underwater exploration vehicle

Abstract

The invention relates to an underwater exploration vehicle (1) comprising (i) a hull defining an immersion chamber (4), (ii) a plurality of orifices (2) arranged on the hull, each orifice being in fluid communication with the environment external to the underwater exploration vehicle (1) and being fluidly coupled with the immersion chamber (4), (iii) two propulsion assemblies (7) located on either side of the immersion chamber (4), (iv) a single electric battery (5) electrically coupled to an electric motor (70) of each propulsion assembly (7), (v) a control unit (6) electrically connected to the electric battery (5) and to each propulsion assembly (7), so as to control said electric battery (5) and the propulsion assemblies (7), and (vi) a closing grid (161) extending across the inlet opening (16) associated with each propulsion assembly (7).According to the invention, the closing grid (161) comprises a stop member (162) which extends across said inlet opening (16), the stop member (162) being attached to the shell and fixed integrally to said shell in a non-permanent and removable manner by means of fixing means (165). Figure to be published with the abstract: Fig. 8.

Description

Title of the invention: underwater exploration vehicle

[0001] The technical context of the present invention is that of underwater nautical vehicles, and more particularly underwater scooters making it possible to facilitate movement of a user in total or partial immersion. More particularly, the invention relates to such an underwater exploration vehicle.

[0002] In the state of the art, underwater exploration vehicles are known comprising a hull forming a surface against which a user can partially lie down at the level of the upper part of his body while holding onto control handles of said underwater exploration vehicle. Inside the hull, the known underwater exploration vehicles comprise at least one electric battery connected to an electric motor, an output shaft of which rotates a propeller used for their propulsion. In addition, the hull of the known underwater exploration vehicles delimits an immersion chamber connected to the outside by inlets and outlets in order to allow it to be filled with water. The immersion chamber thus acts as a ballast for the known underwater exploration vehicles, thus facilitating their immersion and their balancing in the water during their use.

[0003] In particular, document EP 2 945 854 B1 is known, which describes such an underwater exploration vehicle comprising a hull associated with a flow channel in a central position and in which extends a propulsion device of the underwater exploration vehicle - a motor rotating a propeller. The hull delimits an immersion chamber in communication with the environment outside the underwater exploration vehicle by means of inlet openings and outlet openings.

[0004] In the underwater exploration vehicle described in document EP 2 945 854 B1 the propeller is located in the flow channel, and to avoid any accident, the inlet opening and the outlet opening of the flow channel are closed by grids overmolded in the hull. These grids also make it possible to prevent excessively large objects from entering the flow channel and blocking or even damaging the propeller.

[0005] A known drawback lies in the maintenance of these known underwater exploration vehicles. Indeed, despite the presence of the grid at the inlet openings, fibrous or elongated elements, such as for example algae, can still enter the flow channel and wrap around the propeller during use of the underwater exploration vehicle. In this case, on the underwater exploration vehicle described in document EP 2 945 854 B1, it is not It is possible to easily free the propeller from its grip, and it is then necessary to dismantle the entire underwater exploration vehicle to access the flow channel and remove the fibrous elements wrapped around the propeller.

[0006] Of course, such maintenance operations are long and tedious. They also require the intervention of after-sales service and cannot be carried out by the user of the underwater exploration vehicle himself, leading to unavailability which can be frustrating for the user.

[0007] The object of the present invention is to propose a new underwater exploration vehicle in order to address at least a large part of the preceding problems and to further lead to other advantages.

[0008] Another aim of the invention is to improve the maintenance of such an underwater exploration vehicle.

[0009] Another object of the invention is to facilitate the cleaning of the flow channel of such an underwater exploration vehicle.

[0010] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with an underwater exploration vehicle comprising:

[0011] - a hull delimiting an interior volume for the underwater exploration vehicle navy;

[0012] - a plurality of orifices arranged on the hull, each orifice being in common fluid communication with the environment external to the underwater exploration vehicle and being fluidically coupled with an immersion chamber housed in the hull;

[0013] - at least one propulsion assembly comprising an electric motor configured to generate a driving torque on a transmission shaft and a propeller rotatably coupled to the transmission shaft, the at least one propulsion assembly being housed in the interior volume, a portion of the transmission shaft and the propeller being housed in a casing forming a flow channel which extends into the immersion chamber, the flow channel of the at least one propulsion assembly being in fluid communication with the environment external to the underwater exploration vehicle by means of an inlet opening and an outlet opening arranged on the hull;

[0014] - an electric battery electrically coupled to the electric motor of each less a propulsion unit, the electric battery being housed in the interior volume of the hull;

[0015] - a control unit electrically connected to the electric battery and to each at least one propulsion assembly, so as to control said electric battery and said at least one propulsion assembly;

[0016] - a closing grid extending across the inlet opening associated with each at least one propulsion unit;

[0017] According to the invention, the closing grid comprises a stop member which extends across said inlet opening, the stop member being attached to the shell and fixed securely to said shell by means of fixing means.

[0018] In the context of the present invention, a longitudinal axis, a lateral axis and a vertical axis are defined relative to the underwater exploration vehicle according to the first aspect of the invention. More particularly, the transverse axis is understood as a direction taken between a lateral side of the underwater exploration vehicle and an opposite lateral side of said underwater exploration vehicle. In other words, the transverse axis is understood as a direction which extends from a first lateral face of the hull towards a second lateral face of the hull. The adjectives lateral, inboard and outboard refer to such a transverse axis. Furthermore, the longitudinal axis extends as being taken along a direction which extends from front to back or from back to front of the underwater exploration vehicle. The longitudinal axis is perpendicular to the transverse axis.The longitudinal axis corresponds to a propulsion axis of the underwater exploration vehicle when it is in operation and under the effect of at least one propulsion assembly. The adjectives frontal, front and rear refer to this longitudinal axis. Finally, the vertical axis is understood to be taken along an axis which extends from a lower face to an upper face of the hull of the underwater exploration vehicle, the vertical axis being simultaneously perpendicular to the transverse axis and to the longitudinal axis. The adjectives above and below, or lower and upper refer to this vertical axis.

[0019] In the context of the present invention, the underwater exploration vehicle is of the type of nautical craft capable of moving on water or underwater. The underwater exploration vehicle may be piloted by a user intended to be then lying on the upper face of the hull, or the underwater exploration vehicle is of the type of an autonomous craft piloted entirely by the control unit. By way of non-limiting example, the underwater exploration vehicle is preferably of the type of a diving scooter.

[0020] In the context of the present invention, the hull delimits an outer skin of the underwater exploration vehicle. The hull is formed from a material comprising plastic and / or a composite material comprising a carbon filler in order to increase its rigidity and lightness. Advantageously, the hull is formed from several parts which are assembled with respect to each other so as to together form the interior volume of the underwater exploration vehicle. Of course, the electrical or electronic components forming the underwater exploration vehicle are housed in the interior volume, the hull forming an outer body for said underwater exploration vehicle. Typically, the hull forms a skin a few millimeters thick.

[0021] In the context of the present invention, the orifices form openings arranged on the hull, so as to allow - depending on the situations prior to the use of the underwater exploration vehicle, such as for example when launching or removing the underwater exploration vehicle from the water - an air inlet and / or an air outlet and / or a water inlet and / or a water outlet. In a preferred but non-limiting manner of the invention, during the situations of use of the underwater exploration vehicle, that is to say during the propulsion of the underwater exploration vehicle and its advancement underwater or out of the water, the orifices are configured so that water does not penetrate through, once the immersion chamber is filled after launching the underwater exploration vehicle.Generally speaking, the orifices form exchange interfaces between the immersion chamber and the environment outside the underwater exploration vehicle. In the context of the present invention, due to the numerous situations of use of the underwater exploration vehicle that exist, all the orifices are multidirectional orifices, which can successively serve as water inlet or outlet. In other words, in the context of the present invention, the orifices are not unidirectional.

[0022] In the context of the present invention, each propulsion assembly is a turbine device for accelerating the water in the associated flow channel and generating a water current in said flow channel, so as to propel the underwater exploration vehicle. The flow channel of each propulsion assembly is delimited by the casing which extends mainly along the longitudinal axis of the underwater exploration vehicle.

[0023] In the context of the present invention, the electric battery is an energy accumulator making it possible to guarantee a certain energy autonomy for the underwater exploration vehicle. The electric battery makes it possible to supply electrical energy to all the electrical components of the underwater exploration vehicle. The electric battery is preferably of the type comprising at least one lithium cell, or even lithium-ion. Of course, the electric battery is housed in a waterproof case.

[0024] In the context of the present invention, the control unit comprises a microcontroller and / or a printed circuit and / or a microprocessor. Additionally, the control unit also possibly comprises a memory. Of course, the control unit is housed in a waterproof case.

[0025] In the context of the present invention, the stop member is a device which extends from one edge of the inlet opening with which it is associated to another edge of said inlet opening. In other words, the stop member is analogous or comparable to a part of the closing grid which would be made removable in a clever manner in order to be able to more easily clean the flow channel, inside the casing, from the inlet opening. The stop member can be secured to the lower part of the shell - across the inlet opening - in order to complete the closing grid and to form a one-way or two-way mesh across said inlet opening; and the stop member can be detached from the lower part of the shell in order to make access to the corresponding flow channel available.

[0026] Thus, the presence of such a removable stopping member makes it possible to improve the maintenance of such an underwater exploration vehicle, by facilitating access to and cleaning of the flow channel of such an underwater exploration vehicle, at its inlet opening(s).

[0027] The underwater exploration vehicle according to the first aspect of the invention advantageously comprises at least one of the improvements below, the technical characteristics forming these improvements being able to be taken alone or in combination:

[0028] - the closing grid comprises a plurality of spans extending across the inlet opening with which it is associated. The closing grid thus forms a unidirectional mesh across the inlet opening. The closing grid is advantageously made of a single material with the shell. By material, it is understood that the inlet opening and the shell - or the part of the shell - are made from the same manufacturing process and that they cannot be detached from each other without one and / or the other being entirely or partially damaged or destroyed;

[0029] - the fixing means are detachable. In other words, the fixing means of the stop member on the lower hull are non-permanent. In particular, the fixing means can be successively engaged and disengaged from the lower part of the hull of the underwater exploration vehicle, so as to allow successive, reproducible fixing or detachment of the stop member on the hull. This configuration makes the underwater exploration vehicle more reliable because it is easier to clean;

[0030] - the stop member extends between two opposite edges of the inlet opening to which it is associated. This advantageous configuration allows, when the stop member is removed to access the flow channel, to maximize the space available to insert the hand or a tool into the flow channel to clean it, and to remove the elements which would clutter the transmission shaft or the propeller of the corresponding propulsion assembly;

[0031] - the stop member is located in a central position, relative to the inlet opening at to which it is associated. In other words, the stop member extends along a diameter of the corresponding inlet opening. This advantageous configuration makes it easier to access the flow channel once the stop member is detached from the hull;

[0032] - the closing grid comprises a plurality of spans extending across the inlet opening with which it is associated, the stop member extending between two of the spans of the closing grid;

[0033] - the spans of the closing grid extend in a rectilinear manner;

[0034] - the spans of the closing grid are all parallel to each other;

[0035] - the stop member comprises at least one longitudinal elongation bar which extends transversely to the inlet opening with which it is associated. The at least one longitudinal elongation bar extends rectilinearly. Preferably, the stop member comprises exactly two longitudinal elongation bars, each longitudinal elongation bar extending rectilinearly across the inlet opening and parallel to the other longitudinal elongation bar;

[0036] - the at least one longitudinal elongation bar extends parallel to the spans of the closing grid. More particularly, each longitudinal elongation bar extends parallel to the spans of the closing grid. This advantageous configuration makes it easier to install the stop member, and optimizes the filtering of particles or bulky elements so that they do not enter the corresponding flow channel;

[0037] - in a direction perpendicular to the direction of elongation of the stop member and spans of the closing grid, the at least one longitudinal elongation bar and the spans of the closing grid are regularly spaced from each other. This advantageous configuration makes it easier to put the stop member in place, and to optimize the filtering of particles or bulky elements so that they do not enter the corresponding flow channel. In other words, a first interval between a first span of the closing grid and the at least one longitudinal elongation bar of the directly adjacent stop member is equal to a second interval between a second span of the closing grid and said at least one longitudinal elongation bar;

[0038] - the closing grid is formed from plastic and / or a composite material, such as for example comprising a glass fiber and / or carbon fiber filler. The stop member is formed from a material different from the closing grid. In particular, the stop member is formed from a material chosen to be more rigid and having a higher modulus of elasticity than the material chosen for the closing grid. This advantageous configuration makes it possible to make the stop member more robust and to allow a large number of attachments and detachments without generating premature wear of said stop member. In particular, the stop member is advantageously carefully formed from a material comprising a metal and / or a metal alloy. Preferably, the material forming the stop member comprises steel and / or aluminum and / or magnesium;

[0039] - the means for fixing the stop member to the hull comprise (i) inserts threaded metal inserts housed in the shell on either side of the inlet opening associated with the corresponding flow channel, and (ii) fixing screws engaged on the one hand through a passage provided at each longitudinal end of the stop member, and on the other hand in the threaded inserts located opposite, on the shell. More particularly, the threaded metal inserts are crimped into the shell;

[0040] - the hull of the underwater exploration vehicle is monolithic or formed of several parts assembled together or in relation to each other, by means of a support part;

[0041] - the control unit, the electric battery and the electric motor of each at least a propulsion assembly are housed in the immersion chamber. This advantageous configuration allows for better regulation of the interior temperature of the underwater exploration vehicle as well as that of its electrical and electronic components;

[0042] - according to a particularly advantageous configuration, the exploration vehicle underwater exploration vehicle comprises a single electric battery and two propulsion assemblies, the electric motor of each propulsion assembly being electrically coupled to each electric battery. Relative to a transverse axis of the underwater exploration vehicle, the electric battery is located in a central position in the immersion chamber, while the propulsion assemblies are located on either side of the electric battery, in said immersion chamber. This advantageous configuration makes it possible to better balance the underwater exploration vehicle by reducing its sensitivity to rolling. Indeed, the electric battery being a particularly massive component, placing it at the central longitudinal axis of the underwater exploration vehicle and placing the propulsion assemblies - less massive - on the lateral sides of said underwater exploration vehicle makes it more stable and more maneuverable;

[0043] - relative to a longitudinal axis of the underwater exploration vehicle, the electric battery is located on the side of a front part of the underwater exploration vehicle, and the propulsion assemblies are located on the side of a rear part of said underwater exploration vehicle. This configuration is particularly interesting for balancing the underwater exploration vehicle relative to the longitudinal axis, in order to easily allow said underwater exploration vehicle to be pitched upwards in order to raise it or keep it flat for a given movement, on the surface or underwater, and finally to submerge said vehicle underwater exploration. This configuration makes it possible to compensate for the weight of the electric battery - located at the front - by that of the control unit - located in the middle position - and the propulsion assemblies located at the rear;

[0044] - the control unit is located in a central position in the immersion chamber, re relative to the transverse axis, and behind the electric battery relative to the longitudinal axis.

[0045] - according to a particularly original design of the invention, relative to the axis longitudinal, at the level of the propulsion assemblies, the immersion chamber is exclusively located between the two propulsion assemblies. In other words, at the level of the propulsion assemblies, relative to the transverse axis, the immersion chamber is delimited by the casing delimiting the flow channel of each propulsion assembly. In the context of the invention, the volumes located between the flow channels and the hull are non-existent: either because the hull is pressed against the corresponding flow channels, or because a foam is placed between the flow channel and the hull located opposite, so that all of these volumes are occupied by the foam. The foam is preferably of the waterproof foam type. Preferably again, the foam is painted in order to reinforce this impermeability.Preferably again, the foam is bonded to the hull and to the casing delimiting the corresponding flow channel by means of an adhesive joint or a sealing joint which separates and isolates each volume occupied by the foam from the immersion chamber.

[0046] Various embodiments of the invention are provided, integrating according to all of their possible combinations the different optional characteristics set out here.

[0047] Other characteristics and advantages of the invention will become apparent from the following description on the one hand, and from several examples of embodiment given for informational and non-limiting purposes with reference to the attached schematic drawings on the other hand, in which:

[0048] [Fig.l] illustrates a perspective and front view of an underwater exploration vehicle according to the first aspect of the invention;

[0049] [Fig.2] illustrates a perspective and rear view of the underwater exploration vehicle marine illustrated in [Fig.l];

[0050] [Fig.3] illustrates a top view of the underwater exploration vehicle illustrated in [Fig.l];

[0051] [Fig.4] illustrates a bottom view of the underwater exploration vehicle illustrated in [Fig.l];

[0052] [Fig.5] illustrates a longitudinal and side sectional view of the exploration vehicle submarine illustrated in [Fig.l];

[0053] [Fig.6] illustrates a longitudinal sectional and top view of the exploration vehicle submarine illustrated in [Fig.l];

[0054] [Fig.7] illustrates a sectional and detailed view of a propulsion assembly of the underwater exploration vehicle illustrated in [Fig.l];

[0055] [Fig.8] illustrates a perspective and detail view of an inlet opening of the propulsion assembly illustrated in [Fig.7].

[0056] Of course, the features, variants and different embodiments of the invention may be combined with each other, in various combinations, provided that they are not incompatible or mutually exclusive. In particular, variants of the invention may be imagined comprising only a selection of features described below in isolation from the other features described, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0057] In particular, all the variants and all the embodiments described can be combined with each other if nothing prevents this combination from a technical point of view.

[0058] In the figures, the elements common to several figures retain the same reference.

[0059] In the FIGURES described below, a longitudinal axis X, a lateral axis and a vertical axis Z are defined relative to the underwater exploration vehicle 1 according to the first aspect of the invention.

[0060] More particularly, the transverse axis Y is understood as a direction taken between a lateral side of the underwater exploration vehicle 1 and an opposite lateral side of said underwater exploration vehicle 1. In other words, the transverse axis Y is understood in a direction which extends from a first lateral face 102 of the hull 10 towards a second lateral face 102 of the hull 10. The adjectives lateral, interior and exterior refer to such a transverse axis Y.

[0061] Furthermore, the longitudinal axis X extends as taken along a direction that extends from front to back or from back to front of the underwater exploration vehicle 1. The longitudinal axis X is perpendicular to the transverse axis Y. The longitudinal axis X corresponds to a propulsion axis of the underwater exploration vehicle 1 when it is in operation and under the effect of the at least one propulsion assembly 7. The adjectives frontal, front and rear refer to this longitudinal axis X.

[0062] Finally, the vertical axis Z is understood as being taken along an axis which extends from a lower face 108 towards an upper face 101 of the hull 10 of the underwater exploration vehicle 1, the vertical axis Z being simultaneously perpendicular to the transverse axis Y and to the longitudinal axis X. The adjectives above and below, or lower and upper refer to this vertical axis Z.

[0063] With reference to FIGURES 1 to 6, the invention primarily relates to an underwater exploration vehicle 1 comprising:

[0064] - a hull 10 delimiting an interior volume for the underwater exploration vehicle marine 1;

[0065] - a plurality of orifices 2 arranged on the shell 10, each orifice being in common fluidic connection with the environment external to the underwater exploration vehicle 1 and being fluidically coupled with an immersion chamber 4 housed in the hull 10;

[0066] - two propulsion units 7 housed in the interior volume and located on either side other of the hull 10 relative to the longitudinal axis X, each propulsion assembly 7 comprising an electric motor 70 configured to generate a driving torque on a transmission shaft 72 and a propeller 73 coupled in rotation to the transmission shaft 72, a portion of the transmission shaft 72 and the propeller 73 being housed in a casing 71 forming a flow channel 3 which extends into the immersion chamber 4, the flow channel of the at least one propulsion assembly 7 being in fluid communication with the environment external to the underwater exploration vehicle 1 by means of an inlet opening 16 and an outlet opening 17 arranged on the hull 10;

[0067] - an electric battery 5 electrically coupled to the electric motor 70 of each at least one propulsion assembly 7, the electric battery 5 being housed in the interior volume of the hull 10;

[0068] - a control unit 6 electrically connected to the electric battery 5 and to each at least one propulsion assembly 7, so as to control said electric battery 5 and said at least one propulsion assembly 7;

[0069] - a control screen 18 electrically connected to the control unit 6 and configured to display functional parameters of the underwater exploration vehicle 1, said control screen 18 being housed at a concavity 105 of an upper face 101 of the hull 10;

[0070] - control handles 13 located on either side of lateral faces 102 of the hull 10, the control handles 13 allowing the underwater exploration vehicle to be controlled and maneuvered.

[0071] In the embodiment illustrated in FIGURES 1 to 6, the underwater exploration vehicle is of the diving scooter type. Thus, the underwater exploration vehicle is configured to be able to move on the surface of the water but also underwater. On such an underwater exploration vehicle, the user is intended to lie on his stomach on the upper face 101 of the underwater exploration vehicle, so as to have his head facing the control screen 18 and so as to be able to grasp the control handles 13 located on either side of the screen, at level of the side faces 102 of the underwater exploration vehicle, this position is particularly comfortable for using and controlling the underwater exploration vehicle according to the invention.

[0072] The hull 10 of the underwater exploration vehicle forms an outer skin of the underwater exploration vehicle 1. Advantageously, the hull 10 is formed of several parts which are assembled with respect to each other so as to form together the interior volume of the underwater exploration vehicle 1. The different parts of the hull 10 are connected to each other and / or to an internal frame making it possible in particular to stiffen the underwater exploration vehicle 1.

[0073] The hull 10 delimits a profile for the underwater exploration vehicle 1 which is particularly well suited to its use on and in the water. In particular, the hull 10 delimits, at a front face 106 and a bow 12 of the underwater exploration vehicle 1, a portion of smaller dimensions, both along the transverse axis Y and along the vertical axis Z. This configuration thus makes it possible to ensure better penetration of the underwater exploration vehicle 1 in the water, and thus to improve its performance as well as the user experience.

[0074] As visible in FIGURES 1, 3 and 4, the underwater exploration vehicle 1 has a wider section, relative to the transverse axis Y, located directly behind the bow 12. This configuration makes it possible both to have a wider upper face 101 for greater user comfort, but also to define an interior volume large enough to be able to house all the electronic elements necessary for the operation of the underwater exploration vehicle 1.

[0075] As visible in [Fig.l] in particular, this widening of the transverse profile of the underwater exploration vehicle 1 is accompanied by the creation of passages 130 located on either side of the lateral faces 102 of said underwater exploration vehicle 1, at the level of the control handles 13. These passages 130 allow the water to circulate between the arms of the user which are positioned on either side of a central body 100 of the diving vehicle.

[0076] As visible in [Fig.5], this part located directly behind the bow 12 of the underwater exploration vehicle 1 is also the one which has the greatest elevation, relative to the vertical axis Z. This conformation makes it possible to house bulky electronic components, such as in particular the electric battery 5, but also to place the control screen 18 in good optical alignment with respect to the user of the underwater exploration vehicle 1. Thus, the upper face 101 of the hull 10 has an upwardly inclined section which extends from the front face 106 - and the bow 12 of the underwater exploration vehicle 1 - to a cap 103 overhanging the control screen 18.

[0077] The cap 103 thus makes it possible to form a visor which prevents both the sun's rays from directly striking the control screen 18 when the underwater exploration vehicle 1 is used on the surface of the water, but also to form a protective bubble when said underwater exploration vehicle 1 is used underwater, so that the water flowing all around the underwater exploration vehicle 1 slides back and away from the control screen 18.

[0078] The cap 103 and the control screen 18 are associated with a particular shape of the upper face 101 of the hull 10, forming a concavity 105 which makes it possible to protect the screen and to form a “vision corridor” for the user of the underwater exploration vehicle 1. The concavity 105 thus makes it possible to protect the control screen 18 and the user from the sun's radiation - and the reflections created on the control screen 18 - as well as to limit the projections of water onto the screen or directly behind it when the underwater exploration vehicle 1 is used on the surface of the water. In addition, when the underwater exploration vehicle 1 is used underwater, the concavity 105 makes it possible to reduce the flow of water behind the control screen 18 and improves its visibility by the user of the underwater exploration vehicle 1.Such a concavity 105 is delimited by lateral sidewalks 104 which extend on either side of a floor 1051 which itself extends behind the control screen 18. The lateral sidewalks 104 extend behind the control screen 18 and the cap 103, and overhang the floor 1051.

[0079] Beyond the control screen 18, the lateral dimensions of the underwater exploration vehicle 1 decrease again in order to reduce its size and to optimize the flow around the underwater exploration vehicle 1, with the aim of optimizing its hydrodynamic coefficient. Relative to the vertical axis Z, the rear part of the underwater exploration vehicle 1 is of lesser thickness, in particular at the level of its propulsion assemblies 7. Thus, at the level of a rear face 107 of the hull 10 - forming the stern 11 of the underwater exploration vehicle 1 - the interior volume delimited by the hull 10 is minimal, said hull 10 having a minimal height, relative to the vertical axis Z.

[0080] As mentioned previously, the underwater exploration vehicle 1 is manipulated by control handles 13s located on either side of the central body 100 of said underwater exploration vehicle 1, and at a depression in the corresponding lateral face 102 of the hull 10, said depression forming a concave surface, relative to the transverse axis Y. These depressions make it possible to improve the handling of the underwater exploration vehicle 1, and they also make it possible to define passages 130 on either side of the central body 100 for better flow of water around the underwater exploration vehicle 1. Thus, each control handle 13 extends opposite and at a distance from the corresponding depression, opposite of the side face 102 of the hull 10.

[0081] The control handles 13 carry control buttons 133 which enable the underwater exploration vehicle 1 to be driven, that is to say in particular to control the on-board propulsion units 7.

[0082] In a particularly clever manner, the underwater exploration vehicle 1 according to the invention comprises two propulsion assemblies 7 located on either side of the median longitudinal axis X. In other words, the propulsion assemblies 7 are located close to the lateral faces 102 of the hull 10. Relative to the longitudinal axis X, the propulsion assemblies 7 are located behind the electric battery 5, at a rear part of the underwater exploration vehicle 1.

[0083] The propulsion assemblies 7 make it possible to generate a flow of water in the respective flow channels. This flow of water is sucked into the corresponding flow channel 3 via an inlet opening 16 located on the lower face 108 of the hull 10 of the underwater exploration vehicle 1, and at a rear portion of said underwater exploration vehicle 1, as visible in [Fig. 4]. The inlet openings 16 of the underwater exploration vehicle 1 are not located on, at or near the front face 106 of the hull 10. Conversely, the inlet openings 16 are located under the underwater exploration vehicle 1, at the lower face 108 of the hull 10.

[0084] In order to facilitate the insertion of water into the inlet openings 16s, the lower face 108 of the hull 10 has a concave region, relative to the vertical axis Z, at the level of said inlet openings 16. This advantageous configuration makes it easier for the water flowing at the level of the lower face 108 when the underwater exploration vehicle 1 is moving in or under water to better penetrate into the corresponding flow channel 3.

[0085] However, the main reason why water infiltrates into the inlet opening 16 is related to the depression produced in the flow channel 3 at the inlet opening 16 and due to the rotation of the propeller 73 driven by the transmission shaft 72 and the electric motor 70 of the corresponding propulsion assembly 7. Thus, despite the slight inclination of the inlet opening 16 relative to the lower face 108 of the hull 10 and the flow of water along said lower face 108, which is not conducive to such insertion, it is indeed the operation of the corresponding propulsion assembly 7 which generates a depression and a current which sucks the water into the flow channel 3.

[0086] The propulsion assemblies 7 are cleverly placed at the level of the lateral edges of the underwater exploration vehicle 1 so that the outlet openings 17 of the corresponding flow channels are located close to the lateral faces 102 of the hull 10, at the level of the stern 11. Indeed, this advantageous configuration prevents the flow of water generated by each propulsion assembly 7 from being propelled directly onto the user's body, which is particularly uncomfortable during prolonged use of the underwater exploration vehicle 1. Conversely, the configuration proposed here makes it possible to generate such a flow of water on either side of the user, which improves both performance and comfort of use.

[0087] In a particularly advantageous manner, the electric battery 5 of the underwater exploration vehicle 1 is placed in a forward position and in a central position, relative to the longitudinal axis X. This advantageous configuration makes it possible to optimize the balancing of the underwater exploration vehicle 1 and to improve its maneuverability, in particular in terms of rotational movements of the rolling or yaw type. Indeed, the electric battery 5 being one of the heaviest electrical components, it is clever and preferable to place it along the longitudinal axis X. In addition, the more forward position of the electric battery 5 is compensated by a more rearward position of the control unit 6 and the propulsion assemblies 7. These particularly advantageous arrangements make it possible to perfectly balance the underwater exploration vehicle 1 according to the invention, relative to the longitudinal axis X and relative to the transverse axis Y.

[0088] As mentioned previously, and as can be seen more particularly in FIGURES 5 and 6, the interior volume of the hull 10 delimits the immersion chamber 4. The immersion chamber 4 is a ballast chamber which allows the underwater exploration vehicle 1 to be filled when it is launched in order to achieve a balancing essential for its proper use in and on the water, in order to compensate for the forces of Archimedes' thrust on the hull 10.

[0089] In the underwater exploration vehicle 1 according to the invention, the immersion chamber 4 here forms a single volume in the interior volume, without sub-volumes. In other words, the immersion chamber 4 is simply delimited by the hull 10 of the underwater exploration vehicle 1 and by certain foams 9 placed between the hull 10 and certain electronic components. More particularly still, at the level of the propulsion assemblies 7 of the underwater exploration vehicle 1 according to the invention, the immersion chamber 4 is located exclusively between the flow channels. In other words, at a longitudinal position located between the two propulsion assemblies 7, and in particular between the propeller 73 and the outlet opening 17, the immersion chamber 4 is exclusively located between and delimited by the casings of the two propulsion assemblies 7.In other words, the immersion chamber 4 is not located between the casing 71 of the propulsion units 7 and the hull 10 located around it, relative to the transverse axis Y.

[0090] Optionally, the residual space formed by the casing 71 and the part of the shell 10 located directly opposite is filled with foam 9 in order to prevent water from entering it. This advantageous configuration makes it possible to improve the buoyancy and balance of the underwater exploration vehicle 1 when it is submerged.

[0091] Optionally, the foams 9 housed between the casing 71 and the part of the shell 10 located directly opposite are associated with one or more sealing joints in order to isolate the residual space filled by the foams 9 from the immersion chamber 4. The objective here is not to make such residual spaces communicate with the immersion chamber 4.

[0092] For this purpose, the immersion chamber 4 is in fluid communication with the environment outside the underwater exploration vehicle 1 by means of several orifices 2 cleverly arranged and oriented on the hull 10:

[0093] - first orifices 21 located on a lower face 108 of the shell 10 of the underwater exploration vehicle 1. The first orifices 21 form through openings of the lower face 108 of the hull 10, which open directly into the immersion chamber 4 of the underwater exploration vehicle 1. The first orifices 21 allow fluid communication between the external environment and the immersion chamber 4. More particularly, the first orifices 21 are configured to allow filling of the immersion chamber 4 when the underwater exploration vehicle 1 is launched into the water, and only during this step. Conversely, when the underwater exploration vehicle 1 is taken out of the water, the first orifices 21 are configured to allow water to flow out of the immersion chamber 4 by simple gravity effect;

[0094] - second orifices 22 located on an upper face 101 of the shell 10 of the underwater exploration vehicle 1, behind the control screen 18. In particular, the second orifices 22 are located on the floor 1051 of the concavity 105 of the upper face 101 of the hull 10, behind and below the control screen 18. The second orifices 22 form through openings of the upper face 101 of the hull 10, which open into the immersion chamber 4 of the underwater exploration vehicle 1. The second orifices 22 allow fluid communication between the external environment and the immersion chamber 4. More particularly, the second orifices 22 are configured to allow the air contained in the immersion chamber 4 before the underwater exploration vehicle 1 is launched to be expelled from said immersion chamber 4 when it is filled during the launching of the vehicle underwater exploration 1, and only during this stage.Thus the second orifices 22 collaborate with the first orifices 21 to facilitate the filling of the immersion chamber 4 with water when the underwater exploration vehicle 1 is launched by simultaneously allowing the entry of water through the first orifices 21 and an exit of air through the . second orifices 22. Conversely, when the underwater exploration vehicle 1 is taken out of the water, the second orifices 22 are configured to allow air to enter the immersion chamber 4, while the water that was present in the immersion chamber 4 flows out of said immersion chamber 4 by simple gravity effect and under the effect of the pressure of the incoming air. Thus, the second orifices 22 collaborate with the first orifices 21 to facilitate the emptying of water from the immersion chamber 4 when the underwater exploration vehicle 1 leaves the water by simultaneously allowing air to enter through the second orifices 22 and water to enter through the first orifices 21;

[0095] - third orifices 23 located on the lateral faces 102 of the shell 10 of the underwater exploration vehicle 1. In particular, the third orifices 23 are located on each lateral face 102 of the hull 10 of the underwater exploration vehicle 1, at the level of the control screen 18 and the control handles 13. The third orifices 23 form through openings of each lateral face 102 of the hull 10 on which they are formed, and which open into the immersion chamber 4 of the underwater exploration vehicle 1. The third orifices 23 allow fluid communication between the external environment and the immersion chamber 4. More particularly, the third orifices 23 are configured to allow filling of the immersion chamber 4 when the underwater exploration vehicle 1 is launched into the water, and only during this step.Thus, the third orifices 23 collaborate with the first orifices 21 to facilitate the filling of the immersion chamber 4 with water when the underwater exploration vehicle 1 is launched by accelerating the filling of the immersion chamber 4 and by allowing such a more balanced filling between a front zone of the immersion chamber 4 and a rear zone of said immersion chamber 4, relative to the longitudinal axis X.

[0096] All the electronic components of the underwater exploration vehicle 1 are advantageously housed in the immersion chamber 4, so that they are all immersed in the immersion chamber 4 during operation of the underwater exploration vehicle 1. This advantageous configuration also makes it possible to thermalize the electronic components during operation of the underwater exploration vehicle 1.

[0097] However, due to the use of an electric battery 5 of the type of a battery comprising lithium, excessive cooling is not desired. Consequently, the immersion chamber 4 of the underwater exploration vehicle 1 according to the invention is not crossed by a current of water during the use of the underwater exploration vehicle 1, and in particular during its movements on the water or underwater. For this purpose, the various orifices 2 present in the hull 10 and putting the chamber immersion chamber 4 in fluid communication with the exterior are not configured to allow such a flow of water into the immersion chamber 4 during the advance of the underwater exploration vehicle 1 because:

[0098] - no orifice serving as an inlet orifice for the immersion chamber 4 is located on the front face 106 or in the bow area 12 of the underwater exploration vehicle 1. Conversely, all the orifices 2 serving as water inlet orifices for the immersion chamber 4 are located at a central area of ​​the underwater exploration vehicle 1, relative to the longitudinal axis X, and located between the bow area 12 and the stern area 11, excluding the latter;

[0099] - no orifice serving as an outlet orifice for the immersion chamber 4 is located on the rear face 107 or in the stern area 11 of the underwater exploration vehicle 1. Conversely, all the orifices 2 serving as water outlet orifices for the immersion chamber 4 are located at a central area of ​​the underwater exploration vehicle 1, relative to the longitudinal axis X, and located between the bow area 12 and the stern area 11, excluding these;

[0100] - no orifice directly faces the flow of water around the vehicle underwater exploration vehicle 1 during its movement on the water or underwater. Conversely, all the orifices 2 have an orientation which is tangential or substantially tangential to the flow of water around the underwater exploration vehicle 1 during its movement on the water or underwater.

[0101] Consequently, during the movement of the underwater exploration vehicle 1 under water or on water, the water present in the immersion chamber 4 remains immobile and forms a static or quasi-static mass in the interior volume delimited by the hull 10.

[0102] In addition, at the level of the lateral faces 102 and close to the lower face 108, the hull 10 delimits openings forming gripping handles 14 of the underwater exploration vehicle 1.

[0103] At the level of the upper face 101, in the rear part of the floor 1051 of the concavity 105, relative to the longitudinal axis X, the underwater exploration vehicle 1 comprises a plug 15 which seals an electrical connector 8 making it possible to update internal software embedded in the control unit 6, or certain of the functional parameters of the underwater exploration vehicle 1. This advantageous configuration makes it possible to make updates easily and to facilitate the wired connection between the underwater exploration vehicle 1 and a remote server.

[0104] With reference to FIGURES 7 and 8 in particular, the invention specifies here that the underwater exploration vehicle 1 comprises a closing grid 161 extending across the associated inlet opening 16 of each propulsion assembly 7; and that the closing grid 161 comprises a stop member 162 which extends across said inlet opening 16, the stop member 162 being attached to the shell 10 and fixed securely to said shell 10 by means of fixing means 165.

[0105] As visible in FIGURES 7 and 8, the stop member 162 extends from one edge of the inlet opening 16 with which it is associated to another edge of said inlet opening 16. Thus, the stop member 162 collaborates with the closing grid 161 to be able to prevent materials present in the external environment in which the underwater exploration vehicle is moving from penetrating into the flow channel 3. However, unlike the closing grid 161 which remains fixed and cannot be removed from the lower face 108 of the hull 10, the stop member 162 is, for its part, made removable and indefinitely reassemblable.

[0106] The closure grid 161 comprises a plurality of spans 163 all extending across the inlet opening 16 with which it is associated. The spans 163 of the closure grid 161 extend parallel to each other, and thus form a unidirectional mesh across the inlet opening 16.

[0107] The closing grid 161 is advantageously made in one piece with the shell 10, and more particularly with the lower face 108 of the shell 10. Thus, the bearing surfaces 163 forming the closing grid 161 and the lower face 108 form a single monolithic assembly.

[0108] The bearing surfaces 163 of the closing grid 161 extend along the longitudinal axis X. Similarly, the stop member 162 also extends along the longitudinal axis X.

[0109] The inlet opening 16 of the flow channel 3 of each propulsion assembly 7 is located at a rear portion of the underwater exploration vehicle 1, but forward of its stern area 11. At the area on which the inlet openings 16 are located, the lower face 108 of the hull 10 has a concave shape so that said inlet openings 16 are slightly inclined towards the front of the underwater exploration vehicle 1. This advantageous configuration makes it easier to insert water into the flow channels and through the corresponding inlet opening 16.

[0110] Also, relative to the vertical axis Z, the bearing surfaces 163 of the flow grids follow a slightly curved profile. Similarly, each stop member 162 has a curved profile relative to the vertical axis Z. Generally, the bearing surfaces 163 of the closure grid 161 and the associated stop member 162 extend in a similar manner through the corresponding inlet opening 16.

[0111] In a similar manner to the closing grid 161, the stop member 162 extends between two opposite edges of the inlet opening 16 with which it is associated. More particularly, the stop member 162 extends between two adjacent bearing surfaces 163 of the closing grid 161. Relative to the transverse axis Y, the stop member 162 is located in central position with respect to the inlet opening 16 with which it is associated.

[0112] As visible in [Fig.8], the stop member 162 comprises two longitudinal elongation bars 164 which extend transversely to the inlet opening 16 with which it is associated. The longitudinal elongation bars 164 extend rectilinearly across the inlet opening 16. The longitudinal elongation bars 164 have a curved profile, in a manner analogous to the bearing surfaces 163 of the closing grid 161, and according to the profile of the lower face 108 of the shell 10 taken at the level of the inlet opening 16. The longitudinal elongation bars 164 extend parallel to the bearing surfaces 163 of the closing grid 161.Relative to the transverse axis Y, the longitudinal elongation bars 164 and the bearing surfaces 163 of the closing grid 161 are regularly spaced from each other in order to facilitate the installation of the stop member 162 and to optimize the filtering of particles or bulky elements present in the environment outside the underwater exploration vehicle 1 and so that they do not enter the corresponding flow channel 3.

[0113] As mentioned previously, the stop members 162 are fixed integrally to the lower face 108 of the shell 10 by means of fixing means 165. In the exemplary embodiment visible in [Fig. 8], the fixing means 165 of the stop member 162 on the lower face 108 of the shell 10 comprise:

[0114] - threaded metal inserts housed in the shell 10 on either side of the inlet opening 16 associated with the corresponding flow channel 3, and

[0115] - fixing screws engaged on the one hand through a hole provided at the level of each longitudinal end of the stop member 162, and on the other hand in the threaded inserts located opposite, on the shell 10. More particularly, the threaded metal inserts are crimped in the shell 10.

[0116] Advantageously, the lower face 108 of the shell 10 has a groove which extends radially to the inlet opening 16, at the periphery of said inlet opening 16, so that the corresponding stop member 162 is inserted into said groove. This advantageous configuration makes it possible to make the stop member 162 and the closing grid 161 coplanar.

[0117] In summary, the invention relates to an underwater exploration vehicle 1 comprising:

[0118] - a shell 10 delimiting an immersion chamber 4;

[0119] - a plurality of orifices 2 arranged on the shell 10, each orifice being in common fluidic connection with the environment external to the underwater exploration vehicle 1 and being fluidically coupled with the immersion chamber 4;

[0120] - two propulsion units 7 located on either side of the immersion chamber 4 ;

[0121] - a single electric battery 5 electrically coupled to an electric motor 70 of each propulsion unit 7;

[0122] - a control unit 6 electrically connected to the electric battery 5 and to each propulsion assembly 7, so as to control said electric battery 5 and the propulsion assemblies 7;

[0123] - a closing grid 161 extending across the associated inlet opening 16 to each propulsion unit 7.

[0124] According to the invention, the closing grid 161 comprises a stop member 162 which extends across said inlet opening 16, the stop member 162 being attached to the shell 10 and fixed integrally to said shell 10 in a non-permanent and removable manner by means of fixing means 165.

[0125] Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In particular, the different characteristics, forms, variants and embodiments of the invention can be associated with each other in various combinations insofar as they are not incompatible or mutually exclusive. In particular, all the variants and embodiments described above can be combined with each other.

Claims

Claims

1. Underwater exploration vehicle (1) comprising: - a hull (10) delimiting an interior volume for the underwater exploration vehicle (1); - a plurality of orifices (2) arranged on the hull (10), each orifice being in fluid communication with the environment external to the underwater exploration vehicle (1) and being fluidically coupled with an immersion chamber (4) housed in the hull (10);- at least one propulsion assembly (7) comprising an electric motor (70) configured to generate a driving torque on a transmission shaft (72) and a propeller (73) rotatably coupled to the transmission shaft (72), the at least one propulsion assembly (7) being housed in the interior volume, a portion of the transmission shaft (72) and the propeller (73) being housed in a casing (71) forming a flow channel (3) which extends into the immersion chamber (4), the flow channel of the at least one propulsion assembly (7) being in fluid communication with the environment external to the underwater exploration vehicle (1) via an inlet opening (16) and an outlet opening (17) arranged on the hull (10); - an electric battery (5) electrically coupled to the electric motor (70) of each at least one propulsion assembly (7), the electric battery (5) being housed in the interior volume of the hull (10);- a control unit (6) electrically connected to the electric battery (5) and to each at least one propulsion assembly (7), so as to control said electric battery (5) and said at least one propulsion assembly (7); - a closing grid (161) extending across the inlet opening (16) associated with each at least one propulsion assembly (7); characterized in that the closing grid (161) comprises a stop member (162) which extends across said inlet opening (16), the stop member (162) being attached to the shell (10) and fixedly attached to said shell (10) by means of fixing means (165).;

2. Underwater exploration vehicle (1) according to the preceding claim, wherein the stop member (162) extends between two opposite edges of the inlet opening (16) with which it is associated.

3. An underwater exploration vehicle (1) according to any preceding claim, wherein the stop member (162) is located centrally relative to the inlet opening (16) with which it is associated.

4. An underwater exploration vehicle (1) according to any preceding claim, wherein the stop member (162) comprises at least one bar (164) of longitudinal elongation which extends transversely to the inlet opening (16) with which it is associated.

5. An underwater exploration vehicle (1) according to any preceding claim, wherein the closure grid (161) comprises a plurality of bearing surfaces (163) extending across the inlet opening (16) with which it is associated, the stop member (162) extending between two of the bearing surfaces (163) of the closure grid (161).

6. Underwater exploration vehicle (1) according to the preceding claim, in which the at least one bar (164) of longitudinal elongation extends parallel to the bearing surfaces (163) of the closing grid (161).

7. Underwater exploration vehicle (1) according to the preceding claim, wherein, in a direction perpendicular to the direction of elongation of the stop member (162) and the bearing surfaces (163) of the closing grid (161), the at least one longitudinal elongation bar (164) and the bearing surfaces (163) of the closing grid (161) are regularly spaced from each other.

8. An underwater exploration vehicle (1) according to any preceding claim, wherein the closure grid (161) is formed from plastic and / or a composite material, such as for example comprising a glass fiber and / or carbon fiber filler.

9. An underwater exploration vehicle (1) according to any preceding claim, wherein the stop member (162) is formed from a material comprising a metal and / or a metal alloy.

10. Underwater exploration vehicle (1) according to the preceding claim, in which the fixing means (165) of the stop member (162) on the hull (10) comprise: - threaded metal inserts housed in the hull (10) on either side of the inlet opening (16) associated with the corresponding flow channel (3); and - fixing screws engaged on the one hand through a passage (130) arranged at each longitudinal end of the stop member (162), and on the other hand in the threaded inserts located opposite, on the shell (10).

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