underwater exploration vehicle

Abstract

The invention relates to an underwater exploration vehicle (1) comprising (i) a hull (10) delimiting an immersion chamber, (ii) 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 fluidly coupled with the immersion chamber, (iii) two propulsion assemblies located on either side of the immersion chamber, (iv) a single electric battery electrically coupled to an electric motor of each propulsion assembly, (v) a control unit (6) electrically connected to the electric battery and to each propulsion assembly, so as to control said electric battery and the propulsion assemblies.According to the invention, control handles (13) of the underwater exploration vehicle (1) extend from an upper face (101) of the hull (10) to a lower face of the hull (10), the control handles (13) being integrated into the hull (10), so that said hull (10) overmoulds said control handles (13). Figure to be published with the abstract: Fig. 1.

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 the immersion chamber in communication with the environment outside the underwater exploration vehicle by means of inlet openings and outlet openings.

[0004] Furthermore, the control handles of the underwater exploration vehicle described in document EP 2 945 854 B1 are attached to the side panels of the hull. In other words, the control handles are fixed to the side panels of the hull, at each axial end of said control handles. Such control handles are generally formed from a plastic material and / or comprise a foam grip in order to facilitate gripping by the user of the underwater exploration vehicle.

[0005] During use of the underwater exploration vehicle in or under water, the user exerts significant forces on the control handles by pulling on them to maneuver the underwater exploration vehicle. Additionally, it is also observed that the control handles are frequently used to grasp and transport the underwater exploration vehicle out of the water, or when putting it into service. water.

[0006] Thus, the control handles of known underwater exploration vehicles are subjected to high mechanical stresses. In particular, the forces generated by the user on the control handles are transmitted along said control handles to the hull of the underwater exploration vehicle. As a result, at the assembly areas of the control handles on the lateral sides of the hull, there is a significant concentration of mechanical stresses. Such concentrations of mechanical stresses lead to premature wear of the underwater exploration vehicle. In particular, the appearance of cracks is observed at the assembly areas of the control handles on the lateral sides of the hull, which lead to a malfunction of said control handles or even to their breakage or tearing.

[0007] Such malfunctions are not desired and lead to complex and costly repairs, associated with a long immobilization of the underwater exploration vehicle, since said control handles must then be replaced during maintenance and repair operations.

[0008] 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.

[0009] Another object of the invention is to improve the robustness of the control handles and to reduce the occurrences of breakage or cracks on said control handles.

[0010] Another aim of the invention is to better manage the transmission of mechanical constraints between the control handles and the underwater exploration vehicle.

[0011] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with an underwater exploration vehicle comprising:

[0012] - a hull delimiting an interior volume for the underwater exploration vehicle navy;

[0013] - 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;

[0014] - 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 via an inlet opening and an outlet opening provided on the hull;

[0015] - 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;

[0016] - 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;

[0017] - control handles located on either side of the side faces of the hull;

[0018] According to the invention, the shell at least partially overmoulds each control handle.

[0019] 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.

[0020] 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.

[0021] In the context of the present invention, the shell 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 in relation to each other so as to form together 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 exterior body for said underwater exploration vehicle. Typically, the hull forms a skin a few millimeters thick.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] In the context of the present invention, the control handles form gripping members of the underwater exploration vehicle in order to allow a user to grip it, hold it and maneuver it. The control handles are integral with the underwater exploration vehicle. The control handles are located at the side faces of the hull.

[0027] According to the invention, and in a particularly original and innovative manner compared to known underwater exploration vehicles, the control handles are integrated into the hull, so that they do not protrude from the hull, as applied in known underwater exploration vehicles. Conversely, the hull of the underwater exploration vehicle according to the invention extends around at least part of the control handles, so that said control handles are better integrated into said hull and said underwater exploration vehicle.This configuration also makes it possible to orient the control handles less eccentrically and further forward of the underwater exploration vehicle than in those known from the prior art, making the mechanical stresses to which they are subjected during use of the underwater exploration vehicle less significant and better transmitted to the structural elements of the underwater exploration vehicle.

[0028] Thus, the underwater exploration vehicle according to the invention solves the aforementioned technical problem in that the robustness of the control handles is improved, thus reducing the occurrences of breakage or cracks on said control handles. Additionally, the positioning and orientation of the control handles on the underwater exploration vehicle makes it possible to better manage the transmission of mechanical stresses between the control handles and the underwater exploration vehicle.

[0029] 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:

[0030] - each control handle extends from an upper face of the hull towards a lower face of the hull, relative to a vertical axis. Additionally, each control handle extends from front to rear from an upper end of said control handle - proximal to the upper face of the hull - towards a lower end of said control handle - proximal to the lower face of the hull. This configuration is particularly interesting for the ergonomics and gripping of the underwater exploration vehicle, leading to a better distribution of mechanical forces in said underwater exploration vehicle;

[0031] - in particular, each control handle comprises (i) a handle support which extends along a proper elongation axis, a first end of said handle support being connected to a lower internal frame of the underwater exploration vehicle and housed in the hull, and a second end of said handle support being connected to an upper internal frame of said underwater exploration vehicle and housed in the hull, and (ii) a hull element forming a lateral face of the hull, said hull element extending between the lower face and the upper face of said hull and being fixedly attached to the handle support as well as to the lower internal frame and to the upper internal frame.

[0032] - according to an alternative embodiment, the first end of the handle support is fixed integrally to the lower internal frame of the underwater exploration vehicle - for example by snap-fastening and / or screwing, or the first end of the handle support is made in one piece with the lower internal frame of the underwater exploration vehicle. Complementarily or alternatively, the second end of the handle support is fixed integrally to the upper internal frame of the underwater exploration vehicle - for example by snap-fastening and / or screwing, or the second end of the handle support is made in one piece with the upper internal frame of the underwater exploration vehicle. More generally, the handle support is integral with the upper internal frame and / or with the upper internal frame of the underwater exploration vehicle.In particular, the handle support is attached and fixed integrally to the upper internal frame and / or to the lower internal frame of the underwater exploration vehicle, or the handle support is made in one piece with the upper internal frame and / or with the lower internal frame of the underwater exploration vehicle. By made in one piece, it is understood that the handle support on the one hand, and the upper internal frame and / or the lower internal frame on the other hand are made from the same manufacturing process and that they cannot be detached from one another without one and / or the other being entirely or partially damaged or destroyed; .

[0033] - the shell element at least partially covers the handle support. In part In particular, the shell element at least partially covers the handle support between the first end and the second end of the handle support. The shell element covers a part - called the outer part - of the handle support opposite to the side face of the shell located opposite the control handle corresponding thereto;

[0034] - the shell element comprises fastening means cooperating with fastening means complementary to the handle support. In particular, according to a non - limiting exemplary embodiment, the shell element is fixedly attached to the handle support by latching;

[0035] - the handle support comprises, at its first end and its second end, mechanical reinforcement elements. The mechanical reinforcement elements comprise a thickening of the material of the handle support and / or stiffening ribs and / or a mechanical insert. This advantageous configuration makes it possible to reinforce the rigidity of the control handles and to reinforce the rigidity of the handle support, thus reducing the risks of cracks or failure;

[0036] - the handle support is formed from a material comprising plastic, while the shell is formed from a material comprising a composite material. In particular, the composite material advantageously comprises a filler of glass fibers and / or carbon fibers;

[0037] - a part - called the inner part - of the handle support facing the face side of the hull located opposite the corresponding control handle comprises at least one control button electrically connected to the control unit and configured to modify at least one functional parameter of the underwater exploration vehicle;

[0038] - the handle support comprises means for attaching at least one electric wire connecting the at least one control button to the control unit. In particular, the attachment means comprises a guide groove provided in the handle support and / or one or more hooks for retaining the at least one electric wire;

[0039] - the shell comprises, at the level of a part of each lateral face located opposite of the electric battery, a depression forming a concave surface, each control handle extending opposite and at a distance from the corresponding depression. At each side face of the hull, the depression and the control handle delimit a passage opening at a front part of the underwater exploration vehicle. In the context of the present invention, the front part consists of the bow of the underwater exploration vehicle. The front face of the hull is located on the bow. In particular, in the context of the present invention, the front part is the area of ​​the underwater exploration vehicle hull located strictly in front of the electric battery, relative to the longitudinal axis. In other words, the control handles are located at a distance from the corresponding side face of the hull, relative to the transverse axis, so as to delimit the passage between them;

[0040] - the hull of the underwater exploration vehicle is formed of several parts as joined to each other or in relation to each other, by means of a support part forming the internal frame;

[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 dive said underwater exploration vehicle. This configuration makes it possible to compensate 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 chamber immersion chamber is delimited by the casing delimiting the flow channel of each propulsion unit. 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 facing hull, 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-1] illustrates a perspective and front view of an underwater exploration vehicle marine conforming 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 perspective and detail view - seen from the rear - of a control handle of the underwater exploration vehicle illustrated in [Fig.l];

[0055] [Fig.8] illustrates a cross-sectional view of the underwater exploration vehicle illustrated in [Fig.l].

[0056] Of course, the characteristics, variants and different embodiments of the invention may be associated with each other, in various combinations, to the extent that they are not incompatible or mutually exclusive. In particular, variants of the invention may be imagined which do not include than a selection of features described subsequently 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 set of propulsion 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 the level of the lateral 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 water. In particular, the hull 10 delimits, at a front face 106 and a bow 12 of the underwater exploration vehicle 1, a smaller part, 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 screen from control 18 and the user of the sun's radiation - and the reflections created on the control screen 18 - as well as limiting the projections of water on the screen or directly behind it when the underwater exploration vehicle 1 is used on the surface of the water. Additionally, 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 previously mentioned, the underwater exploration vehicle 1 is manipulated by control handles 13s located on both sides of the central body 100 of said underwater exploration vehicle 1, and at a depression on the corresponding lateral face 102 of the hull 10, said depression forming a concave surface, relative to the transverse axis Y. These depressions improve the handling of the underwater exploration vehicle 1, and they also define passages 130 on both sides of the central body 100 for better water flow around the underwater exploration vehicle 1. Thus, each control handle 13 extends opposite and at a distance from the corresponding depression, facing the lateral 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 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 stern 11. Indeed, this advantageous configuration makes it possible to prevent 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 the front position and in the 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, particularly 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 hull 10 located directly opposite is filled with foam 9 in order to prevent water from being present there. 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 into the water 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 an entry of air into the immersion chamber 4, while the water which 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 the entry of air through the second orifices 22 and an entry of water 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 immersion chamber 4 in fluid communication with the outside are not configured to allow such a flow of water in 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, the invention specifies that the hull 10 of such an underwater exploration vehicle 1 at least partially overmoulds each control handle 13. Thus, as visible in FIGURES 1, 2 and 7, the control handles 13 are integrated into the hull 10 of the underwater exploration vehicle 1. Each control handle 13 is integrated into the part of the hull 10 which connects the upper face 101 to the lower face 108 of the underwater exploration vehicle 1. In other words, the hull 10 extends around at least a part of the control handles 13, relative to the vertical axis Z.

[0105] In fact, the control handles 13 here take the form of cylindrical spans 163 that extend from the upper face 101 towards the lower face 108 of the hull 10 of the underwater exploration vehicle 1. In addition, relative to the longitudinal axis X, the control handles 13 are also oriented towards the rear of the underwater exploration vehicle 1, in order to facilitate the user's grip of said underwater exploration vehicle 1 and to improve the ergonomics and handling of the control buttons 133.

[0106] As mentioned previously, each lateral face 102 of the hull 10 comprises, at a part located opposite the electric battery 5, a depression forming a concave surface, each control handle 13 extending opposite and at a distance from the corresponding depression, relative to the transverse axis Y. At each lateral face 102 of the hull 10, the depression and the control handle 13 delimit a passage 130 for the water flowing around the underwater exploration vehicle 1, from the bow 12 and towards the rear, relative to the longitudinal axis X.

[0107] Each control handle 13 comprises:

[0108] - a handle support 136 which extends along an axis of elongation specific to the control handle 13, oriented mainly along the vertical axis Z and from front to back as described previously. A first end of the handle support 136 is connected to a lower frame 135 of the underwater exploration vehicle 1. The lower frame 135 is housed in the hull 10. A second end of the handle support 136 is connected to an upper frame 137 of the underwater exploration vehicle 1. The upper frame 137 is housed in the hull 10; and

[0109] - a hull element 10 132 forming a lateral face 102 of the hull 10, said hull element 10 132 extending between the lower face 108 and the upper face 101 of said hull 10 and being fixedly attached to the handle support 136 as well as to the lower frame 135 and to the upper frame 137 of the underwater exploration vehicle 1.

[0110] Thus, in a particularly clever manner, each control handle 13 comprises an internal frame - the handle support 136 - which is securely connected to the internal frame of the underwater exploration vehicle 1. This advantageous configuration allows efficient and optimal transmission of the mechanical forces generated by the user at the level of the control handles 13 towards the main body of the underwater exploration vehicle 1, and in particular towards its internal frame, i.e. its lower frame 135 and / or its upper frame 137.

[0111] The handle support 136 thus forms a structural chain for each control handle 13. Advantageously, in the embodiment illustrated in FIGURES 7 and 8, the handle support 136 is made in one piece with the lower frame 135 and / or the upper frame 137 of the underwater exploration vehicle 1. In addition, the hull element 10 132 is fixed integrally to the handle support 136 in order to ensure geometric, hydrodynamic and mechanical continuity between the upper face 101 and the lower face 108 of the hull 10 of the vehicle. underwater exploration 1. For this purpose, the hull element 10 132 comprises fixing means 165 collaborating with complementary fixing means 165 of the handle support 136, such as for example by snap-fastening.

[0112] In order to reinforce the rigidity of the control handles 13 and to reinforce the rigidity of their handle support 136, the handle support 136 of each control handle 13 comprises, at its first end and / or its second end, mechanical reinforcement elements 134. The mechanical reinforcement elements 134 comprise a thickening of material of the handle support 136 and / or stiffening ribs 212 and / or a mechanical insert, in particular of the type comprising carbon.

[0113] An inner part 131 of the handle support 136 facing the lateral face 102 of the shell 10 located opposite the corresponding control handle 13 comprises at least one control button 133 electrically connected to the control unit 6. In particular, each control handle 13 advantageously comprises a control button 133 and a trigger. The control buttons 133 have a mechanical interface, such as for example a spring 1330, allowing them to be actuated. The corresponding spring 1330 is housed in the handle support 136.

[0114] In summary, the invention relates to an underwater exploration vehicle 1 comprising:

[0115] - a shell 10 delimiting an immersion chamber 4;

[0116] - 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;

[0117] - two propulsion units 7 located on either side of the immersion chamber 4 ;

[0118] - a single electric battery 5 electrically coupled to an electric motor 70 of each propulsion unit 7;

[0119] - 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.

[0120] According to the invention, control handles 13 of the underwater exploration vehicle 1 extend from an upper face 101 of the hull 10 to a lower face 108 of the hull 10, the control handles 13 being integrated into the hull 10, so that said hull 10 overmoulds said control handles 13.

[0121] 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 modes of embodiments of the invention can be combined with each other in various combinations provided that 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); - control handles (13) located on either side of lateral faces (102) of the shell (10); characterized in that the shell (10) at least partially overmoulds each control handle (13).;

2. Underwater exploration vehicle (1) according to the preceding claim, in which the hull (10) comprises, at a part of each lateral face (102) located opposite the electric battery (5), a depression forming a concave surface, each control handle (13) extending opposite and at a distance from the corresponding depression.

3. An underwater exploration vehicle (1) according to claim previous, in which, at each side face (102) of the hull (10), the depression and the control handle (13) delimit a passage (130) opening at a front part of the underwater exploration vehicle (1).

4. Underwater exploration vehicle (1) according to any one of the preceding claims, wherein each control handle (13) comprises: - a handle support (136) which extends along a proper elongation axis, a first end of said handle support (136) being connected to a lower internal frame of the underwater exploration vehicle (1) and housed in the hull (10), and a second end of said handle support (136) being connected to an upper internal frame of said underwater exploration vehicle (1) and housed in the hull (10); - a shell element (10) (132) forming a lateral face (102) of the shell (10), said shell element (10) (132) extending between the lower face (108) and the upper face (101) of said shell (10) and being fixedly attached to the handle support (136) as well as to the lower internal frame and to the upper internal frame.

5. An underwater exploration vehicle (1) according to the preceding claim, wherein the first end of the handle support (136) is integral with the lower frame (135) of the underwater exploration vehicle (1), and the second end of the handle support (136) is integral with the upper frame (137) of the underwater exploration vehicle (1).

6. An underwater exploration vehicle (1) according to any one of claims 4 or 5, wherein the hull element (10) (132) comprises fixing means (165) collaborating with complementary fixing means (165) of the handle support (136).

7. An underwater exploration vehicle (1) according to any one of claims 4 to 6, wherein the handle support (136) comprises, at its first end and its second end, mechanical reinforcement elements (134).

8. Underwater exploration vehicle (1) according to any one of claims 4 to 7, wherein a part - called inner part (131) - of the handle support (136) facing the lateral face (102) of the hull (10) located opposite the corresponding control handle (13) comprises at least one control button (133) electrically connected to the control unit (6) and configured to modify at least a functional parameter of the underwater exploration vehicle (1).

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