate module 13E comprises a fifth intermediate operating unit 17e comprising an ROV (Remotely Operated Vehicle), remotely controlled by a user by means of the external unit 32, which in a non-operating condition is secured to the fifth intermediate module 13, while in an operating condition it is released from the fifth intermediate module 13E in order to perform a mission under the free surface of the water, remaining however connected by means of a cable configured to transfer data and to electrically power the ROV itself.

A sixth intermediate module 13F comprises a sixth intermediate operating unit 17f configured to transport goods on the surface of an aquatic environment to and from its borders or in an intermediate position thereof.

A seventh intermediate module 13 can also be provided, not shown in the drawings, which is configured to allow the take-off and landing of at least one aircraft.

The seventh intermediate module 13 comprises a seventh intermediate operating unit 17 configured to automatically recharge the at least one aircraft.

The aircraft (for example, a multi-rotor air drone) is configured to perform long-range patrol missions of the aquatic environment and its neighboring zones, also with the aim of identifying the presence of people and/or identifying any predefined objectives.

Finally, an additional intermediate module 13 can be configured to optimize the action of the underwater 19 and/or sail 20 propulsion units, reducing the drag of the water drone 10.

The stern module 11a can comprise a rudder and/or it can be configured to couple to a buoy, and/or it can comprise sensors and/or actuators configured to complete a specific mission.

According to some embodiments, the photovoltaic power supply units 21 are located in the upper part and/or along the lateral walls of the hull, above, during use, a buoyancy line L_G.

According to a preferential embodiment, the battery packs 22 are located inside each main 11, bow 12 and possibly intermediate 13 module in correspondence with the bottom of the hull and, during use, below the buoyancy line L_G.

The battery packs 22 can also be located in correspondence with or above the buoyancy line L_G. The number of batteries can be different for each module; in particular, with regards to the intermediate modules 13, the number of batteries can also be selected as a function of the specific weight of the respective intermediate module 13 or of the type of equipment of the respective intermediate operating unit 17.

According to some embodiments, achieving the same buoyancy line L_G along the hull in the case of bulky and not very heavy modules 11, 11a, 12 and 13 can occur by using battery packs 22 of suitable weight, also taking into account the duration of the mission to be completed.

In this way, a good stability of the water drone 10 is guaranteed in the buoyancy phase and during the movements to perform a specific mission, also contributing to the self-righting of the water drone 10 in the event of overturning and/or capsizing.

According to other embodiments, each main 11, bow 12 and, possibly, intermediate 13 module comprises a housing 33 disposed in correspondence with the bottom of the hull.

The housing 33 is watertight up to a height slightly higher than the buoyancy line L_G, and it can be configured to accommodate each battery pack 22 inside it.

The hull of each module 11, 11a, 12 and 13 comprises internally a base wall 50 which can be flat or inclined to promote the outflow of water that can inadvertently enter the water drone 10. The inclination is favorably directed toward an adjacent module 11, 11a, 12 and 13,

The base wall 50 delimits the housing 33 at the top.

According to an advantageous embodiment, shown in FIG. 9, there are one or more grooves 51 in the base wall 50 which have at least one inclined plane 52 to promote the outflow of water toward suitable apertures disposed, for example, between one module 11, 11a, 12 and 13 and the adjacent one.

The base wall 50 can be provided with at least one aperture that allows direct access to the water below, in order to dispose and remove the equipment necessary for the mission in/from the water, for example an explorer robot, a probe, or other instrumentation. The aperture can be always open and accessible, or it can be associated with a door.

In addition or as an alternative to the presence of the housing 33, each module can comprise, in correspondence with the bottom of the hull, a pneumatic unit (not shown) configured to inflate and deflate on the basis of the signals received from the control unit 28.

In this way, it is possible to maintain an improved stable set up of the water drone 10 in any condition of navigation whatsoever, possibly creating an active self-righting system of the hull in the event it overturns/capsizes, and/or transforming the water drone 10 into a dormant submarine/water vehicle.

According to one embodiment, shown in FIG. 9, in correspondence with the bottom of the hull of each module 11, 11a, 12 and 13 there are two lateral compartments 47 configured to house inside them an inflatable device 48 with a double chamber 48a, 48b. Alternatively, a pair of inflatable devices can also be provided, each having a single chamber.

The compartments 47 are disposed on the sides of the housing 33 and are separated from the latter.

The inflatable device 48 has the function of an adjustable ballast. Therefore, the inflatable devices 48 can be used to lower the buoyancy line of the water drone 10 and, in some cases, even to make it submersible.

The two chambers 48a, 48b are separate and independent. A first chamber 48a is filled and emptied with a gas, for example air, while a second chamber 48b is filled and emptied with a liquid, for example water.

The two chambers 48a, 48b are fluidically connected to respective actuation units 49a, 49b, each one specific for the operating fluid present in the corresponding chamber 48a, 48b. The actuation units 49a, 49b can respectively comprise a compressor for the gas and a pump for the liquid.

The actuation units 49a, 49b are operatively connected to the control unit 28 which, depending on the operating mode with which the water drone 10 is to be governed, provides to send control signals to the actuation units 49a, 49b in order to determine the correct gas/liquid ratio which has to be present in the chambers 48a, 48b.

Evidently, the control unit 28 is operatively connected to all the actuation units 49a, 49b of modules 11, 11a, 12 and 13, in such a way as to suitably coordinate their operations.

According to one possible embodiment, the inflatable devices 18 of the same module 11, 11a, 12 and 13 can have common actuation units 49a, 49b.

According to another embodiment, the inflatable devices 48 of adjacent modules 11, 11a, 12 and 13 can have common actuation units 49a, 49b.

According to another embodiment, the inflatable devices 48 disposed on the same side of the hull can have common actuation units 49a, 49b.

The compartments 47, the inflatable devices 48 and the actuation units 49a, 49b define means for adjusting the draft of the water drone 10.

Each module 11, 11a, 12 and 13 comprises at least one junction 34 configured to connect the modules 11, 11a, 12 and 13 to each other, and to keep the external lines/surfaces of the water drone 10 continuous along the entire hull.

The junction 34 between the various modules 11, 11a, 12 and 13 can be created directly by using suitable parts of the hull, for example by means of a coupling of the tenon-mortise type.

Alternatively, each joint 34 can comprise an additional frame to the hull configured to connect the modules 11, 11a, 12 and 13 to each other, for example by means of bolted connections.

According to some embodiments, shown in FIGS. 6-7, the junctions 34 comprise perimeter junction elements 42 which define a connection edge and are integral with, or are part of, the structure of the modules 11, 11a, 12 and 13.

The connection edge is advantageously continuous so that the junction elements 42 are disposed one after the other. In addition, the junction elements 42 project inward from the walls that define the respective module 11, 11a, 12 and 13.

One or more connection profiles 44 are configured to secure respective junction elements 42 of adjacent modules 11, 11a, 12 and 13 in position.

The connection profiles 44 are U-shaped and are oriented in order to accommodate two junction elements 42 side by side in contact. The distance between the two branches of the “U” is substantially equivalent to the overall thickness of the two junction elements 42 side by side in contact.

A plurality of fastening elements 45, such as screws, bolts, rivets, pins, are configured to fasten the connection profiles 44 to the junction elements 42 that they accommodate.

According to some embodiments, each module 11, 11a, 12 and 13 comprises inside it a first compartment 35 and a second compartment 36 which are disposed in correspondence with the lateral walls of the hull, on opposite sides and, during use, above the buoyancy line L_G (FIG. 2). Although in the following description we will refer to compartments 35, 36 which can be at least partly delimited by walls or suchlike, their function can also be defined by specific zones of each module 11, 11a, 12 and 13 having similar functions.

The first compartment/zone 35 is configured to collect water inside it in the event that the water drone 10 were to overturn and/or capsize.

The second compartment/zone 36 is configured to define a positive thrust volume in the event that the water drone 10 were to overturn and/or capsize.

According to some embodiments, the second compartment/zone 36 can contain only air or it can be completely filled with extruded polystyrene.

Each first compartment/zone 35 and each corresponding second compartment/zone 36 together create an independent self-righting system, inside each module 11, 11a, 12 and 13, in order to right the water drone 10 in case of overturning and/or capsizing.

According to some embodiments, each first compartment/zone 35 comprises inside it an inclined plane 37 and at least one aperture 38 which puts the first compartment/zone 35 in communication with the external environment.

The inclined plane 37 is configured to facilitate the outflow of the water that is accumulated inside the corresponding module 11, 11a, 12 and 13, in the event the water drone 10 overturns and/or capsizes, through the at least one aperture 38.

According to some embodiments, the highest points of each inclined plane 37 and each at least one aperture 38 are disposed, during use, respectively, in correspondence with the front part and the rear part of each module 11, 11a, 12 and 13.

According to a preferential embodiment, each aperture 38 is disposed, during use, above the buoyancy line L_G.

In this way, an optimized self-righting system of the water drone 10 is obtained. According to other embodiments, the junction 34 between the various modules 11, 11a, 12 and 13 can comprise the apertures 38.

According to some embodiments, the hull of each module 11, 11a, 12 and 13 is made with a material comprising linen and/or hemp fiber or recycled material, epoxy and/or ecological resins, and ecological internal material sandwich-laminated between the fibers. This ecological internal material is preferably distributed in a non-homogeneous manner, to act as a reinforcement in some parts in order to create thickness. This solution allows to obtain a structure with high resistance and at the same time ecologically sustainable.

According to some embodiments, FIGS. 8-9, the hull of each module 11, 11a, 12 and 13 can have an appropriately conformed profile to improve the hydrodynamics of the water drone 10. This profile can have multiple water lines WL, defined by inclined planes.

The water lines WL can be parallel to each other and directed in the direction of development of the hull, or they can be directed in a transverse direction.

According to some embodiments, the water drone 10 is made using only three molds for each module 11, 11a, 12 and 13: a first mold for the upper part, or deck, a second mold for the lower part, or immersed part, and a third mold for the internal part.

This greatly simplifies the construction of each module 11, 11a, 12 and 13.

It is clear that modifications and/or additions of parts may be made to the water drone 10 as described heretofore, without departing from the field and scope of the present invention as defined by the claims.

In the following claims, the sole purpose of the references in brackets is to facilitate reading and they must not be considered as restrictive factors with regard to the field of protection claimed in the specific claims.

Claims

1. Water drone, wherein it comprises a stern module, a main module, a bow module, at least one intermediate module and at least one underwater propulsion unit and/or a sail propulsion unit, which can be divided with respect to each other, wherein at least one of said intermediate modules is configured to connect in a continuous manner between said main module and said bow module or with at least one other of said intermediate modules and wherein said stern module is configured to connect in a continuous manner with the rear part of at least said main module, wherein each of said intermediate modules comprises an intermediate operating unit configured to perform a specific mission in an aquatic environment and/or in its neighboring zones,and in that said water drone comprises a control unit configured at least to regulate the operation of one or more of either said underwater propulsion unit, said sail propulsion unit or said intermediate operating unit, as a function of the total number of intermediate modules and the specific mission to be performed.

2. Water drone as in claim 1, wherein each of said modules is provided with draft adjustment means selectively drivable by said control unit on the basis of the draft required from the water drone in a given operating mode.

3. Water drone as in claim 1, wherein said draft adjustment means are disposed in correspondence with the bottom of the hull and comprise two compartments and at least one inflatable device disposed inside one or both of said compartments, wherein each inflatable device has two chambers which are selectively fillable/emptiable with a gas and with a liquid, respectively, by means of respective actuation units controlled by said control unit.

4. Water drone as in claim 1, wherein each of said modules is provided with a self-righting means to right said water drone in case of overturning and/or capsizing.

5. Water drone as in claim 1, wherein said self-righting means comprise a first compartment/zone and a second compartment/zone which are disposed in correspondence with the lateral walls of the hull, on opposite sides and, during use, above the buoyancy line, wherein said first compartment/zone is configured to collect water inside it and said second compartment/zone is configured to define a positive thrust volume in the event that said water drone were to overturn and/or capsize.

6. Water drone as in claim 1, wherein each module comprises at least one connection junction comprising perimeter junction elements integral with, or forming part of, the structure of the modules, one or more U-shaped connection profiles configured to secure respective junction elements of adjacent modules in position, and fastening elements configured to fasten the connection profiles to the junction elements.

7. Water drone as in claim 1, wherein the hull of each module comprises internally a flat or inclined base wall to promote the outflow of water that can inadvertently enter the water drone.

8. Water drone as in claim 7, wherein in the base wall there are one or more grooves lowered with respect to the plane of the base wall and inclined to promote the outflow of water toward suitable apertures that communicate with the outside.

9. Water drone as in claim 7, wherein the hull of each module is made of a material comprising linen and/or fiber hemp or recycled material, epoxy and/or ecological resins, and ecological internal material sandwich-laminated between the fibers, the latter distributable in a non-homogeneous manner to act as a reinforcement in some parts in order to create thickness.

10. Water drone as in claim 1, wherein said main module, said bow module and each of said intermediate modules comprise a lower attachment element and an upper attachment element located, respectively, in correspondence with the external wall of the bottom and of the top of the hull of said modules and configured to connect, respectively, with said underwater propulsion unit and with said sail propulsion unit.

11. Water drone as in claim 1, wherein it comprises a first intermediate module provided with a first intermediate operating unit configured to perform the analysis of the waters in said aquatic environment.

12. Water drone as in claim 1, wherein it comprises a second intermediate module provided with a second intermediate operating unit configured to interface with said main module in order to obtain visual images related to the patrolling of said aquatic environment and of its neighboring zones, with the aim of identifying the presence of people and taking them to safety.

13. Water drone as in claim 1, wherein it comprises a third intermediate module provided with a third intermediate operating unit configured to perform the cleaning of said aquatic environment and its neighboring zones, so as to absorb and/or collect and store inside said third intermediate operating unit, for subsequent disposal, solid and/or liquid polluting substances and/or solid urban waste spilled into said aquatic environment.

14. Water drone as in claim 1, wherein it comprises a fourth intermediate module provided with a fourth intermediate operating unit configured to perform bathymetry operations, scanning the seabed of said aquatic environment in order to detect the depth and shape of the basin below the free surface of the water.

15. Water drone as in claim 1, wherein it comprises a fifth intermediate module provided with a fifth intermediate operating unit comprising a ROV (Remotely Operated Vehicle), remotely controlled by a user, which in a non-operating condition is secured to said fifth intermediate module, while in an operating condition it is released from said fifth intermediate module in order to perform a mission under the free surface of the water, remaining however connected by means of a cable configured to transfer data and to electrically power/recharge the ROV itself.

16. Water drone as in claim 1, wherein it comprises a sixth intermediate module provided with a sixth intermediate operating unit configured to transport goods on the surface of an aquatic environment to and from its borders or in an intermediate position thereof.

17. Water drone as in claim 1, wherein it comprises a seventh intermediate module configured to allow the take-off and landing of at least one aircraft configured to perform patrol missions, wherein said seventh intermediate module comprises a seventh intermediate operating unit configured to automatically recharge said at least one aircraft.

18. Water drone as in claim 1, wherein it comprises a plurality of underwater propulsion units, each comprising a coupling element configured to connect, in an interchangeable manner, to a lower attachment element of one of said main, bow and intermediate modules, wherein said motorized propulsion units are selected from the group comprising at least one electric motor coupled to at least one propeller, a hydrofoil which comprises at least one electric motor coupled to at least one propeller, an underwater glider.