underwater exploration vehicle

Abstract

The invention relates to a method (30) for assembling an underwater exploration vehicle, the assembly method (30) comprising the following steps: - a step (31) of fixing at least one hull element forming an upper face of a hull of the underwater exploration vehicle on an upper support of said underwater exploration vehicle; - a step (32) of connecting a lower support of the underwater exploration vehicle on the upper support; - a step (33) of assembling several components of the underwater exploration vehicle on the lower support; - a step (34) of attaching at least one hull element forming a lower face of the hull of the underwater exploration vehicle. 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 and to a method of assembling 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] A known drawback of known underwater exploration vehicles lies in the complexity and unreliability of the assembly processes, making not only the industrialization processes longer and more expensive, but also the maintenance operations more complex. Indeed, it is known to generally mount the various components of such an underwater exploration vehicle on one of the two hulls - lower or upper - delimiting the interior space of said underwater exploration vehicle. Such an assembly solution involves dimensioning the hulls to support the components and providing sufficient thicknesses for the insertion of fixing screws for example.

[0005] This solution is not optimal and is not desired because it leads to numerous technical constraints for the components to be integrated into the hull.

[0006] The object of the present invention is to propose a new assembly method in order to respond at least to a large extent to the preceding problems and to further lead to other advantages.

[0007] Another object of the invention is to simplify the method of assembling an underwater exploration vehicle.

[0008] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with a method of assembling an underwater exploration vehicle, the assembly method comprising the following steps:

[0009] - a step of fixing at least one shell element forming an upper face of a hull of the underwater exploration vehicle on an upper support of said underwater exploration vehicle;

[0010] - a step of connecting a lower support of the underwater exploration vehicle on the upper support;

[0011] - a step of assembling several components of the underwater exploration vehicle marine on the lower support;

[0012] - a step of attaching at least one shell element forming a lower face of the hull of the underwater exploration vehicle.

[0013] In the context of the present invention, the hull of the underwater exploration vehicle comprises one or more hull elements, each hull element forming a part of the hull. The hull elements are integrally attached to the upper support of the underwater exploration vehicle.

[0014] In the context of the present invention, the lower support and the upper support of the underwater exploration vehicle form an internal structure used for the assembly of the underwater exploration vehicle. The lower support and the upper support are both housed in an interior space delimited by the hull of said underwater exploration vehicle, the lower support and the upper support thus making it possible to form a rigid architecture which forms a structural interface for all the components intended to be mounted in the interior space delimited by the hull, but also to reinforce the rigidity of the hull. Thus, in the context of the present invention, the assembly method leads to the hull - and any hull elements that compose it - all being only membranes a few millimeters thick, forming a simple bodywork over the lower support and the upper support.

[0015] In a particularly clever manner, the underwater exploration vehicle is assembled "upside down", the hull elements forming the upper face of the hull being first mounted on the upper support before the components of the underwater exploration vehicle are assembled on the lower support previously mounted on the upper support.

[0016] Thus, the assembly method makes it possible to assemble the underwater exploration vehicle in a linear, reproducible and easier manner. Such a method makes it possible to offer an underwater exploration vehicle preparer simpler, more robust and more reliable assembly interfaces than those found in known underwater exploration vehicles.

[0017] The assembly method 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:

[0018] - the fixing step comprises the assembly of several shell elements forming the upper face of the underwater exploration vehicle, the upper support comprising fixing lugs on which said hull elements are fixedly fixed. This configuration allows for rapid and simplified fixing of the hull elements on the upper support. The fixing lugs are made in one piece with the lower support. The fixing lugs comprise an area for receiving parts of the hull element located opposite. The hull elements are fixedly fixed to the fixing lugs by means of fixing screws collaborating with said fixing lugs. The hull elements comprise a central upper element and lateral upper elements respectively forming a central part of the upper face of the hull and lateral parts of said upper face. This advantageous configuration makes it easier to assemble the hull, and in particular its upper face.It also allows for more complex geometries and shapes to be offered on the upper face of the underwater exploration vehicle, which would be difficult to obtain using a single hull element;

[0019] - the shell elements have shoulder edges configured to allow adjustment of the hull elements to each other, the fixing step comprising a step of adjusting the hull elements to each other, along their shoulder edges. The shoulder edges form pavements and / or edges configured to overlap each other in order to provide a continuous surface of the hull. The shoulder edges thus make it possible to ensure surface continuity and to limit the visual impact of the presence of the different hull elements. In the context of the present invention, the hull elements are not assembled together in a sealed manner;

[0020] - in order to improve the relative fixing of the hull elements between them and to avoid the creating lateral play between them or at their respective shoulder edges, the shell elements comprise at least one fixing flange making it possible to connect two adjacent shell elements along their respective shoulder edge, the fixing step comprising a step of anchoring the two adjacent shell elements by via the at least one fixing flange. According to a first embodiment variant, the fixing flange comprises means for snap-fastening with each shoulder edge of the adjacent shell elements. According to a second embodiment variant, the fixing flange is connected by screwing to each shoulder edge of the adjacent shell elements;

[0021] - the step of connecting the lower support to the upper support comprises a step indexing said lower support on said upper support, said lower support and / or said upper support comprising indexing members collaborating with complementary indexing members of said upper support and / or said lower support respectively. By indexing, it is understood that the lower support is aligned with the upper support relative to a longitudinal axis or a transverse axis of the underwater exploration vehicle. The indexing members may take the form of centering pins arranged projecting from the lower support or from the upper support, and the complementary indexing members may take the form of complementary centering openings arranged respectively on the upper support or on the lower support;

[0022] - the upper support comprises support surfaces collaborating with the support lower, the connecting step comprising a step of screwing said lower support onto the support surfaces of the upper support. The support surfaces extend projecting from the upper support and towards the lower support. The support surfaces are made in one piece with the upper support;

[0023] - the lower support has soles extending projecting from the support lower and towards the upper support, so as to define housings for at least part of the components assembled on the lower support, so that said soles form support surfaces, or even stop surfaces - for said components assembled on the lower support. The soles thus make it possible to form retaining members for the components located in abutment against it or in the housing which they delimit at least in part. Thus, advantageously, the lower support comprises structural elements which help to properly maintain the corresponding members during use of the underwater exploration vehicle;

[0024] - the assembly step comprises a step of clamping at least part of the components assembled on the lower support, using a holding flange pressed against said corresponding component, said holding flange being securely fixed to the lower support, preferably by screwing. This advantageous configuration makes it possible to effectively hold the corresponding member in all circumstances;

[0025] - the assembly step includes a step of placing protective foams against at least part of the components assembled on the lower support. In part In particular, the placement step comprises a step of placing protective foam between the hull and a casing of a propulsion assembly of the underwater exploration vehicle, so as to fill a space located between the casing and the hull, and with the aim of reducing the dimensions of an immersion chamber. In addition, the use of protective foam makes it possible to improve the buoyancy of the underwater exploration vehicle. The protective foam is preferably waterproof. Finally, the step of placing the protective foams further comprises a step of depositing a seal on a peripheral edge of the protective foam and / or at an interface between the protective foam and the hull located opposite and / or at an interface between the protective foam and the associated component.This advantageous configuration makes it possible to isolate the volume occupied by the foam and any residual space located between the protective foam and the hull, from the immersion chamber of the underwater exploration vehicle;

[0026] - the attachment step includes a step of screwing the lower face of the shell onto the legs of the lower support located opposite. The lower face of the shell is preferably screwed on its peripheral edge against the legs of the lower support;

[0027] - preferably, the lower face of the shell comprises a single set of hull. The hull assembly forming the underside of the hull thus forms a closing hood for the interior assembly and the immersion chamber of the underwater exploration vehicle

[0028] According to a second aspect of the invention, there is provided an underwater exploration vehicle assembled according to the assembly method according to the first aspect of the invention or according to any of its improvements.

[0029] In particular, the underwater exploration vehicle according to the invention comprises:

[0030] - a hull delimiting an interior volume for the underwater exploration vehicle navy;

[0031] - 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;

[0032] - 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 exploration vehicle underwater through an inlet and an outlet opening provided on the hull;

[0033] - 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;

[0034] - 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;

[0035] - a control screen electrically connected to the control unit and configured to displaying functional parameters of the underwater exploration vehicle, said control screen being housed at a concavity of an upper face of the hull, the at least one propulsion assembly, the electric battery, the control unit and the control screen forming components of the underwater exploration vehicle.

[0036] Generally speaking, any element introduced into the interior volume delimited by the shell, and for example assembled on the lower support or on the upper support, forms a component within the meaning of the present invention.

[0037] Advantageously, the hull comprises a plurality of hull elements and together delimiting the interior volume of the underwater exploration vehicle.

[0038] 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.

[0039] 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 vehicle underwater exploration vehicle can be piloted by a user intended to be lying on the upper face of the hull, or the underwater exploration vehicle is of the type of an autonomous machine 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.

[0040] 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.

[0041] The hull delimits a lower face of the underwater exploration vehicle, an upper face opposite the lower face relative to the vertical axis, and two lateral faces opposite one another relative to the transverse axis and connecting the upper face to the lower face. A user of the underwater exploration vehicle is intended to lie down partly on the upper face of said underwater exploration vehicle in order to grasp control handles and pilot said underwater exploration vehicle. In order to allow him to control functional parameters of the underwater exploration vehicle, the latter comprises the control screen arranged in the upper part of the underwater exploration vehicle, at the level of the upper face of the hull.Due to the flow of air or water against the underwater exploration vehicle, depending on its use respectively on the water surface or in the water, the screen is housed in the concavity of the upper face of the hull.

[0042] According to the invention, the concavity of the upper face forms a depression located directly behind the control screen, relative to the longitudinal axis, so as to offer the user of the underwater exploration vehicle an optimal viewing angle on said control screen. The concavity of the hull also offers a protective geometry for said user, in the manner of a windshield for example on a motorcycle in the automotive field.

[0043] 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 the underwater exploration vehicle has been launched. 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 a water inlet or outlet.In other words, in the context of the present invention, the orifices are not unidirectional.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Various embodiments of the invention are provided, integrating according to all of their possible combinations the different optional characteristics set out here.

[0048] Other characteristics and advantages of the invention will become apparent from the following description on the one hand, and from several exemplary embodiments given for informational and non-limiting purposes with reference to the attached schematic drawings on the other hand, in which:

[0049] [Fig.l] illustrates a synoptic view of the assembly process according to the first aspect of the invention;

[0050] [Fig.2] illustrates a detailed view of a first step of an exemplary embodiment of the underwater exploration vehicle according to the second aspect of the invention and being assembled according to the assembly method illustrated in [Fig.l];

[0051] [Fig.3] illustrates a detailed view of a first step of an exemplary embodiment of the underwater exploration vehicle according to the second aspect of the invention and being assembled according to the assembly method illustrated in [Fig.l];

[0052] [Fig.4] illustrates a detailed view of a second step of an exemplary embodiment of the underwater exploration vehicle according to the second aspect of the invention and being assembled according to the assembly method illustrated in [Fig.l];

[0053] [Fig.5] illustrates a detailed view of a third step of an exemplary embodiment of the underwater exploration vehicle according to the second aspect of the invention and being assembled according to the assembly method illustrated in [Fig.l];

[0054] [Fig.6] illustrates a detailed view of a third step of an exemplary embodiment of the underwater exploration vehicle according to the second aspect of the invention and being assembled according to the assembly method illustrated in [Fig.l];

[0055] [Fig.7] illustrates a detailed view of a fourth step of an exemplary embodiment of the underwater exploration vehicle according to the second aspect of the invention and being assembled according to the assembly method illustrated in [Fig.l];

[0056] [Fig.8] illustrates a perspective and front view of an exemplary embodiment of a underwater exploration vehicle according to the second aspect of the invention and as assembled according to the assembly method illustrated in FIGURES 1 to 7;

[0057] [Fig.9] illustrates a perspective and rear view of the underwater exploration vehicle marine illustrated in [Fig.8];

[0058] [Fig. 10] illustrates a top view of the underwater exploration vehicle illustrated in [Fig.8];

[0059] [Fig. 11] illustrates a bottom view of the underwater exploration vehicle illustrated in [Fig.8];

[0060] [Fig. 12] illustrates a longitudinal and side sectional view of the underwater exploration vehicle illustrated in [Fig.8];

[0061] [Fig. 13] illustrates a longitudinal and top sectional view of the underwater exploration vehicle illustrated in [Fig.8].

[0062] Of course, the features, variants and different embodiments of the invention may be combined 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 comprising only a selection of features described below in isolation from the other features described, if this selection of features is sufficient to to confer a technical advantage or to differentiate the invention from the prior art.

[0063] 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.

[0064] In the figures, the elements common to several figures retain the same reference.

[0065] 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.

[0066] 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.

[0067] Furthermore, the longitudinal axis X extends as taken along a direction that extends from front to rear 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.

[0068] 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.

[0069] With reference to FIGURES 1 to 7, the invention addresses a method of assembling 30 an underwater exploration vehicle 1, the assembly method 30 comprising the following steps:

[0070] - a step 31 of fixing at least one shell element 132 forming a face su upper 101 of a hull 10 of the underwater exploration vehicle 1 on an upper support 137 of said underwater exploration vehicle 1;

[0071] - a step of connecting 32 a lower support 135 of the underwater exploration vehicle marine 1 on upper support 137;

[0072] - a step 33 of assembling several components of the underwater exploration vehicle marine 1 on lower support 135;

[0073] - a step 34 of attaching at least one shell element 132 forming a face in lower 108 of hull 10 of underwater exploration vehicle 1.

[0074] The underwater exploration vehicle 1 resulting from the assembly method 30 will be described later with reference to FIGURES 8 to 13.

[0075] As visible in [Fig.l], 2 and 3, the fixing step 31 forms the first of the assembly steps of the assembly method 30 according to the invention. Cleverly, the fixing step 31 and the following ones aim to construct the underwater exploration vehicle 1 upside down, in successive layers from the upper face 101, said underwater exploration vehicle 1 being turned over, until it is closed at the last step of the assembly method 30.

[0076] In [Fig.2], the assembly of a lighting assembly 19 of the vehicle is illustrated. underwater exploration vehicle 1 on a front face 106 forming the bow 11 of said underwater exploration vehicle 1. the lighting assembly 19 here takes the form of an LED strip - English acronym for "Light Emitting Diode" meaning light-emitting diode - which extends along the transverse axis Y of the underwater exploration vehicle 1.

[0077] The upper support 137 has a curved shape to allow it to receive the lower support 135. Relative to the longitudinal axis X, the upper support 137 extends only at the level of the bow zone 11 of the underwater exploration vehicle 1. On the side of an environment external to the underwater exploration vehicle 1, the upper support 137 is configured to be pressed against by hull elements 132 which cover and dress said upper support 137, in the manner of a bodywork skin.

[0078] In order to facilitate the assembly of the lower support 135 on the upper support 137, the upper support 137 comprises indexing members 1371 which make it possible to define the relative assembly position between the lower support 135 and the upper support 137, relative to the longitudinal axis X and / or to the transverse axis Y and / or to the vertical axis Z. In addition, the upper support 137 also comprises support surfaces 163 which collaborate with a facing face of the lower support 135 in order to allow it to be placed in support and fixed on the upper support 137.

[0079] Additionally, the upper support 137 also comprises, at the level of lateral faces 102 of the hull 10 of the underwater exploration vehicle 1, that is to say on either side of the upper support 137 relative to the transverse axis Y, handle supports which make it possible to stiffen control handles 13 of the underwater exploration vehicle 1, as visible in FIGURES 8 to 13.

[0080] The upper support 137 is formed from a material comprising plastic, and it is preferably obtained by molding.

[0081] With reference to [Fig. 3], the fixing step 31 comprises the assembly of several hull elements 132 forming the upper face 101 of the hull 10 of the underwater exploration vehicle 1. In particular, the hull elements 132 comprise a central upper element 1320 1320 and two lateral upper elements 1321 located on either side of said central upper element 1320 1320, relative to the transverse axis Y. All the shell elements 132 are fixed integrally to the upper support 137 by means of fixing lugs 1373 integral with the upper support 137 and on which the shell elements 132 are fixed integrally, preferably by screwing. In order to guarantee optimal fixing and to prevent the shell elements 132 from lifting or detaching from the upper support 137, the upper support 137 comprises several fixing lugs 1373 which are distributed along the fixing interfaces with the shell elements 132 located opposite.

[0082] In a particularly advantageous and original manner compared to known underwater exploration vehicles, the hull elements 132 forming the upper face 101 of the hull 10 of the underwater exploration vehicle 1 according to the invention comprise shoulder edges 1322 configured to allow adjustment of the hull elements 132 to one another. In particular, the shoulder edges 1322 allow abutment of two adjacent hull elements 132, preferably along the longitudinal axis X, in order to achieve precise assembly of the different hull elements 132. The shoulder edges 1322 form sidewalks and / or edges configured to overlap each other in order to provide a continuous surface of the hull 10.

[0083] In order to improve the relative fixing of the shell elements 132 to each other and to avoid the creation of lateral play between them or at their respective shoulder edges 1322, the shell elements 132 comprise at least one fixing flange 1323 making it possible to connect two adjacent shell elements 132 along their respective shoulder edge 1322. Each fixing flange 1323 extends transversely and astride two adjacent shell elements 132, at their respective shoulder edges 1322. Consequently, the fixing step 31 comprises a step of anchoring the two adjacent shell elements 132 by means of these fixing flanges 1323.

[0084] As visible in [Fig.3], the central upper element 1320 1320 of the shell 10 is abutted against each lateral upper element 1321 of the shell 10. For this purpose, the central upper element 1320 1320 comprises, on each lateral side, such a shoulder edge 1322 collaborating with a shoulder edge 1322 formed on each lateral upper element 1321 located opposite. In addition, in order to properly connect these shell elements 132, several fixing flanges 1323 are arranged along the shoulder edges 1322, relative to the longitudinal axis X.

[0085] As visible in [Fig. 3], the hull elements 132 extend behind the upper support 137 of the underwater exploration vehicle 1, relative to the longitudinal axis X; and it is the lower support 135 which is configured to be affixed to these hull elements 132 behind the upper support 137 in order to stiffen them and to keep them in position.

[0086] [Fig.4] illustrates the state of the underwater exploration vehicle 1 during the step 32 of connecting the lower support 135 to the upper support 137.

[0087] This connecting step 32 consists of extending the internal frame of the underwater exploration vehicle 1 formed until now by the upper support 137 using the lower support 135. This extension of the upper support 137 behind the latter relative to the longitudinal axis X is accompanied by a superposition of the lower support 135 on the upper support 137 at the level of the frontal zone of the underwater exploration vehicle 1, near the bow 11.

[0088] As mentioned previously, the step 32 of connecting the lower support 135 to the upper support 137 comprises a step of indexing said lower support 135 on said upper support 137, said lower support 135 and / or said upper support 137 comprising indexing members 1371 collaborating with complementary indexing members of said upper support 137 and / or said lower support 135 respectively.

[0089] The fixing of the lower support 135 on the upper support 137 is permitted by the presence of bearing surfaces 163 located on the upper support 137 and collaborating with the lower support 135. The lower support 135 is thus screwed onto the upper support 137 at the level of the bearing surfaces 163 of the upper support 137. The bearing surfaces 163 extend projecting from the upper support 137 and in the direction of the lower support 135. The bearing surfaces 163 are made in one piece with the upper support 137. The bearing surfaces 163 are distributed over the surface of the upper support 137 in order to properly distribute the loads between the lower support 135 and the upper support 137, thus guaranteeing good rigidity of the underwater exploration vehicle 1.

[0090] The lower support 135 forms a cradle for receiving numerous components of the underwater exploration vehicle 1 according to the invention. For this purpose, and as visible in [Fig. 4], the lower support 135 comprises soles 1351 which extend projecting from the lower support 135 and towards the upper support 137, so as to define housings or locations for at least some of the components assembled on the lower support 135. In particular, the soles 1351 form bearing surfaces for the components assembled on the lower support 135. The soles 1351 thus form flat surfaces which extend across the underwater exploration vehicle 1 in order to axially block certain components - and in particular the electric battery 5 and the control unit 6 as visible in [Fig. 5] - when these are assembled on the lower support 135.

[0091] [Fig.5] illustrates the assembly step 33 of the underwater exploration vehicle 1. In particular, [Fig.5] illustrates the assembly of the electric battery 5 at the bow area 11 of the underwater exploration vehicle 1, and in particular at the level of a front area of ​​the lower support 135. The electric battery 5 is thus housed between two soles 1351 visible in [Fig.4] in order to be axially blocked between them, relative to the longitudinal axis X. Complementarily, the electric battery 5 is also cleverly blocked axially along the transverse axis Y thanks to a similar geometry along this axis. Similarly, [Fig.5] illustrates the assembly of the control unit 6 behind the electric battery 5, relative to the longitudinal axis X, on the lower support 135. The control unit 6 is thus housed between two soles 1351 visible in [Fig.4] in order to be axially blocked between them, relative to the longitudinal axis X. In addition, the control unit 6 is also cleverly blocked axially along the transverse axis Y thanks to a similar geometry along this axis.

[0092] [Fig.6] illustrates a step of clamping the electric battery 5 and the control unit 6 using a holding clamp 1352 which partly encircles the electric battery 5 and the control unit 6 respectively.

[0093] The holding flange 1352 associated with the electric battery 5 extends along the longitudinal axis X; and the holding flange 1352 associated with the control unit 6 extends along the transverse axis Y. Each holding flange 1352 is fixed integrally to the lower support 135 in order to clamp the electric battery 5 and the control unit 6 respectively against the lower support 135. The holding flange 1352 is preferably formed of a plastic or metallic material, having a high modulus of elasticity in order to have great rigidity.

[0094] Additionally, [Fig.6] also illustrates the assembly on the lower support 135 of other components of the underwater exploration vehicle 1, including in particular:

[0095] - two propulsion units 7 located on either side of the longitudinal axis X, each propulsion assembly 7 being located against or near a side face 102 of the hull 10. Each propulsion assembly 7 is fixed to a rear part of the lower support 135;

[0096] - protective foams 9 make it possible to close and seal certain spaces in interiors of the interior space thus formed in the underwater exploration vehicle 1. The protective foams 9 are formed of a preferably impermeable plastic material. The protective foams 9 are molded according to the geometry of the lower support 135 and the components assembled thereon and as described previously. The protective foams 9 can be fixed on the lower support 135e or simply placed on the components and sandwiched between said component with which they are associated and the lower face 108 of the hull 10 intended to be fixed on the lower support 135, according to the final attachment step 34 of the method assembly 30.

[0097] The protective foams 9 make it possible to fill spaces in the interior volume delimited by the hull 10 of the underwater exploration vehicle 1, in order to limit a volume of the immersion chamber 4 of said underwater exploration vehicle 1. Indeed, for reasons of buoyancy, balance and dynamic behavior of the underwater exploration vehicle 1 in the water, it is necessary to limit the immersion chamber 4 to a predetermined volume, and to distribute it in a balanced manner between a front zone and a rear zone of the underwater exploration vehicle 1. For this purpose, as visible in [Fig.6], the underwater exploration vehicle 1 comprises:

[0098] - first protective foams 9 located at the level of the bow zone 11. The first foams 9 are located on either side of the electric battery 5, relative to the transverse axis Y, and extend over the lower support 135, from the electric battery 5 to the corresponding lateral face 102 of the shell 10;

[0099] - second protective foams 9 located at the level of the assemblies of propulsion 7. The second foams 9 are located on either side of each propulsion assembly 7, relative to the transverse axis Y, and extend over a casing 71 of said propulsion assemblies 7, from said casing 71 to the lateral face 102 of the hull 10 and located opposite.

[0100] More particularly, at the level of the stern zone 12 of the underwater exploration vehicle 1, the second ones make it possible to reduce the immersion chamber 4 of the underwater exploration vehicle 1 to the zone located strictly between the propulsion assemblies 7. This advantageous configuration makes it possible to improve the buoyancy and the balancing of the underwater exploration vehicle 1.

[0101] Advantageously, the protective foams 9 are impermeable. Finally, the step of placing the protective foams 9 comprises the deposition of a seal on a peripheral edge of said protective foams 9 and / or at an interface between said protective foams 9 and the hull 10 located opposite and / or at an interface between said protective foams 9 and the associated component, i.e. the casing 71 of the propulsion assemblies 7 in the exemplary embodiment visible in [Fig.6].

[0102] Finally, with reference to [Fig.7], the attachment step 34 of the assembly method 30 comprises a step of screwing the lower face 108 of the shell 10 onto legs of the lower support 135 located opposite said lower face 108. The lower face 108 of the shell 10 is preferably screwed on its peripheral periphery against the legs of the lower support 135, so as to prevent the lower face 108 of the shell 10 from lifting or detaching. Preferably, the lower face 108 of the shell 10 comprises a single shell assembly 10. The hull assembly 10 forming the lower face 108 of the hull 10 thus forms a closing cover for the interior assembly and the immersion chamber 4 of the underwater exploration vehicle 1. The lower face 108 presses the protective foams 9 against the lower support 135 and against the components, preventing the latter from moving during use of the underwater exploration vehicle 1.

[0103] With reference to FIGURES 8 to 13, an underwater exploration vehicle 1 manufactured according to the assembly method 30 described above will now be described in detail, through a preferred but non-limiting embodiment of the invention.

[0104] With reference to FIGURES 8 to 13, the invention primarily addresses an underwater exploration vehicle 1 comprising:

[0105] - a hull 10 delimiting an interior volume for the underwater exploration vehicle marine 1;

[0106] - 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;

[0107] - 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;

[0108] - 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;

[0109] - 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;

[0110] - 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;

[0111] - control handles 13 located on either side of lateral faces 102 of the hull 10, the control handles 13 allowing to control and maneuver the underwater exploration vehicle.

[0112] In the exemplary embodiment illustrated in FIGURES 8 to 13, 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.

[0113] 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, the internal frame being formed of a lower support 135 and an upper support 137, as explained previously with regard to the assembly method 30.

[0114] 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 11 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.

[0115] As visible in FIGURES 8, 10 and 11, the underwater exploration vehicle 1 has a wider section, relative to the transverse axis Y, located directly behind the bow 11. 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 accommodate all the electronic elements necessary for the operation of the underwater exploration vehicle 1.

[0116] As visible in [Fig.8] 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.

[0117] As visible in [Fig. 12], this part located directly behind the bow 11 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 11 of the underwater exploration vehicle 1 - to a cap 103 overhanging the control screen 18.

[0118] 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.

[0119] 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.

[0120] 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 12 of the underwater exploration vehicle 1 - the interior volume delimited by the hull 10 is minimal, said hull 10 having a height minimal, relative to the vertical Z axis.

[0121] As mentioned previously, the underwater exploration vehicle 1 is manipulated by control handles 13 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 the lateral face 102 of the hull 10.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] In order to facilitate the insertion of water into the inlet openings 16, 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.

[0126] However, the main reason why water seeps 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 shaft of transmission 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.

[0127] 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 12. 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.

[0128] 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.

[0129] As mentioned previously, and as can be seen more particularly in FIGURES 12 and 13, 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.

[0130] 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 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 still, the immersion chamber 4 is not located between the casing 71 of the propulsion assemblies 7 and the hull 10 located around, relative to the transverse axis Y.

[0131] 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.

[0132] 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.

[0133] 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:

[0134] - 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;

[0135] - 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 launching the underwater exploration vehicle 1 to be expelled from said immersion chamber 4 during its filling during the launching of the underwater exploration vehicle 1, and only during this step. Thus the second orifices 22 collaborate with the first orifices 21 to facilitate the filling of the immersion chamber 4 with water during the launching of the underwater exploration vehicle 1 by simultaneously allowing the entry of water through the first orifices 21, an exit of air through the second orifices 22.Conversely, when the underwater exploration vehicle 1 is removed from 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;

[0136] - 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.

[0137] 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.

[0138] 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:

[0139] - no orifice serving as an inlet orifice for the immersion chamber 4 is located on the front face 106 or in the bow area 11 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 11 and the stern area 12, excluding the latter;

[0140] - no orifice serving as an outlet orifice for the immersion chamber 4 is located on the rear face 107 or in the stern area 12 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 11 and the stern area 12, excluding these;

[0141] - 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.

[0142] 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.

[0143] 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.

[0144] 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 tightly closes an electrical connector 8 allowing the updating of internal software embedded in the control unit 6, or certain of the functional parameters of the underwater exploration vehicle 1. This advantageous configuration allows updates to be carried out easily and facilitates the wired connection between the underwater exploration vehicle 1 and a remote server.

[0145] As mentioned previously, the invention here organizes the different orifices 2 putting the immersion chamber 4 into fluid communication with the external environment so that they prevent a flow of water into the immersion chamber 4 when the underwater exploration vehicle 1 is moving on the surface of the water or in the water.

[0146] With reference to FIGURES 11 and 12 in particular, the first orifices 21 form large openings which extend relative to the longitudinal axis X on the lower face 108 of the hood of the underwater exploration vehicle 1.

[0147] The first orifices 21 do not allow the insertion of water when the underwater exploration vehicle 1 is moving on the surface of the water or underwater because an axis perpendicular to the opening surface of the first orifices 21 is oriented or substantially oriented along the vertical axis Z of the underwater exploration vehicle 1. In other words, the first orifices 21 are oriented or substantially oriented in the direction of the vertical axis Z, so as to extend tangentially to a flow of water during the movement of the underwater exploration vehicle 1, relative to the longitudinal axis X.Thus, when the underwater exploration vehicle 1 is in use, with the immersion chamber 4 filled with water, the water flowing along the lower face 108 of the hull 10 cannot enter the immersion chamber 4 due to the pressure balance existing both in the immersion chamber 4 and at the lower face 108 and the first orifices 21. Thus, the water flows along the lower face 108 without entering the immersion chamber 4.This behavior is particularly favored by the fact that the first orifices 21 extend longitudinally over a very large part of the lower face 108, between the bow zone 11 and the stern zone 12 of the underwater exploration vehicle, so as to favor an internal pressure balance between a frontal zone of the immersion chamber 4 - located on the side of the electric battery 5 - and a rear zone of the immersion chamber 4, located at the level of the propellers of the propulsion assemblies 7, relative to the longitudinal axis X.

[0148] More particularly, in the exemplary embodiment illustrated in FIGURES 10 and 11, the first orifices 21 comprise a plurality of oblong lights 211 which all extend along the longitudinal axis X of the underwater exploration vehicle 1. In other words, each oblong light 211 forming the first orifices 21 extends in an elongated manner - preferably in a rectangular manner - relative to the longitudinal axis X of the underwater exploration vehicle 1. The oblong lights 211 are all parallel to each other and distributed adjacent to each other relative to the transverse axis Y of the underwater exploration vehicle 1.

[0149] In order to protect the lower face 108 of the hull 10 and to prevent objects from entering the immersion chamber 4 through the first orifices 21, the lower face 108 of the hull 10 comprises ribs 212 which all extend projecting from the lower face 108 of the hull 10 and along the longitudinal axis X of the underwater exploration vehicle 1. The ribs 212 are all parallel to each other and extend between two adjacent oblong slots 211. The ribs 212 are made of a single material with the lower face 108 of the hull 10.

[0150] The first orifices 21, and in particular the oblong lights 211 and the associated ribs 212 are located in the central part of the underwater exploration vehicle, relative to the transverse axis Y.

[0151] With reference to FIGURES 9, 10 and 12 in particular, the second orifices 22 form openings which extend relative to the transverse axis Y on the upper face 101 of the hood of the underwater exploration vehicle 1, and more particularly on the floor 1051 of the concavity 105, directly behind the control screen 18, relative to the longitudinal axis X.

[0152] The second orifices 22 do not allow the insertion of water when the underwater exploration vehicle 1 is moving on the surface of the water or underwater because an axis perpendicular to the opening surface of the second orifices 22 is oriented or substantially oriented along the vertical axis Z of the underwater exploration vehicle 1. In other words, the second orifices 22 are oriented or substantially oriented in the direction of the vertical axis Z, so as to extend tangentially to a flow of water when the underwater exploration vehicle 1 is moving, relative to the longitudinal axis X. In addition, the second orifices 22 are located in the concavity 105 of the upper face 101 of the hull 10, therefore sheltered from a water current when the underwater exploration vehicle 1 is moving underwater.Thus, when the underwater exploration vehicle 1 is in use, with the immersion chamber 4 filled with water, water flowing along the upper face 101 of the hull 10 or at the concavity 105 cannot enter the immersion chamber 4 due to the pressure balance existing both in the immersion chamber 4 and at the upper face 101 of the hull 10 and the second orifices 22. Thus, water flows along the upper face 101 and along the concavity 105 without entering the immersion chamber 4. This behavior is . in particular favored by the fact that each second orifice 22 has a flap 24 which extends in the direction of the longitudinal axis X - as visible in [Fig. 12] - which leads to obstructing or slowing down or making more difficult the insertion of the water into the immersion chamber 4 located vertically.

[0153] As visible in [Fig. 12], each second orifice 22 comprises a slot 25 associated with the flap 24. The slot 25 extends along the transverse axis Y of the underwater exploration vehicle 1. In other words, the slots 25 forming the second orifices 22 all extend in an elongated manner - preferably in a rectangular or oblong manner - relative to the transverse axis Y of the underwater exploration vehicle 1. Relative to the transverse axis Y, the flap 24 extends in an identical manner to the slot 25 with which it is associated. The flaps 24 thus form a kind of deflector 231 for the second orifices 22, preventing the water from flowing towards the immersion chamber 4 when the latter is subjected to a flow movement towards the rear of the underwater exploration vehicle 1, as is the case for underwater navigation.

[0154] In order to facilitate the immersion of the underwater exploration vehicle 1 when it is launched into the water by facilitating the expulsion of the air present in the immersion chamber 4 when the water enters it through the first orifices 21, the second orifices 22 are located directly above the first orifices 21. The second orifices 22 are also located in the central position of the underwater exploration vehicle 1, relative to the transverse axis Y.

[0155] Relative to the longitudinal axis X, the slots 25 forming the second orifices 22 extend at the level of a region of the upper face 101 of the hull 10 situated between the battery and the control unit 6, relative to the longitudinal axis X of the underwater exploration vehicle 1.

[0156] With reference to FIGURES 8, 9 and 10 in particular, the third orifices 23 form large openings which extend relative to the vertical axis Z on each of the lateral faces 102 of the hood of the underwater exploration vehicle 1, and more particularly at the level of the depression formed by the lateral faces 102, at the level of the passages 130 opposite the control handles 13.

[0157] The third orifices 23 do not allow the insertion of water when the underwater exploration vehicle 1 is moving on the surface of the water or underwater because an axis perpendicular to the opening surface of the third orifices 23 is oriented or substantially oriented along the transverse axis Y of the underwater exploration vehicle 1. In other words, the third orifices 23 are oriented or substantially oriented in the direction of the transverse axis Y, so as to extend tangentially to a flow of water when the underwater exploration vehicle 1 is moving, relative to the longitudinal axis X. Furthermore, the third orifices 23 are located in the depression formed on the side faces 102 of the underwater exploration vehicle 1. Thus, when the underwater exploration vehicle 1 is in use, the immersion chamber 4 being filled with water, the water which flows along the side faces 102 of the hull 10 cannot enter the immersion chamber 4 due to the pressure balance existing both in the immersion chamber 4 and at the level of said side faces 102 of the hull 10 and the third orifices 23. Thus, the water flows along the side faces 102 without entering the immersion chamber 4.

[0158] Relative to the vertical axis Z, the third orifices 23 are aligned or substantially aligned with the second orifices 22. In other words, the third orifices 23 are located close to the upper face 101 of the hull 10. Complementarily, relative to the longitudinal axis X, the third orifices 23 are located in front of the second orifices 22, and at a front part of the first orifices 21. In particular, the third orifices 23 extend opposite the electric battery 5 of the underwater exploration vehicle 1. This advantageous configuration makes it possible to promote the flooding of the front part of the immersion chamber 4 when the underwater exploration vehicle 1 is launched into the water.

[0159] The third orifices 23 extend along the vertical axis Z and / or longitudinal axis of the underwater exploration vehicle 1. In other words, the third orifices 23 extend in an elongated manner - preferably in a rectangular or oblong manner - relative to the vertical axis Z and / or longitudinal axis of the underwater exploration vehicle 1, and in a manner all parallel and adjacent to each other.

[0160] As visible in FIGURES 8 and 9, each lateral face 102 of the hull 10 on which the third orifices 23 are arranged comprises a deflector 231 associated with each third orifice 23. The deflector 231 is configured to prevent the flow of water into the third orifices 23 when the underwater exploration vehicle 1 is moving on the surface of the water or underwater. Conversely, the deflectors 231 make it possible to generate a tangential flow to the third orifices 23.

[0161] The deflectors 231 extend projecting from the lateral face 102 on which the third orifices 23 are formed. Each third orifice 23 is associated with a deflector 231. Each deflector 231 extends from the lateral face 102 on which the third orifices 23 are formed. Each deflector 231 overhangs the corresponding third orifice 23, relative to the transverse axis Y. In other words, each deflector 231 extends from front to rear from the lateral face 102 of the shell 10, so as to overhang the third orifice 23 with which it is associated, relative to the transverse axis Y.

[0162] Thus, the underwater exploration vehicle 1 according to the invention proposes a particularly clever architecture and geometry with a view to optimizing its performance. Indeed, the underwater exploration vehicles known from the prior art which implemented an internal flow in the immersion chamber 4, due to the water inlet facing the flow of water - that is to say facing the longitudinal axis X - and / or located at the level of their bow zone 11 led to less maneuverability and greater inertia, and therefore to less comfort of use, due to the existence of this internal flow and the internal friction generated by the water flowing in the cavity. Conversely, the design proposed here provides a completely opposite design and cleverly leads to increased performance and comfort of use.

[0163] In summary, the invention relates to a method 30 for assembling an underwater exploration vehicle 1, the assembly method 30 comprising the following steps:

[0164] - a step 31 of fixing at least one shell element 132 forming a face su upper 101 of a hull 10 of the underwater exploration vehicle 1 on an upper support 137 of said underwater exploration vehicle 1;

[0165] - a step of connecting 32 a lower support 135 of the underwater exploration vehicle marine 1 on upper support 137;

[0166] - a step 33 of assembling several components of the underwater exploration vehicle marine 1 on lower support 135;

[0167] - a step 34 of attaching at least one shell element 132 forming a face in lower 108 of hull 10 of underwater exploration vehicle 1.

[0168] 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. A method of assembling (30) an underwater exploration vehicle (1), the method of assembling (30) comprising the following steps: - a step of fixing (31) at least one hull element (132) forming an upper face (101) of a hull (10) of the underwater exploration vehicle (1) on an upper support (137) of said underwater exploration vehicle (1); - a step of connecting (32) a lower support (135) of the underwater exploration vehicle (1) on the upper support (137); - a step of assembling (33) several components of the underwater exploration vehicle (1) on the lower support (135); - a step of attaching (34) at least one hull element (132) forming a lower face (108) of the hull (10) of the underwater exploration vehicle (1).

2. Assembly method (30) according to the preceding claim, wherein the fixing step (31) comprises the assembly of several hull elements (132) forming the upper face (101) of the underwater exploration vehicle (1), the upper support (137) comprising fixing lugs (1373) on which said hull elements (132) are fixed integrally.

3. Assembly method (30) according to the preceding claim, in which the shell elements (132) are fixed integrally to the fixing lugs (1373) by means of fixing screws collaborating with said fixing lugs (1373).

4. An assembly method (30) according to any one of claims 2 or 3, wherein the shell elements (132) comprise shoulder edges (1322) configured to allow adjustment of the shell elements (132) between them, the fixing step (31) comprising a step of adjusting the shell elements (132) between them, along their shoulder edges (1322).

5. An assembly method (30) according to any one of claims 2 to 4, wherein the shell elements (132) comprise at least one fixing flange (1323) for connecting two adjacent shell elements (132) along their respective shoulder edge (1322), the fixing step (31) comprising a step of anchoring the two adjacent shell elements (132) via the at least one fixing flange (1323).

6. Assembly method (30) according to any one of the preceding claims, in which the upper support (137) comprises bearing surfaces (163) collaborating with the lower support (135), the connecting step (32) comprising a step of screwing said lower support (135) onto the bearing surfaces (163) of the upper support (137).

7. Assembly method (30) according to the preceding claim, in which the lower support (135) comprises soles (1351) extending projecting from the lower support (135) and towards the upper support (137), so as to define housings for at least a portion of the components assembled on the lower support (135), so that said soles (1351) form bearing surfaces, or even stopping surfaces - for said components assembled on the lower support (135).

8. Assembly method (30) according to any one of the preceding claims, in which the assembly step (33) comprises a step of clamping at least part of the assembled components on the lower support (135), using a holding flange (1352) pressed against said corresponding component, said holding flange (1352) being fixed integrally to the lower support (135), preferably by screwing.

9. An assembly method (30) according to any one of the preceding claims, wherein the assembly step (33) comprises a step of placing protective foams (9) against at least a portion of the assembled components on the lower support (135).

10. An underwater exploration vehicle (1) assembled according to the assembly method (30) according to any one of the preceding claims.

11. Underwater exploration vehicle (1) according to the preceding claim, wherein the underwater exploration vehicle (1) comprises: - 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 shaft of transmission (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 unit (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 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), the at least one propulsion assembly (7), the electric battery (5), the control unit (6) and the control screen (18) forming components of the underwater exploration vehicle (1).

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