UNDERWATER DEVICE FOR ACQUIRING IMAGES OF THE BED OF A BODY OF WATER

Abstract

The invention relates to an underwater device for capturing images of a seabed, comprising at least one sensor for detecting a sensor value, at least one electrical consumer and an electrical energy source for supplying electrical energy to the electrical consumer. The underwater device is characterised in that, based on the sensor value, it is determined whether a hazardous condition exists for the electrical consumer and an energy distribution unit is provided which disconnects the electrical consumer from the electrical energy source if a hazardous condition exists.

Claims

1. An underwater device (1) for capturing images of a seabed, having at least one sensor (2) for detecting a sensor value, at least one electrical consumer and an electrical energy source (4) for supplying the electrical consumer with electrical energy, characterised in that it is determined on the basis of the sensor value whether a hazardous condition is present for the electrical consumer, and an energy distribution unit (5) is present which disconnects the electrical consumer from the electrical energy source (4) if a hazardous condition is present.

2. The underwater device (1) according to claim 1, characterised in that the energy distribution unit (5) has a control device (6), a. which evaluates the acquired sensor value and/or b. which causes the electrical energy source (4) to be disconnected from the electrical consumer if a hazardous condition exists and/or c. which causes no electrical energy to be supplied to the electrical consumer if a hazardous condition exists and/or d. which enables the supply of electrical energy to the electrical consumer.

3. The underwater device (1) according to claim 2, characterised in that the energy distribution unit (5) has a switching device (7) by means of which the electrical connection between the electrical energy source (4) and the electrical consumer can be disconnected.

4. The underwater device (1) according to claim 3, characterised in that the energy distribution unit (5) generates a switch-off message and the switch-off message is transmittable to the electrical consumer prior to disconnection of the electrical connection between the electrical energy source (4) and the electrical consumer.

5. The underwater device (1) according to claim 4, characterised in that a. the energy distribution unit (5) waits for a predetermined period of time after the switch-off message has been transmitted before the electrical connection between the electrical energy source (4) and the electrical consumer is disconnected and/or in that b. the energy distribution unit (5) waits for feedback from the electrical consumer after transmitting the switch-off message before disconnecting the electrical connection between the electrical energy source (4) and the electrical consumer and/or in that c. the energy distribution unit (5) waits, after transmitting the switch-off message, until a current through the electrical consumer has fallen below a predefined threshold value before the electrical connection between the electrical energy source (4) and the electrical consumer is disconnected.

6. The underwater device (1) according to claim 1, characterised by an electrical display device (8) and by a control unit which is electrically connected to the energy distribution unit (5).

7. (canceled)

8. The underwater device (1) according to claim 6, characterised in that actuation of the control unit causes the energy distribution unit (5) to selectively a. establish or disconnect the electrical connection between the electrical consumer and the electrical energy source (4) or b. to switch the electrical consumer and/or the electrical display device (8) into a sleep mode or c. to switch the electrical consumer and/or the electrical display device (8) into an energy-saving mode.

9. (canceled)

10. The underwater device (1) according to claim 6, characterised in that the energy distribution unit (5) does not electrically disconnect the display device (8) from the electrical energy source (4) when a hazardous condition is detected.

11. The underwater device (1) according to claim 1, characterised by a lighting device, in particular an LED display (26), for indicating an operating state of the underwater device.

12. The underwater device (1) according to claim 2, characterised in that the control device (6) of the energy distribution unit (5) examines the acquired sensor value to determine whether a hazardous condition exists, and in that the energy distribution unit (5), in particular the control device (6), determines a hazardous condition if the acquired sensor value deviates from a predefined or predefinable limit value or lies outside a limit range.

13. (canceled)

14. The underwater device (1) according to claim 1, characterised by a sensor unit (14) that has the at least one sensor (2) and a sensor control device (15), wherein the sensor control device (15) determines that a hazardous condition exists when the detected sensor value deviates from a predefined or predefinable limit value or lies outside a limit range.

15. The underwater device (1) according to claim 14, characterised in that the sensor control device (15) is designed to publish an alarm message in a data channel when a hazardous condition exists, and the energy distribution unit (5) is designed to receive the alarm message from the data channel and subsequently disconnect the electrical connection between the electrical consumer and the electrical energy source (4).

16. (canceled)

17. (canceled)

18. The underwater device (1) according to claim 2, characterised in that the current supplied to the electrical consumer or the voltage applied to the electrical energy source (4) or to the electrical consumer can be determined by means of the sensor (2), and further characterised in that a. the sensor (2) detects the current supplied to the electrical consumer for a predetermined first period of time and for a predetermined second period of time which is longer than the first period of time, and in that the energy distribution unit (5) uses the current values detected in the first period of time to determine whether the electrical consumer is disconnected from the electrical energy source (4) and/or in that b. the control device (6) of the energy distribution unit (5) determines whether a hazardous condition exists based on the determined current value.

19. (canceled)

20. The underwater device (1) according to claim 2, characterised in that the control device (6) of the energy distribution unit (5) generates an alarm message when a hazardous condition exists.

21. The underwater device (1) according to claim 1, characterised in that a temperature or a humidity or a pressure within a cavity of the underwater device (1) can be determined by means of the sensor (2).

22. (canceled)

23. The underwater device (1) according to claim 1, characterised by a position determination unit (12) for determining the actual position of the underwater device (1), having an electrical consumer.

24. The underwater device (1) according to claim 1, characterised by an image capture unit (13) for capturing images of the seabed and having an electrical consumer, and further characterised in that a. the image capture unit (13) has a hyperspectral camera for capturing images of the seabed and/or in that b. the image capture unit (13) has a colour camera, in particular an RGB camera, for capturing images of the seabed.

25. (canceled)

26. The underwater device (1) according to claim 1, characterised in that the underwater device (1) maps the seabed based on the captured images.

27. (canceled)

28. The underwater device (1) according to claim 1, characterised in that the underwater device (1) is designed without a propeller.

29. (canceled)

30. The underwater device (1) according to claim 1, characterised in that the underwater device is a diver-operated underwater device or an autonomous underwater vehicle or a cable-guided underwater vehicle.

31.-46. (canceled)

Description

[0067] The subject matter of the invention is shown schematically in the figures, wherein elements that are the same or have the same effect are mostly provided with the same reference symbols. In the figures:

[0068] FIG. 1 shows the design of an underwater device according to the invention with an energy distribution unit and electrical consumers,

[0069] FIG. 2 shows the design of an energy distribution unit,

[0070] FIG. 3 shows a perspective view of the underwater device,

[0071] FIG. 4 shows a top view of the underwater device.

[0072] The underwater device 1 shown in FIG. 1 for capturing images of a seabed is a diver-operated underwater device, as can be seen in FIGS. 3 and 4. The underwater device 1 can alternatively be an autonomous underwater vehicle or a cable-guided underwater vehicle.

[0073] The underwater device 1 has a sensor unit 14 which has a plurality of sensors 2 for detecting a sensor value in each case and an electrical consumer in the form of a sensor control device 15. By means of the sensors 2 of the sensor unit 14, the pressure, the temperature and/or the humidity can be measured. In addition, the underwater device 1 has further electrical consumers described in more detail below and an electrical energy source 4. The electrical energy source 4 is used to supply electrical consumers with electrical energy. In the underwater device 1, at least one sensor value is used to determine whether a hazardous condition exists for the electrical consumers.

[0074] The underwater device 1 also has an energy distribution unit 5 by means of which the electrical energy provided by the energy source 4 is distributed to the electrical consumers. Furthermore, the energy distribution unit 5 electrically disconnects the electrical consumer from the electrical energy source 4 when a hazardous condition exists. In particular, the energy distribution unit 5 ensures that no electrical energy is supplied to the electrical consumer when a hazardous condition has been detected. As can be seen in particular from FIG. 2, the energy distribution unit 5 has a control device 6 which causes the electrical connection between the energy source 4 and at least one electrical consumer to be disconnected if a hazardous condition is present. The control device 6 can have a processor.

[0075] The energy distribution unit 5 is directly connected to several sensors 2. By means of the sensors 2, the pressure, the temperature and/or the humidity can be measured. In particular, as can be seen in FIG. 2, the control device 6 of the energy distribution unit 5 is directly connected to the sensors 2. The sensor values detected by the sensors 2 are evaluated by the control device 6 to determine whether a hazardous condition exists. If a hazardous condition exists, an alarm message is generated by the control device 6 and placed in a queue. The alarm message is processed when a processing task is carried out by the control device 6. In this regard, the control device 6 causes the electrical connection between the energy source 4 and at least one electrical consumer to be disconnected.

[0076] The underwater device 1 further has an image capture unit 13 for capturing images of the seabed, a position determination unit 12 for determining the position of the underwater device 1, and an display device 8. Furthermore, the underwater device 1 has another control device 16 which is connected in a data-transmitting manner to the image capture unit 13, the position determination unit 12 and the display device. The connection can be made by means of a data line, such as a USB line 28. The underwater device 1 further has a switch 17 which is connected in a data-transmitting manner to the sensor unit 14, the energy distribution unit 5 and the further control device 16. The switch 17 is connected to the aforementioned components by a data bus 27.

[0077] The further control device 16 can have a processor. Furthermore, the further control device 16 can communicate wirelessly, for example via WLAN, with communication devices not shown in the figures. The communication devices are located outside the underwater device 1, for example on a ship.

[0078] The image capture unit 13 has a hyperspectral camera 18 and an RGB camera 19 by means of which images are captured of the seabed. The two cameras are controlled by means of a computer program executed on the further control device 16. In addition, the computer program processes, compresses and stores the captured images. The image capture unit 13 can access the sensor values provided by the sensor unit 14 to adjust the exposure, focus distance and capture speed. Both the hyperspectral camera 18 and the RGB camera 19 can each have a liquid lens. The further control device 16 can be used for the aforementioned processing of the images captured by the hyperspectral camera 18 and the images captured by the RGB camera 19.

[0079] The display device 8 has a screen display 20. In addition, the display device 8 has a control unit in the form of control buttons 21 which are attached to a screen housing, as can be seen in FIG. 4. In this regard, some functions of the underwater device 1 can be adjusted by means of the control buttons 21. The display device 8 is connected to the further control device 16 in a data-transmitting manner.

[0080] The position determination unit 12 has a plurality of position determination means 22, such as a sonar device, an underwater navigation system (USBL), a GPS receiver, etc., for determining the actual position of the underwater device. A computer program is executed on the further control device 16, by means of which the position determination is controlled. In this regard, the control device 16 can process the data provided by the position determining means 22 for position determination.

[0081] As described above, the further control device 16 supports several technical functions of different components of the underwater device 1. In particular, the further control device 16 supports image processing in the image capture unit 13, display of an operating state on the screen display 20, and actual position determination in the position determination unit 12. In an alternative embodiment not shown, the image capture unit 13 and/or the position determination unit 12 and/or the display device 8 can each have their own control device.

[0082] FIG. 1 shows the data-transmitting communication between the components of the underwater device 1 with solid lines. Communication between the components of the underwater device 1 is handled using a communication protocol, in particular MQTT, which has a publish/subscribe mechanism.

[0083] A sensor value detected by a sensor 2 of the sensor device is published in a data channel not shown. The sensor value can be received by any receiving means, such as a receiving means of the image capture unit 13 not shown, that is subscribed to the data channel.

[0084] In addition, the sensor control device 15 can determine whether a sensor value detected by the sensor 2 of the sensor unit 14 deviates from a limit value or lies outside a limit range and thus a hazardous condition exists. Should this be the case, the sensor control device 15 can publish an alarm message in another data channel. Only the receiving means that have subscribed to the other data channel can receive the alarm message. Thus, the alarm message is not received to the image capture unit 13 that did not receive the other data channel. On the other hand, a receiving means of the control device 6 of the energy distribution unit 5, which is not shown, has subscribed to the other data channel so that the alarm message is transmitted to the energy distribution unit 5. Subsequently, the energy distribution unit 5 can disconnect the electrical connection between the energy source 4 and the electrical consumers in processing mode.

[0085] In FIG. 1, the electrical connections between the components of the underwater device 1 are shown as dashed lines. As can be seen in FIG. 1, the energy distribution unit 5 is electrically connected to several electrical consumers. Here, the display device 8, the image capture unit 13, the further control device 16, the switch 17, the sensor unit 14, and the position determination unit 12, in particular individual position determination means, each have at least one electrical consumer which has electronic components and can therefore be disconnected from the energy source 4 by means of the energy distribution unit 5.

[0086] The electrical energy source 4 has multiple batteries 23 and a battery control device 10 for controlling the batteries. The electrical energy source 4 is connected upstream of the energy distribution unit 5.

[0087] FIG. 2 shows the design of an energy distribution unit 5. As has already been described, the energy distribution unit 5 has the control device 6. Furthermore, the energy distribution unit 5 has one switching device 7 by means of which the electrical connection between the energy source 4 and the electrical consumer can be disconnected. For this purpose, the switching device 7 has a plurality of switches, not shown, by means of which the electrical connection to the respective electrical consumer can be disconnected. In particular, the switches can be used to disconnect the electrical connection of an electrical consumer separately and/or independently of other electrical consumers. In addition, a sensor 2 is shown in FIG. 2, by means of which the current of the respective electrical consumer is acquired. The detected current values are transmitted to the control device 6 and evaluated by the control device 6.

[0088] Provided that a hazardous condition has been determined by the control device 6 of the energy distribution unit 5 and/or by the sensor control device 15, the control device 6, when processing the alarm messages in the queue, causes the switching device 7, in particular the switch or switches of the switching device 7, to be switched in such a way that the electrical connection between the electrical energy source 4 and the electrical consumer or consumers is disconnected.

[0089] FIG. 3 shows a perspective view of the underwater device 1 from below. The underwater device 1 has a housing 11 which encloses a cavity, not shown. The electrical consumers and the energy distribution unit 5 are arranged in the cavity. The underwater device 1 has two openings on its underside. A first opening 18 is used to accommodate a sensor of the position determination unit, which is not shown. A second opening is closed by a transparent plate 19, such as a glass pane, and a housing receiving the transparent plate. The hyperspectral camera and the RGB camera can be placed inside the cavity in such a way that they can capture images of the seabed through the transparent plate 19.

[0090] The underwater device 1 also has two touchdown devices 25 projecting from the underside of the housing 11. The two, in particular rail-shaped, touchdown devices 25 run parallel to one another and are used to place the underwater device 1 on the seabed. In particular, the touchdown devices 25 can prevent the transparent plate 19 from coming into contact with the seabed.

[0091] The underwater device 1 has a recess for the electrical energy source 4 on one end face.

[0092] The electrical energy source 4 is connected in a releasable manner to the housing 11 in the recess. In particular, the energy source 4 is connected to the housing 11 in a form-fitting and/or force-fitting manner. The energy source 4 has multiple batteries not shown in the figures.

[0093] The underwater device 1 also has two handles 24 attached to the housing 11 and facing each other with respect to the housing 11, as shown in FIG. 4. The diver can easily manoeuvre and move the underwater device 1 by means of the handles 24.

[0094] FIG. 4 shows a top view of the underwater device 1. The underwater device 1 has the display device 8 on another end face. The display device 8 has a screen display 20. In addition, control buttons 21 are provided by means of which the underwater device 1 is operated. Furthermore, the underwater device 1 has an LED display 26 which shows the operating state of the underwater device 1. In particular, the LED display 26 and/or the screen display 20 can be used to indicate whether a hazardous condition exists.

LIST OF REFERENCE SIGNS

[0095] 1 Underwater device [0096] 2 Sensor [0097] 4 Electrical energy source [0098] 5 Energy distribution unit [0099] 6 Control device [0100] 7 Switch [0101] 8 Display device [0102] 10 Battery control device [0103] 11 Housing [0104] 12 Position determination unit [0105] 13 Image capture unit [0106] 14 Sensor unit [0107] 15 Sensor control device [0108] 16 Further control device [0109] 17 Switch [0110] 18 First opening [0111] 19 Transparent plate [0112] 20 Screen display [0113] 21 Control buttons [0114] 22 Positioning means [0115] 23 Battery [0116] 24 Handle [0117] 25 Touchdown device [0118] 26 LED display [0119] 27 Data bus [0120] 28 USB line