WO2008110636A1 - Underwater inspection device - Google Patents

Underwater inspection device Download PDF

Info

Publication number
WO2008110636A1
WO2008110636A1 PCT/ES2007/000136 ES2007000136W WO2008110636A1 WO 2008110636 A1 WO2008110636 A1 WO 2008110636A1 ES 2007000136 W ES2007000136 W ES 2007000136W WO 2008110636 A1 WO2008110636 A1 WO 2008110636A1
Authority
WO
WIPO (PCT)
Prior art keywords
submersible module
video camera
inspection device
underwater inspection
submersible
Prior art date
Application number
PCT/ES2007/000136
Other languages
Spanish (es)
French (fr)
Inventor
Jordi Teixidor Calsina
Original Assignee
Praesentis, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Praesentis, S.L. filed Critical Praesentis, S.L.
Priority to PCT/ES2007/000136 priority Critical patent/WO2008110636A1/en
Priority to CL200800729A priority patent/CL2008000729A1/en
Publication of WO2008110636A1 publication Critical patent/WO2008110636A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B45/00—Arrangements or adaptations of signalling or lighting devices
    • B63B45/02—Arrangements or adaptations of signalling or lighting devices the devices being intended to illuminate the way ahead or other areas of environments

Definitions

  • the present invention relates to an underwater inspection device that has application in all types of underwater inspection functions, both in the professional field and in the field of leisure, such as in anchorage inspection applications, structural inspection of ships, control of facilities and port structures, rescue tasks, control of fish farms, detection of fish banks and all kinds of applications related to scuba diving and nautical.
  • the invention allows a precise and complete inspection of both a large underwater area and a certain submerged object, by means of an extremely versatile device that is easy to use.
  • the underwater inspection tasks without immersion are carried out with the help of underwater or underwater cameras that are usually held by a cable, so that the opposite end of said cable is attached to the surface, in order to allow to support the camera during its use and its recovery once it has been used.
  • the visualization of the images is carried out by means of a fixed monitor, so that the intervention of at least two operators is required for the use of the camera in inspection tasks, one operator for the situation of the camera, and another for the visualization of the images, or the sequential realization of said operations, with the consequent delay in the inspection process.
  • Another drawback presented by this type of underwater cameras is that they only provide images from a point of view or direction of focus at a given moment, requiring the movement of the camera lens for the visualization of different points of view, or the installation of More than one camera with different orientations.
  • the present invention relates to an underwater inspection device that allows high precision in the inspection tasks of a large underwater area as well as a submerged object in particular, resulting in an extremely versatile and easy-to-use device, which can be used in a wide variety of applications, such as anchorage inspection tasks, structural review of ships, for example in the inspection of ship propellers and keels, control of facilities and port structures, such as in the detection and verification of cracks in elements Structural submerged as pillars or walls.
  • the device of the invention has special application in rescue tasks in which the location of objects or bodies in an underwater bottom is required, such as the location of corpses in the seabed or in a lake.
  • the device can also be used in the control of fish farms, in the detection of fish banks, for recreational purposes or in the fishing industry, as well as in all types of applications related to scuba diving, such as underwater archeology .
  • the underwater inspection device proposed by the invention comprises a submersible module, configured to be attached to an umbilical cable of negative buoyancy, preferably of high resistance, which serves to hold the submersible module during its immersion, also allowing its recovery to the surface, being able to said cable being attached to a user's waist.
  • the submersible module comprises a sealed compartment, of a hermetic nature, which is defined by a transparent tube, preferably of circular section, located between a lower housing and a upper housing, operatively sealed by gaskets.
  • the lower and upper housings are preferably made of aluminum, so that they act as weights in order to favor the immersion and stability of the submersible module.
  • the waterproof compartment is configured to accommodate at least one video camera, which in turn is configured to rotate a viewing angle of 360 ° with respect to an axis, which usually during the use of the device in the water has a vertical orientation, the lower housing remaining as the lowest element of the submersible module that is attached or fixed to the cable by an area opposite that of said lower housing.
  • the device comprises a single video camera, although the possibility of comprising several cameras or even image capture cameras, ie cameras.
  • the video camera is configured to be driven by a motor and make a movement with respect to an axis, which can be said complete rotation, that is to say having a rotation angle of 360 °.
  • the motor is supported by an upper base that is attachable to
  • the upper housing The upper housing.
  • Logically all the elements of the submersible module are configured to withstand the pressures to which they are subjected when they are submerged at high depths.
  • the device comprises a control command, which is operatively connected to the submersible module, said control command being configured to control the drive and the movement of the video camera and receive images captured by it.
  • control knob By means of the control knob, the user can control the movements of the video camera, allowing the motor to be turned to allow the camera to be turned to the right or left, orienting it in a certain focus direction selected by the user, for which the control knob comprises The necessary instrumentation.
  • control knob has reduced dimensions, being configured so that it can be fixed to the user's waist, its transport being extremely comfortable, without the need to be grasped with the hands or require heavy auxiliary means for transport.
  • the underwater inspection device of the invention comprises means for displaying images captured by the video camera, for which said viewing means are operatively connected to the control command, being able to consist of any device or support that allows the visualization of said images, such as a television monitor.
  • a total underwater inspection can be carried out, in any direction of focus, it covers a whole horizontal plane, being extremely easy to use, with light but robust elements that do not have external moving parts, and can be handled in a manner remote from the surface or from a boat.
  • the described device has great stability in what regards the position of the submersible module, which has an impact on the Obtaining images of greater clarity and quality, without having dead angles in the inspection of the seabed, because the video camera can rotate completely in a horizontal plane.
  • the submersible module When the submersible module is submerged and held by the cable, it has a tendency to make a continuous and random movement of rotation with respect to the point of attachment of said cable, which is mainly due to the effect of the currents, which produces a continuous change of the Focus direction of the video camera.
  • the device of the invention allows, to be able to orient the video camera in the horizontal plane thus allowing to obtain stable images in a certain focus direction in which an object is found whose visualization is of special interest, such as in the observation and detection of cracks in pillars, operation in which it is necessary to observe the cracks for the time necessary to its determination, or in the observation of a fish in motion.
  • the submersible module comprises lighting means, such as spotlights to allow the illumination of the area to be inspected, when it is at a depth at which the luminosity existing on the surface does not sufficiently reach.
  • the lighting means are configured to be activated, and can even control their intensity, by the control knob.
  • the submersible module comprises a depth sensing device, usually called a depth gauge, configured to be activated by the control command, the display means being configured to show the parameters or values of the depth at which the module is located Submersible at every moment.
  • a depth sensing device usually called a depth gauge
  • the submersible module comprises means for detecting the position of the video camera, such as a compass for determining the angle at which the objective of said camera is oriented.
  • the detection of the position of the video camera is configured to be activated and controlled by the control command, the display means being configured to show the parameters indicative of the position, for example the focus angle of said video camera.
  • the image display means may consist of vision glasses, which allow their coupling on the user's head so that the user can visualize the images captured by the cameras, which are projected on screens located in the inner part of said glasses.
  • vision glasses are operatively connected to the control knob, in order to allow the user or operator to visualize the images captured by the video camera, as well as parameters related to the depth at which the submersible module is located and the angle of focus or angle of rotation of the video camera.
  • this embodiment of the visualization means it is possible to free the user's hands, which has greater freedom of movement to simulate the manipulation of the submersible module with the visualization of the images, being able to obtain real-time information of the inspected area.
  • the user can move freely, and must act manually only to activate the control knob, which allows a total mobility during the visualization of the images, unlike the underwater cameras currently in existence that require the user to be in a fixed position in which a monitor for the visualization of the images, with the consequent loss of time since it is not possible to combine the placement and positioning of the camera in the water with the visualization of the captured images.
  • the device comprises an overhead camera, preferably a video camera although it can also be a photographic camera, operatively housed in a sealed housing that has the lower housing in a central area.
  • Said zenith camera is configured to have a parallel focus direction, preferably coincident, to the axis of rotation of the video camera described above.
  • the zenith camera is configured to allow the capture of images according to a zenith angle, providing additional information to the images of the other video camera, for example the seabed.
  • the lower housing has in its central part, in a lower area, a sealed housing with a transparent or glazed part, said zenith chamber being configured to be controlled by the control, send the captured images and allow viewing in the visualization means, like the video camera described in previous paragraphs.
  • the underwater inspection device comprises at least two distant laser emitters to establish a reference, for example several centimeters, and configured to be activated by the control command and project parallel rays, so that when they are projected on an object to be inspected, such as a crack, they allow estimating, in accordance with the captured images, a reference of the length of said crack, when the distance separating the laser beams is known.
  • said separation distance is established based on the order of magnitude of the object whose length is required to be estimated, and may be smaller or greater distances.
  • the submersible module comprises at least three supports, as a tripod so that it has an isostatic support structure that allows great stability even when it is supported on irregular surfaces, such as a seabed, river, of a lake or pond, thus allowing greater precision in the capture of images by video cameras.
  • the supports can have an articulated configuration or any other stable configuration.
  • said supports are preferably located in complementary holes that have the hermetic lower housing configured to allow the fixing of said supports or legs.
  • the submersible module comprises a structure, which in turn comprises rolling means, that is, wheels, being configured to support said wheels on an underwater surface, preferably vertical or inclined, for which part of the weight of said submersible module, the component perpendicular to the support cable, it is supported by said surface, thus allowing a submersible module to move along said surface, the submersible module being maintained in an upright position, being held by the cable at its top.
  • rolling means that is, wheels
  • the device comprises brake means, configured to be operated by the user and act on the cable causing its arrest or movements, of descent or ascent, with what allows to stop the movement of the submersible module.
  • brake means allow to facilitate the collection of the submersible module and especially the downward movement and the braked suspension thereof, with which it is achieved, without any effort for the user, to keep the device at a certain depth. Furthermore, with said brake means, chafing is avoided in a user's hand, and critical or very closed angles in the umbilical cable are avoided, which can be harmful and cause breakage in the outer layer of the submersible module.
  • the submersible module comprises a centering ring, which is in an extreme area of the upper housing, said centering ring being configured to allow the device to be supported when it is out of the water.
  • the centering ring is configured to protect the elements comprising the device, such as optical elements and electrical connections located in said area, usually when the device is submerged.
  • the centering ring is configured to guide the hydrodynamic flow that occurs during the ascent and descent movement of the submersible module.
  • said centering ring is configured to engage an extendable flap by means of any coupling or fixing system, such as by means of screws or by means of its engagement in a groove.
  • Said extensible flap is configured to be oriented and stabilize the free rotation of the submersible module in current areas, avoiding the need to compensate the vision with the rotation of the video camera.
  • the larger the fin the better it will fulfill its basic function, which is to stabilize the rotation of the submersible module in areas of current in which said submersible module tends to rotate so that the vision cannot be stabilized normally having to turn in this case continuously said submersible module to compensate for that rotation due to the current.
  • the fin when the fin is extensible, in waters with a lot of current, it will open to its maximum extent so that it effectively fulfills its stabilizing function.
  • Figure 1.- Shows a schematic perspective view of a user using the underwater inspection device object of the invention.
  • Figure 2. Shows an exploded perspective view of the elements comprising the submersible module.
  • Figure 3. Shows a perspective view of the submersible module comprising the device of the invention.
  • FIG. 4 Schematically shows the control knob and the display means comprising the device proposed by the invention.
  • Figure 5. Shows a perspective view of a variant of the submersible module in which an overhead chamber housed in the lower housing can be seen.
  • Figure 6. Shows a schematic elevation view of a variant of the submersible module in which three supports can be seen that keep the submersible module supported, for example, on a seabed.
  • Figure 7 shows a perspective view of another variant of the submersible module in which a structure with rolling means that are supported on a submerged wall can be seen, keeping the submersible module in an operationally vertical position.
  • the device for Underwater inspection comprises a submersible module (1), configured to be fixed to a cable (2), said submersible module (1) comprising a sealed compartment (3) defined by a transparent tube (5) located between a lower housing (4) and an upper housing (6), operatively sealed by sealing gaskets, as can be seen in Figures 2 and 3.
  • the watertight compartment (3) is configured to house at least one video camera (7) which in turn is configured to rotate a viewing angle of 360 ° with respect to an axis and be preferably driven by a motor (8) which is supported by an upper base (9) attachable to the upper housing (6), as can be seen in detail in Figure 2.
  • the device comprises a control knob (10), which is operatively connected to the submersible module (1), said control knob (10) being configured to control the drive and movement of said at least one camera video (7) and receive images captured by it, for which the control command (10) comprises the necessary instrumentation.
  • control knob (10) has reduced dimensions, being configured to be fixed to the waist of a user (11).
  • the underwater inspection device of the invention comprises means for displaying (12) images captured by said at least one video camera (7), for which said viewing means (12) are operatively connected to the control of control (10).
  • the Submersible module (1) comprises lighting means, not shown, configured to illuminate the area to be inspected and activated, even controlling its intensity, by the control knob (10).
  • the submersible module (1) comprises a depth sensing device configured to be activated by the control knob (10), the display means (12) being configured to show the depth at which the submersible module (1) is located. in every instant.
  • the submersible module (1) comprises means for detecting the position of each, at least one, video camera (7), such as a compass for determining the angle at which the objective of said at least one video camera (7).
  • the means for detecting the position of each, at least one, video camera (7) are configured to be activated and controlled by the control knob (10), the display means (12) being configured to show the parameters indicative of the position, for example the focus angle, of said at least one video camera (7).
  • the image display means (12) consist of vision glasses, which allow their coupling on the user's head (11) .
  • the device comprises an overhead camera (13), preferably video, operatively housed in a sealed housing (14) having the lower housing (4) in a central area, said camera being configured zenith (13) to have a parallel focus direction, preferably coincident, to the axis of rotation of said at least one video camera (7).
  • the overhead camera (13) is configured to be controlled by the control knob (10), send the captured images and allow viewing on the display media (12).
  • the underwater inspection device comprises at least two distant laser emitters to establish a reference, and configured to be activated by the control knob (10) and project parallel rays.
  • the submersible module (1) comprises at least three supports (15) preferably located in complementary holes having the lower housing (4) configured to allow the fixing of said supports (15).
  • the submersible module (1) comprises a structure (16), which in turn comprises rolling means (17), preferably wheels, said structure (16) being configured to support said means of rolling (17) on an underwater surface, preferably vertical or inclined, thus allowing a displacement of the submersible module (1) along said surface.
  • the device comprises brake means configured to be operated by the user and act on the cable (2) causing its arrest, which allows to stop the movement of the submersible module (1).
  • the submersible module (1) comprises a centering ring (18), which is in an extreme area of the upper housing (6), said centering ring (18) being configured to allow supporting the device when it is out of water, as well as to protect the elements that the device comprises, when the device is submerged. Also the centering ring (18) is configured to orient the hydrodynamic flow that occurs during the ascent and descent movement of the submersible module (1).
  • the centering ring (18) is coupled to an extensible fin (19) that is configured to be oriented and stabilize the free rotation of the submersible module (1) in current areas, avoiding the need of compensating the vision with the rotation of the video camera (7).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

The invention relates to an underwater inspection device enabling a simple and rapid detailed inspection of a wide area of an underwater environment, said device comprising a submersible module (1) containing a video camera (7) configured in such a way as to rotate 360° about an axis, and a control element (10) for controlling the operation and movement of the video camera (7) and for receiving the images captured by same. The device according to the invention also includes means (12) for visualising the images. Said means can be a pair of glasses.

Description

DISPOSITIVO DE INSPECCIÓN SUBACUÁTICA UNDERWATER INSPECTION DEVICE
D E S C R I P C I Ó ND E S C R I P C I Ó N
OBJETO DE LA INVENCIÓNOBJECT OF THE INVENTION
La presente invención se refiere a un dispositivo de inspección subacuática que tiene aplicación en todo tipo de funciones de inspección subacuática, tanto en el ámbito profesional como en el ámbito de ocio, como por ejemplo en aplicaciones de inspección de fondeo, revisión estructural de naves, control de instalaciones y estructuras portuarias, tareas de rescate, control de piscifactorías, detección de bancos de peces y todo tipo de aplicaciones relacionadas con el submarinismo y Ia náutica.The present invention relates to an underwater inspection device that has application in all types of underwater inspection functions, both in the professional field and in the field of leisure, such as in anchorage inspection applications, structural inspection of ships, control of facilities and port structures, rescue tasks, control of fish farms, detection of fish banks and all kinds of applications related to scuba diving and nautical.
La invención permite una inspección precisa y completa tanto de una amplia zona subacuática como de un determinado objeto sumergido, mediante un dispositivo sumamente versátil de fácil utilización.The invention allows a precise and complete inspection of both a large underwater area and a certain submerged object, by means of an extremely versatile device that is easy to use.
ANTECEDENTES DE LA INVENCIÓNBACKGROUND OF THE INVENTION
En Ia actualidad las tareas de inspección subacuática sin inmersión se llevan a cabo con Ia ayuda de cámaras submarinas o subacuáticas que están habitualmente sujetas mediante un cable, de manera que el extremo opuesto de dicho cable se encuentra sujeto en Ia superficie, con el objeto de permitir sustentar Ia cámara durante su utilización y su recuperación una vez que ha sido utilizado.At present, the underwater inspection tasks without immersion are carried out with the help of underwater or underwater cameras that are usually held by a cable, so that the opposite end of said cable is attached to the surface, in order to allow to support the camera during its use and its recovery once it has been used.
Es conocido un tipo de cámaras subacuáticas que se caracteriza por permitir Ia orientación del objetivo según una determinada dirección de enfoque seleccionada y establecida por parte del usuario, Io cual resulta sumamente apreciable para Ia captación de información útil del fondo marino o acuático.It is known a type of underwater cameras that is characterized by allowing the orientation of the objective according to a certain direction of focus selected and established by the user, which is highly appreciable for the collection of useful background information marine or aquatic
El inconveniente que presentan las cámaras descritas en el párrafo anterior, para este tipo de aplicaciones, es que permiten un giro del objetivo, y por Io tanto de Ia dirección de visión o enfoque, únicamente respecto a un eje, Io cual limita mucho el ángulo de visión y no cubre muchas zonas que se requieren observar, con Io que las labores de inspección subacuática se encuentran limitadas y retrasadas, llegando a resultar inefectivas en muchos casos.The drawback presented by the cameras described in the previous paragraph, for this type of applications, is that they allow a rotation of the objective, and therefore of the direction of vision or focus, only with respect to an axis, which greatly limits the angle of vision and does not cover many areas that need to be observed, so that underwater inspection work is limited and delayed, becoming ineffective in many cases.
Además Ia visualización de las imágenes se realiza mediante un monitor fijo, por Io que se requiere Ia intervención de al menos dos operarios para el Ia utilización de Ia cámara en labores de inspección, un operario para Ia situación de Ia cámara, y otro para Ia visualización de las imágenes, o bien Ia realización secuencial de dichas operaciones, con el consiguiente retraso en el proceso de inspección.In addition, the visualization of the images is carried out by means of a fixed monitor, so that the intervention of at least two operators is required for the use of the camera in inspection tasks, one operator for the situation of the camera, and another for the visualization of the images, or the sequential realization of said operations, with the consequent delay in the inspection process.
Otro inconveniente que presenta este tipo de cámaras subacuáticas es que únicamente proporcionan imágenes desde un punto de vista o dirección de enfoque en un instante determinado, requiriendo el movimiento del objetivo de Ia cámara para Ia visualización de diferentes puntos de vista, o bien Ia instalación de más de un cámara con diferentes orientaciones.Another drawback presented by this type of underwater cameras is that they only provide images from a point of view or direction of focus at a given moment, requiring the movement of the camera lens for the visualization of different points of view, or the installation of More than one camera with different orientations.
Por otro lado Ia utilización de estas cámaras subacuáticas como dispositivo de inspección está limitada a Ia obtención de información visual, no permitiendo Ia realización de otro tipo de funciones, como por ejemplo Ia estimación de las dimensiones de los objetos captados.On the other hand, the use of these underwater cameras as an inspection device is limited to obtaining visual information, not allowing the performance of other types of functions, such as for example the estimation of the dimensions of the captured objects.
DESCRIPCIÓN DE LA INVENCIÓN La presente invención se refiere a un dispositivo de inspección subacuática que permite una elevada precisión en las tareas de inspección de una amplia zona subacuática así como de un objeto sumergido en concreto, resultando un dispositivo sumamente versátil y fácil de utilizar, que puede ser utilizado en una gran variedad de aplicaciones, tales como tareas de inspección de fondeo, revisión estructural de naves, por ejemplo en Ia revisión de hélices y quillas de embarcaciones, control de instalaciones y estructuras portuarias, como por ejemplo en Ia detección y verificación de grietas en elementos estructurales sumergidos como pilares o muros.DESCRIPTION OF THE INVENTION The present invention relates to an underwater inspection device that allows high precision in the inspection tasks of a large underwater area as well as a submerged object in particular, resulting in an extremely versatile and easy-to-use device, which can be used in a wide variety of applications, such as anchorage inspection tasks, structural review of ships, for example in the inspection of ship propellers and keels, control of facilities and port structures, such as in the detection and verification of cracks in elements Structural submerged as pillars or walls.
Asimismo, el dispositivo de Ia invención tiene especial aplicación en tareas de rescate en las que se requiere Ia localización de objetos o cuerpos en un fondo subacuático, como pueden ser operaciones de localización de cadáveres en el fondo marino o en un lago.Likewise, the device of the invention has special application in rescue tasks in which the location of objects or bodies in an underwater bottom is required, such as the location of corpses in the seabed or in a lake.
Por otro lado el dispositivo puede ser igualmente utilizado en el control de piscifactorías, en Ia detección de bancos de peces, con fines lúdicos o en Ia industria pesquera, así como en todo tipo de aplicaciones relacionadas con el submarinismo, como por ejemplo en arqueología submarina.On the other hand, the device can also be used in the control of fish farms, in the detection of fish banks, for recreational purposes or in the fishing industry, as well as in all types of applications related to scuba diving, such as underwater archeology .
El dispositivo de inspección subacuática que Ia invención propone comprende un módulo sumergible, configurado para fijarse a un cable umbilical de flotabilidad negativa, preferentemente de alta resistencia, que sirve para sujetar el módulo sumergible durante su inmersión, permitiendo asimismo su recuperación a Ia superficie, pudiendo sujetarse dicho cable a Ia cintura de un usuario.The underwater inspection device proposed by the invention comprises a submersible module, configured to be attached to an umbilical cable of negative buoyancy, preferably of high resistance, which serves to hold the submersible module during its immersion, also allowing its recovery to the surface, being able to said cable being attached to a user's waist.
El módulo sumergible comprende un compartimento estanco, de carácter hermético, que está definido por un tubo transparente, preferentemente de sección circular, situado entre una carcasa inferior y una carcasa superior, operativamente selladas mediante juntas de estanqueidad.The submersible module comprises a sealed compartment, of a hermetic nature, which is defined by a transparent tube, preferably of circular section, located between a lower housing and a upper housing, operatively sealed by gaskets.
Las carcasas inferior y superior son preferentemente de aluminio, de forma que actúan como pesos con el objeto de favorecer Ia inmersión y Ia estabilidad del módulo sumergible.The lower and upper housings are preferably made of aluminum, so that they act as weights in order to favor the immersion and stability of the submersible module.
Pues bien, el compartimento estanco está configurado para alojar al menos una cámara de vídeo, Ia cual a su vez está configurada para girar un ángulo de de visión de 360° respecto a un eje, que habitualmente durante Ia utilización del dispositivo en el agua tiene una orientación vertical, quedando Ia carcasa inferior como elemento más bajo del módulo sumergible que queda sujeto o fijado al cable por una zona opuesta a Ia de dicha carcasa inferior.Well, the waterproof compartment is configured to accommodate at least one video camera, which in turn is configured to rotate a viewing angle of 360 ° with respect to an axis, which usually during the use of the device in the water has a vertical orientation, the lower housing remaining as the lowest element of the submersible module that is attached or fixed to the cable by an area opposite that of said lower housing.
Preferentemente el dispositivo comprende una única cámara de vídeo, si bien se contempla Ia posibilidad de que comprenda varias cámaras o incluso cámaras de captación de imágenes, es decir cámaras fotográficas.Preferably, the device comprises a single video camera, although the possibility of comprising several cameras or even image capture cameras, ie cameras.
La cámara de vídeo está configurada para ser accionada por un motor y realizar un movimiento respecto a un eje, pudiendo ser dicho giro completo, es decir teniendo un ángulo de rotación de 360°. De manera preferente el motor está soportado por una base superior que es acoplable aThe video camera is configured to be driven by a motor and make a movement with respect to an axis, which can be said complete rotation, that is to say having a rotation angle of 360 °. Preferably the motor is supported by an upper base that is attachable to
Ia carcasa superior.The upper housing.
Lógicamente todos los elementos del módulo sumergible están configurados para resistir las presiones a las que se encuentran sometidos cuando son sumergidos a elevadas profundidades.Logically all the elements of the submersible module are configured to withstand the pressures to which they are subjected when they are submerged at high depths.
Por otro lado el dispositivo comprende un mando de control, que está operativamente conectado con el módulo sumergible, estando configurado dicho mando de control para controlar el accionamiento y el movimiento de Ia cámara de vídeo y recibir imágenes captadas por Ia misma.On the other hand, the device comprises a control command, which is operatively connected to the submersible module, said control command being configured to control the drive and the movement of the video camera and receive images captured by it.
Mediante el mando de control el usuario puede controlar los movimientos de Ia cámara de vídeo, permitiendo controlar el motor que permite girar Ia cámara a derecha o izquierda orientándola en una determinada dirección de enfoque seleccionada por el usuario, para Io cual el mando de control comprende Ia instrumentación necesaria.By means of the control knob, the user can control the movements of the video camera, allowing the motor to be turned to allow the camera to be turned to the right or left, orienting it in a certain focus direction selected by the user, for which the control knob comprises The necessary instrumentation.
Preferentemente el mando de control tiene unas dimensiones reducidas, estando configurado para que pueda fijarse a Ia cintura del usuario, resultando sumamente cómodo su transporte, sin Ia necesidad de ser agarrado con las manos o requerir pesados medios auxiliares para su transporte.Preferably, the control knob has reduced dimensions, being configured so that it can be fixed to the user's waist, its transport being extremely comfortable, without the need to be grasped with the hands or require heavy auxiliary means for transport.
Asimismo, el dispositivo de inspección subacuática de Ia invención comprende medios de visualización de imágenes captadas por Ia cámara de vídeo, para Io cual dichos medios de visualización están operativamente conectados al mando de control, pudiendo consistir en cualquier dispositivo o soporte que permita Ia visualización de dichas imágenes, como por ejemplo un monitor de televisión.Likewise, the underwater inspection device of the invention comprises means for displaying images captured by the video camera, for which said viewing means are operatively connected to the control command, being able to consist of any device or support that allows the visualization of said images, such as a television monitor.
De acuerdo con el dispositivo de Ia invención se puede realizar una inspección subacuática total, en cualquier dirección de enfoque, cubre todo un plano horizontal, resultando sumamente fácil de utilizar, con elementos ligeros pero robustos que no tienen partes móviles externas, pudiendo manejarse de manera remota desde Ia superficie o desde una embarcación.According to the device of the invention, a total underwater inspection can be carried out, in any direction of focus, it covers a whole horizontal plane, being extremely easy to use, with light but robust elements that do not have external moving parts, and can be handled in a manner remote from the surface or from a boat.
El dispositivo descrito presenta una gran estabilidad en Io que respecta a Ia posición del módulo sumergible, Io que repercute en Ia obtención de imágenes de mayor nitidez y calidad, sin tener ángulos muertos en Ia inspección del fondo marino, debido a que Ia cámara de vídeo puede rotar completamente en un plano horizontal.The described device has great stability in what regards the position of the submersible module, which has an impact on the Obtaining images of greater clarity and quality, without having dead angles in the inspection of the seabed, because the video camera can rotate completely in a horizontal plane.
Cuando el módulo sumergible está sumergido y sujeto por el cable tiene tendencia a efectuar un movimiento continuo y aleatorio de giro respecto al punto de sujeción de dicho cable, Io cual es debido fundamentalmente al efecto de las corrientes, Io que produce un cambio continuo de Ia dirección de enfoque de Ia cámara de vídeo. Con el objeto de controlar este hecho de forma que no suponga una pérdida de visión de acuerdo con un ángulo determinado, resulta sumamente útil, tal y como permite el dispositivo de Ia invención, poder orientar Ia cámara de vídeo en el plano horizontal permitiendo así obtener imágenes estables en una dirección de enfoque determinada en Ia que se encuentre un objeto cuya visualización resulte de especial de interés, como por ejemplo en Ia observación y detección de grietas en pilares, operación en Ia que se necesita observar las grietas durante el tiempo necesario para su determinación, o en Ia observación de un pez en movimiento.When the submersible module is submerged and held by the cable, it has a tendency to make a continuous and random movement of rotation with respect to the point of attachment of said cable, which is mainly due to the effect of the currents, which produces a continuous change of the Focus direction of the video camera. In order to control this fact so that it does not imply a loss of vision according to a certain angle, it is extremely useful, as the device of the invention allows, to be able to orient the video camera in the horizontal plane thus allowing to obtain stable images in a certain focus direction in which an object is found whose visualization is of special interest, such as in the observation and detection of cracks in pillars, operation in which it is necessary to observe the cracks for the time necessary to its determination, or in the observation of a fish in motion.
Se contempla Ia posibilidad de que el módulo sumergible comprenda medios de iluminación, como por ejemplo focos para permitir Ia iluminación de Ia zona a inspeccionar, cuando esta se encuentra a una profundidad a Ia que no llega de manera suficiente Ia luminosidad existente en Ia superficie. Los medios de iluminación están configurados para ser activados, pudiendo controlar incluso su intensidad, por el mando de control.The possibility is contemplated that the submersible module comprises lighting means, such as spotlights to allow the illumination of the area to be inspected, when it is at a depth at which the luminosity existing on the surface does not sufficiently reach. The lighting means are configured to be activated, and can even control their intensity, by the control knob.
Asimismo se contempla que el módulo sumergible comprenda un dispositivo detector de profundidad, habitualmente denominado profundímetro, configurado para ser activado por el mando de control, estando configurados los medios de visualización para mostrar los parámetros o valores de Ia profundidad a Ia que se encuentra el módulo sumergible en cada instante.It is also contemplated that the submersible module comprises a depth sensing device, usually called a depth gauge, configured to be activated by the control command, the display means being configured to show the parameters or values of the depth at which the module is located Submersible at every moment.
También se contempla como posibilidad que el módulo sumergible comprenda medios para Ia detección de Ia posición de Ia cámara de vídeo, como por ejemplo un compás para Ia determinación del ángulo en el que se encuentra orientado el objetivo de dicha cámara. Los medios paraIt is also contemplated as a possibility that the submersible module comprises means for detecting the position of the video camera, such as a compass for determining the angle at which the objective of said camera is oriented. The means to
Ia detección de Ia posición de Ia cámara de vídeo están configurados para ser activados y controlados por el mando de control, estando configurados los medios de visualización para mostrar los parámetros indicativos de Ia posición, por ejemplo el ángulo de enfoque de dicha cámara de vídeo.The detection of the position of the video camera is configured to be activated and controlled by the control command, the display means being configured to show the parameters indicative of the position, for example the focus angle of said video camera.
De acuerdo con una realización preferente del dispositivo de inspección subacuática que Ia invención propone, los medios de visualización de imágenes pueden consistir en unas gafas de visión, que permiten su acoplamiento en Ia cabeza del usuario de manera que este puede visualizar las imágenes captadas por las cámaras, que son proyectadas en pantallas situadas en Ia parte interna de dichas gafas.According to a preferred embodiment of the underwater inspection device proposed by the invention, the image display means may consist of vision glasses, which allow their coupling on the user's head so that the user can visualize the images captured by the cameras, which are projected on screens located in the inner part of said glasses.
Obviamente las gafas de visión están operativamente conectadas al mando de control, con el objeto de permitir al usuario u operario visualizar las imágenes captadas por Ia cámara de vídeo, así como parámetros relativos a Ia profundidad a Ia que se encuentra el módulo sumergible y el ángulo de enfoque o ángulo de giro de Ia cámara de vídeo.Obviously the vision glasses are operatively connected to the control knob, in order to allow the user or operator to visualize the images captured by the video camera, as well as parameters related to the depth at which the submersible module is located and the angle of focus or angle of rotation of the video camera.
Con está realización de los medios de visualización se permite liberar las manos del usuario, que tiene mayor libertad de movimientos para simultanear Ia manipulación del módulo sumergible con Ia visualización de las imágenes, pudiendo obtener información en tiempo real de Ia zona inspeccionada.With this embodiment of the visualization means it is possible to free the user's hands, which has greater freedom of movement to simulate the manipulation of the submersible module with the visualization of the images, being able to obtain real-time information of the inspected area.
Así, el usuario puede moverse libremente, debiendo actuar manualmente únicamente para accionar el mando de control, Io que Ie permite una movilidad total durante Ia visualización de las imágenes, a diferencia de las cámaras subacuáticas existentes en Ia actualidad que requieren que el usuario se encuentre en una posición fija en Ia que se encuentra un monitor para Ia visualización de las imágenes, con Ia consiguiente pérdida de tiempo pues no se puede simultanear Ia colocación y posicionamiento de Ia cámara en el agua con Ia visualización de las imágenes captadas.Thus, the user can move freely, and must act manually only to activate the control knob, which allows a total mobility during the visualization of the images, unlike the underwater cameras currently in existence that require the user to be in a fixed position in which a monitor for the visualization of the images, with the consequent loss of time since it is not possible to combine the placement and positioning of the camera in the water with the visualization of the captured images.
Se contempla como posibilidad que el dispositivo comprenda una cámara cenital, preferentemente de vídeo aunque también puede ser una cámara fotográfica, operativamente alojada en un alojamiento estanco que tiene Ia carcasa inferior en una zona central.It is contemplated as a possibility that the device comprises an overhead camera, preferably a video camera although it can also be a photographic camera, operatively housed in a sealed housing that has the lower housing in a central area.
Dicha cámara cenital está configurada para tener una dirección de enfoque paralela, preferentemente coincidente, al eje de giro de Ia cámara de vídeo anteriormente descrita.Said zenith camera is configured to have a parallel focus direction, preferably coincident, to the axis of rotation of the video camera described above.
Durante Ia utilización del dispositivo Ia dirección de enfoque de Ia cámara cenital resulta fundamentalmente vertical, si bien se contempla Ia posibilidad de que dicha cámara pueda girar respecto a un eje perpendicular al eje de giro de Ia cámara de video descrita en párrafos anteriores. Por Io tanto Ia cámara cenital está configurada para permitir Ia captación de imágenes de acuerdo con un ángulo cenital, aportando información, adicional a las imágenes de Ia otra cámara de vídeo, por ejemplo del fondo marino. Para su alojamiento Ia carcasa inferior tiene en su parte central, en una zona inferior, un alojamiento sellado con una pieza transparente o acristalada estando configurada dicha cámara cenital para ser controlada por el mando de control, enviarle las imágenes captadas y permitir su visualización en los medios de visualización, al igual que Ia cámara de video descrita en párrafos anteriores. Por otro lado se contempla Ia posibilidad de que el dispositivo de inspección subacuática comprenda al menos dos emisores de láser distanciados para establecer una referencia, por ejemplo varios centímetros, y configurados para ser activados por el mando de control y proyectar rayos paralelos, de manera que cuando se proyectan sobre un objeto a inspeccionar, como por ejemplo una grieta, permiten estimar, de acuerdo con las imágenes captadas, una referencia de Ia longitud de dicha grieta, al ser conocida Ia distancia que separa los rayos láser. Obviamente dicha distancia de separación se establece en función del orden de magnitud del objeto cuya longitud se requiere estimar, pudiendo ser distancias menores o mayores.During the use of the device, the direction of focus of the zenith camera is fundamentally vertical, although the possibility that said camera can rotate with respect to an axis perpendicular to the axis of rotation of the video camera described in previous paragraphs is contemplated. Therefore, the zenith camera is configured to allow the capture of images according to a zenith angle, providing additional information to the images of the other video camera, for example the seabed. For its housing, the lower housing has in its central part, in a lower area, a sealed housing with a transparent or glazed part, said zenith chamber being configured to be controlled by the control, send the captured images and allow viewing in the visualization means, like the video camera described in previous paragraphs. On the other hand, the possibility is contemplated that the underwater inspection device comprises at least two distant laser emitters to establish a reference, for example several centimeters, and configured to be activated by the control command and project parallel rays, so that when they are projected on an object to be inspected, such as a crack, they allow estimating, in accordance with the captured images, a reference of the length of said crack, when the distance separating the laser beams is known. Obviously, said separation distance is established based on the order of magnitude of the object whose length is required to be estimated, and may be smaller or greater distances.
Con el objeto de permitir un mayor control en Ia manipulación del módulo sumergible, se contempla Ia posibilidad de que el módulo sumergible comprenda al menos tres apoyos, a modo de trípode de forma que se tiene una estructura de apoyo isostática que permite una gran estabilidad incluso cuando se apoya en superficies irregulares, como un lecho marino, fluvial, de un lago o estanque permitiendo así una mayor precisión en Ia captura de imágenes por parte de las cámaras de video. Los apoyos puede tener una configuración articulada o cualquier otra configuración estable.In order to allow greater control in the manipulation of the submersible module, the possibility is contemplated that the submersible module comprises at least three supports, as a tripod so that it has an isostatic support structure that allows great stability even when it is supported on irregular surfaces, such as a seabed, river, of a lake or pond, thus allowing greater precision in the capture of images by video cameras. The supports can have an articulated configuration or any other stable configuration.
Para ello, dichos apoyos se sitúan preferentemente en orificios complementarios que tiene Ia carcasa inferior hermética configurados para permitir Ia fijación de dichos apoyos o patas.For this, said supports are preferably located in complementary holes that have the hermetic lower housing configured to allow the fixing of said supports or legs.
Asimismo, se contempla Ia posibilidad de que el módulo sumergible comprenda una estructura, que a su vez comprenda medios de rodadura, es decir ruedas, estando configurada para apoyar dichas ruedas en una superficie subacuática, preferentemente vertical o inclinada, para Io cual parte del peso de dicho módulo sumergible, Ia componente perpendicular al cable de sustentación, es soportado por dicha superficie, permitiendo así un desplazamiento del módulo sumergible por dicha superficie, manteniéndose el módulo sumergible en una posición vertical, al estar sujeto por el cable por su parte superior.Likewise, the possibility is contemplated that the submersible module comprises a structure, which in turn comprises rolling means, that is, wheels, being configured to support said wheels on an underwater surface, preferably vertical or inclined, for which part of the weight of said submersible module, the component perpendicular to the support cable, it is supported by said surface, thus allowing a submersible module to move along said surface, the submersible module being maintained in an upright position, being held by the cable at its top.
De este modo mediante Ia rodadura del módulo sumergible por Ia pared, estando sujeta por el cable de sustentación, pudiendo subir y bajar a Io largo de un mismo eje vertical. Esta variante resulta especialmente útil para Ia comprobación por ejemplo de grietas en muros o pilares, situándose sobre Ia grieta y subiendo o bajando a Io largo de Ia misma mediante el cable, permitiendo Ia visualización detallada y sin movimientos indeseados de toda Ia grieta.Thus, by rolling the submersible module on the wall, being held by the support cable, being able to go up and down along the same vertical axis. This variant is especially useful for checking, for example, cracks in walls or pillars, being located on the crack and going up or down along it by means of the cable, allowing detailed visualization without unwanted movements of the entire crack.
Se contempla Ia posibilidad de que el dispositivo comprenda medios de freno, configurados para ser accionados por parte del usuario y actuar sobre el cable produciendo su detención o movimientos, de descenso o ascenso, con Io que permite detener el movimiento del módulo sumergible.The possibility is contemplated that the device comprises brake means, configured to be operated by the user and act on the cable causing its arrest or movements, of descent or ascent, with what allows to stop the movement of the submersible module.
Estos medios de freno permiten facilitar Ia recogida del módulo sumergible y sobre todo el movimiento de descenso y Ia suspensión frenada del mismo, con Io que se consigue, sin ningún esfuerzo para el usuario, mantener el dispositivo a determinada profundidad. Además con dichos medios de freno se evitan rozaduras en Ia mano de un usuario, y se evitan ángulos críticos o muy cerrados en el cable umbilical, Io que puede resultar perjudicial y producir roturas en Ia capa externa del módulo sumergible.These brake means allow to facilitate the collection of the submersible module and especially the downward movement and the braked suspension thereof, with which it is achieved, without any effort for the user, to keep the device at a certain depth. Furthermore, with said brake means, chafing is avoided in a user's hand, and critical or very closed angles in the umbilical cable are avoided, which can be harmful and cause breakage in the outer layer of the submersible module.
Preferentemente el módulo sumergible comprende un aro centrador, que está en una zona extrema de Ia carcasa superior, estando configurado dicho aro centrador para permitir apoyar el dispositivo cuando se encuentra fuera del agua. El aro centrador está configurado para proteger los elementos que comprende el dispositivo, tales como elementos ópticos y conexiones eléctricas situadas en dicha zona, normalmente cuando el dispositivo se encuentra sumergido. Además el aro centrador está configurado para orientar el flujo hidrodinámico que se produce durante el movimiento de ascenso y descenso del módulo sumergible.Preferably, the submersible module comprises a centering ring, which is in an extreme area of the upper housing, said centering ring being configured to allow the device to be supported when it is out of the water. The centering ring is configured to protect the elements comprising the device, such as optical elements and electrical connections located in said area, usually when the device is submerged. In addition, the centering ring is configured to guide the hydrodynamic flow that occurs during the ascent and descent movement of the submersible module.
Por ultimo, dicho aro centrador está configurado para acoplarse a una aleta extensible mediante cualquier sistema de acoplamiento o fijación, como por ejemplo mediante tornillos o mediante su encaje en una ranura. Dicha aleta extensible está configurada para ser orientada y estabilizar el giro libre del módulo sumergible en zonas de corriente, evitando Ia necesidad de compensar Ia visión con el giro de Ia cámara de vídeo.Finally, said centering ring is configured to engage an extendable flap by means of any coupling or fixing system, such as by means of screws or by means of its engagement in a groove. Said extensible flap is configured to be oriented and stabilize the free rotation of the submersible module in current areas, avoiding the need to compensate the vision with the rotation of the video camera.
Con Ia aleta extensible, cuanto más grande sea Ia aleta mejor cumplirá su función básica que es Ia de estabilizar el giro del módulo sumergible en zonas de corriente en las que dicho módulo sumergible tiende a girar por Io que Ia visión no puede ser estabilizada con normalidad teniendo que girar en este caso de manera continuada dicho módulo sumergible para compensar ese giro debido a Ia corriente. De este modo al ser extensible Ia aleta, en aguas con mucha corriente se abrirá a su máxima extensión para que cumpla con eficacia su función estabilizadora.With the extensible fin, the larger the fin, the better it will fulfill its basic function, which is to stabilize the rotation of the submersible module in areas of current in which said submersible module tends to rotate so that the vision cannot be stabilized normally having to turn in this case continuously said submersible module to compensate for that rotation due to the current. Thus, when the fin is extensible, in waters with a lot of current, it will open to its maximum extent so that it effectively fulfills its stabilizing function.
DESCRIPCIÓN DE LOS DIBUJOSDESCRIPTION OF THE DRAWINGS
Para complementar Ia descripción que se está realizando y con objeto de ayudar a una mejor comprensión de las características del invento, de acuerdo con un ejemplo preferente de realización práctica del mismo, se acompaña como parte integrante de dicha descripción, un juego de dibujos en donde con carácter ilustrativo y no limitativo, se ha representado Io siguiente:To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical realization thereof, a set of drawings is attached as an integral part of said description. Illustrative and not limiting, the following has been represented:
La figura 1.- Muestra una vista esquemática en perspectiva de un usuario utilizando el dispositivo de inspección subacuática objeto de Ia invención.Figure 1.- Shows a schematic perspective view of a user using the underwater inspection device object of the invention.
La figura 2.- Muestra una vista explosionada en perspectiva de los elementos que comprende el módulo sumergible.Figure 2.- Shows an exploded perspective view of the elements comprising the submersible module.
La figura 3.- Muestra una vista en perspectiva del módulo sumergible que comprende el dispositivo de Ia invención.Figure 3.- Shows a perspective view of the submersible module comprising the device of the invention.
La figura 4.- Muestra de manera esquemática el mando de control y los medios de visualización de que comprende el dispositivo que Ia invención propone.Figure 4.- Schematically shows the control knob and the display means comprising the device proposed by the invention.
La figura 5.- Muestra una vista en perspectiva de una variante del módulo sumergible en Ia que puede apreciarse una cámara cenital alojada en Ia carcasa inferior.Figure 5.- Shows a perspective view of a variant of the submersible module in which an overhead chamber housed in the lower housing can be seen.
La figura 6.- Muestra una vista esquemática en alzado de una variante del módulo sumergible en Ia que pueden apreciarse tres apoyos que mantienen el módulo sumergible apoyado, por ejemplo, en un fondo marino.Figure 6.- Shows a schematic elevation view of a variant of the submersible module in which three supports can be seen that keep the submersible module supported, for example, on a seabed.
La figura 7.- Muestra una vista en perspectiva de otra variante del módulo sumergible en Ia que puede apreciarse una estructura con medios de rodadura que están apoyados en un muro sumergido, manteniendo el módulo sumergible en una posición operativamente vertical.Figure 7 shows a perspective view of another variant of the submersible module in which a structure with rolling means that are supported on a submerged wall can be seen, keeping the submersible module in an operationally vertical position.
REALIZACIÓN PREFERENTE DE LA INVENCIÓNPREFERRED EMBODIMENT OF THE INVENTION
A Ia vista de las figuras reseñadas puede observarse como en una de las posibles realizaciones de Ia invención, el dispositivo de inspección subacuática comprende un módulo sumergible (1 ), configurado para fijarse a un cable (2), comprendiendo dicho módulo sumergible (1 ) comprende un compartimento estanco (3) definido por un tubo transparente (5) situado entre una carcasa inferior (4) y una carcasa superior (6), operativamente selladas mediante juntas de estanqueidad, tal y como puede comprobarse en las figuras 2 y 3.In view of the figures outlined, it can be observed that in one of the possible embodiments of the invention, the device for Underwater inspection comprises a submersible module (1), configured to be fixed to a cable (2), said submersible module (1) comprising a sealed compartment (3) defined by a transparent tube (5) located between a lower housing (4) and an upper housing (6), operatively sealed by sealing gaskets, as can be seen in Figures 2 and 3.
De acuerdo con Ia invención el compartimento estanco (3) está configurado para alojar al menos una cámara de vídeo (7) que a su vez está configurada para girar un ángulo de visión de 360° respecto a un eje y ser accionada preferentemente por un motor (8) que está soportado por una base superior (9) acoplable a Ia carcasa superior (6), tal y como se puede apreciar con detalle en Ia figura 2.According to the invention, the watertight compartment (3) is configured to house at least one video camera (7) which in turn is configured to rotate a viewing angle of 360 ° with respect to an axis and be preferably driven by a motor (8) which is supported by an upper base (9) attachable to the upper housing (6), as can be seen in detail in Figure 2.
Por otro lado el dispositivo comprende un mando de control (10), que está operativamente conectado con el módulo sumergible (1 ), estando configurado dicho mando de control (10) para controlar el accionamiento y el movimiento de dicha, al menos una, cámara de vídeo (7) y recibir imágenes captadas por Ia misma, para Io cual el mando de control (10) comprende Ia instrumentación necesaria.On the other hand, the device comprises a control knob (10), which is operatively connected to the submersible module (1), said control knob (10) being configured to control the drive and movement of said at least one camera video (7) and receive images captured by it, for which the control command (10) comprises the necessary instrumentation.
Preferentemente el mando de control (10) tiene unas dimensiones reducidas, estando configurado para fijarse a Ia cintura de un usuario (11 ).Preferably the control knob (10) has reduced dimensions, being configured to be fixed to the waist of a user (11).
Asimismo, el dispositivo de inspección subacuática de Ia invención comprende medios de visualización (12) de imágenes captadas por dicha, al menos una, cámara de vídeo (7), para Io cual dichos medios de visualización (12) están operativamente conectados al mando de control (10). •Likewise, the underwater inspection device of the invention comprises means for displaying (12) images captured by said at least one video camera (7), for which said viewing means (12) are operatively connected to the control of control (10). •
De acuerdo con una realización preferente del dispositivo el módulo sumergible (1 ) comprende medios de iluminación, no representados, configurados para iluminar Ia zona a inspeccionar y ser activados, pudiendo controlar incluso su intensidad, por el mando de control (10).According to a preferred embodiment of the device the Submersible module (1) comprises lighting means, not shown, configured to illuminate the area to be inspected and activated, even controlling its intensity, by the control knob (10).
Asimismo el módulo sumergible (1 ) comprende un dispositivo detector de profundidad configurado para ser activado por el mando de control (10), estando configurados los medios de visualización (12) para mostrar Ia profundidad a Ia que se encuentra el módulo sumergible (1 ) en cada instante.Likewise, the submersible module (1) comprises a depth sensing device configured to be activated by the control knob (10), the display means (12) being configured to show the depth at which the submersible module (1) is located. in every instant.
Por otro lado el módulo sumergible (1 ) comprende medios para Ia detección de Ia posición de cada, al menos una, cámara de vídeo (7), como por ejemplo un compás para Ia determinación del ángulo en el que se encuentra orientado el objetivo de dicha, al menos una, cámara de vídeo (7). Los medios para Ia detección de Ia posición de cada, al menos una, cámara de vídeo (7) están configurados para ser activados y controlados por el mando de control (10), estando configurados los medios de visualización (12) para mostrar los parámetros indicativos de Ia posición, por ejemplo el ángulo de enfoque, de dicha, al menos una, cámara de vídeo (7).On the other hand, the submersible module (1) comprises means for detecting the position of each, at least one, video camera (7), such as a compass for determining the angle at which the objective of said at least one video camera (7). The means for detecting the position of each, at least one, video camera (7) are configured to be activated and controlled by the control knob (10), the display means (12) being configured to show the parameters indicative of the position, for example the focus angle, of said at least one video camera (7).
Tal y como se puede apreciar en las figuras 1 y 4, de acuerdo con una realización preferente del dispositivo, los medios de visualización (12) de imágenes consisten en unas gafas de visión, que permiten su acoplamiento en Ia cabeza del usuario (11 ).As can be seen in Figures 1 and 4, according to a preferred embodiment of the device, the image display means (12) consist of vision glasses, which allow their coupling on the user's head (11) .
Preferentemente, según se muestra en Ia figura 5, el dispositivo comprende una cámara cenital (13), preferentemente de vídeo, operativamente alojada en un alojamiento (14) estanco que tiene Ia carcasa inferior (4) en una zona central, estando configurada dicha cámara cenital (13) para tener una dirección de enfoque paralela, preferentemente coincidente, al eje de giro de dicha, al menos una, cámara de vídeo (7). La cámara cenital (13) está configurada para ser controlada por el mando de control (10), enviarle las imágenes captadas y permitir su visualización en los medios de visualización (12).Preferably, as shown in Figure 5, the device comprises an overhead camera (13), preferably video, operatively housed in a sealed housing (14) having the lower housing (4) in a central area, said camera being configured zenith (13) to have a parallel focus direction, preferably coincident, to the axis of rotation of said at least one video camera (7). The overhead camera (13) is configured to be controlled by the control knob (10), send the captured images and allow viewing on the display media (12).
Por otro lado el dispositivo de inspección subacuática comprende al menos dos emisores de láser distanciados para establecer una referencia, y configurados para ser activados por el mando de control (10) y proyectar rayos paralelos.On the other hand, the underwater inspection device comprises at least two distant laser emitters to establish a reference, and configured to be activated by the control knob (10) and project parallel rays.
De acuerdo con una variante de realización mostrada en Ia figuraAccording to an embodiment variant shown in the figure
6, el módulo sumergible (1 ) comprende al menos tres apoyos (15) situados preferentemente en orificios complementarios que tiene Ia carcasa inferior (4) configurados para permitir Ia fijación de dichos apoyos (15).6, the submersible module (1) comprises at least three supports (15) preferably located in complementary holes having the lower housing (4) configured to allow the fixing of said supports (15).
Por último, según otra variante mostrada en Ia figura 7 el módulo sumergible (1 ) comprende una estructura (16), que a su vez comprenda medios de rodadura (17), preferentemente ruedas, estando configurada dicha estructura (16) para apoyar dichos medios de rodadura (17) en una superficie subacuática, preferentemente vertical o inclinada, permitiendo así un desplazamiento del módulo sumergible (1 ) por dicha superficie.Finally, according to another variant shown in Figure 7, the submersible module (1) comprises a structure (16), which in turn comprises rolling means (17), preferably wheels, said structure (16) being configured to support said means of rolling (17) on an underwater surface, preferably vertical or inclined, thus allowing a displacement of the submersible module (1) along said surface.
El dispositivo comprende medios de freno configurados para ser accionados por parte del usuario y actuar sobre el cable (2) produciendo su detención, Io que permite detener el movimiento del módulo sumergible (1 ).The device comprises brake means configured to be operated by the user and act on the cable (2) causing its arrest, which allows to stop the movement of the submersible module (1).
Tal y como se ha representado en las figuras el módulo sumergible (1 ) comprende un aro centrador (18), que está en una zona extrema de Ia carcasa superior (6), estando configurado dicho aro centrador (18) para permitir apoyar el dispositivo cuando se encuentra fuera del agua, así como para proteger los elementos que comprende el dispositivo, cuando el dispositivo se encuentra sumergido. Asimismo el aro centrador (18) está configurado para orientar el flujo hidrodinámico que se produce durante el movimiento de ascenso y descenso del módulo sumergible (1).As shown in the figures, the submersible module (1) comprises a centering ring (18), which is in an extreme area of the upper housing (6), said centering ring (18) being configured to allow supporting the device when it is out of water, as well as to protect the elements that the device comprises, when the device is submerged. Also the centering ring (18) is configured to orient the hydrodynamic flow that occurs during the ascent and descent movement of the submersible module (1).
Tal y como puede apreciarse en Ia figura 2, el aro centrador (18) está acoplado a una aleta extensible (19) que está configurada para ser orientada y estabilizar el giro libre del módulo sumergible (1) en zonas de corriente, evitando Ia necesidad de compensar Ia visión con el giro de Ia cámara de vídeo (7).As can be seen in Figure 2, the centering ring (18) is coupled to an extensible fin (19) that is configured to be oriented and stabilize the free rotation of the submersible module (1) in current areas, avoiding the need of compensating the vision with the rotation of the video camera (7).
A Ia vista de esta descripción y juego de figuras, el experto en Ia materia podrá entender que las realizaciones de Ia invención que se han descrito pueden ser combinadas de múltiples maneras dentro del objeto de Ia invención. La invención ha sido descrita según algunas realizaciones preferentes de Ia misma, pero para el experto en Ia materia resultará evidente que múltiples variaciones pueden ser introducidas en dichas realizaciones preferentes sin exceder el objeto de Ia invención reivindicada. In view of this description and set of figures, the person skilled in the art may understand that the embodiments of the invention that have been described can be combined in multiple ways within the object of the invention. The invention has been described according to some preferred embodiments thereof, but for the person skilled in the art it will be evident that multiple variations can be introduced in said preferred embodiments without exceeding the object of the claimed invention.

Claims

R E I V I N D I C A C I O N E S
1.- Dispositivo de inspección subacuática, caracterizado porque comprende: - un módulo sumergible (1 ) que comprende un compartimento estanco (3) configurado para alojar al menos una cámara de vídeo (7) configurada para girar un ángulo de visión de 360° respecto a un eje,1.- Underwater inspection device, characterized in that it comprises: - a submersible module (1) comprising a waterproof compartment (3) configured to house at least one video camera (7) configured to rotate a viewing angle of 360 ° with respect to to an axis,
- un mando de control (10), operativamente conectado con el módulo sumergible (1 ), configurado para controlar el accionamiento y el movimiento de dicha, al menos una, cámara de vídeo (7) y recibir imágenes captadas por dicha cámara de vídeo, y- a control knob (10), operatively connected to the submersible module (1), configured to control the operation and movement of said at least one video camera (7) and receive images captured by said video camera, Y
- medios de visualización (12) de imágenes captadas por dicha, al menos una, cámara de vídeo (7), operativamente conectados al mando de control (10).- display means (12) of images captured by said at least one video camera (7), operatively connected to the control knob (10).
2.- Dispositivo de inspección subacuática, según Ia reivindicación 1 , caracterizado porque el módulo sumergible (1 ) comprende medios de iluminación, un dispositivo detector de profundidad y medios para Ia detección de posición de dicha, al menos una, cámara de vídeo (7), estando configurados dichos medios de iluminación, dispositivo detector de profundidad y medios para Ia detección de posición de dicha, al menos una, cámara de vídeo (7) para ser activados y controlados por el mando de control (10), estando configurados los medios de visualización (12) para mostrar Ia profundidad del módulo sumergible (1 ) y Ia posición de dicha, al menos una, cámara de vídeo (7).2. Underwater inspection device, according to claim 1, characterized in that the submersible module (1) comprises lighting means, a depth sensing device and means for detecting the position of said at least one video camera (7 ), said lighting means being configured, depth sensing device and means for detecting the position of said at least one, video camera (7) to be activated and controlled by the control knob (10), being configured the display means (12) to show the depth of the submersible module (1) and the position of said at least one video camera (7).
3.- Dispositivo de inspección subacuática, según Ia reivindicación anterior, caracterizado porque los medios de visualización (12) de imágenes consisten en unas gafas de visión. 3. Underwater inspection device, according to the preceding claim, characterized in that the means for displaying images (12) consist of vision glasses.
4.- Dispositivo de inspección subacuática, según Ia reivindicación anterior, caracterizado porque comprende una cámara cenital (13) operativamente alojada en un alojamiento (14) estanco que tiene Ia carcasa inferior (4) en una zona central, configurada para que Ia dirección de enfoque de dicha cámara cenital (13) sea paralela al eje de giro de dicha, al menos una, cámara de vídeo (7), estando configurada dicha cámara cenital (13) para ser controlada por el mando de control (10), enviarle las imágenes captadas y permitir su visualización en los medios de visualización (12).4. Underwater inspection device, according to the preceding claim, characterized in that it comprises an overhead chamber (13) operatively housed in a sealed housing (14) having the lower housing (4) in a central area, configured so that the direction of focus of said zenith camera (13) is parallel to the axis of rotation of said at least one video camera (7), said zenith camera (13) being configured to be controlled by the control knob (10), send the captured images and allow viewing on the display media (12).
5.- Dispositivo de inspección subacuática, según Ia reivindicación anterior, caracterizado porque comprende al menos dos emisores de láser distanciados para establecer una referencia y configurados para ser activados por el mando de control (10) y proyectar rayos paralelos.5. Underwater inspection device, according to the preceding claim, characterized in that it comprises at least two laser emitters spaced apart to establish a reference and configured to be activated by the control knob (10) and project parallel rays.
6.- Dispositivo de inspección subacuática, según cualquiera de las reivindicaciones anteriores, caracterizado porque el módulo sumergible (1 ) comprende al menos tres apoyos (15) configurados para permitir el apoyo del módulo sumergible (1 ) en una superficie fundamentalmente horizontal.6. Underwater inspection device according to any of the preceding claims, characterized in that the submersible module (1) comprises at least three supports (15) configured to allow the submersible module (1) to be supported on a fundamentally horizontal surface.
7.- Dispositivo de inspección subacuática, según cualquiera de las reivindicaciones 1 a 5, caracterizado porque el módulo sumergible (1 ) comprende una estructura (16), que a su vez comprende medios de rodadura (17), configurada para apoyar dichos medios de rodadura (17) en una superficie y permitir un desplazamiento del módulo sumergible (1 ).7. Underwater inspection device, according to any of claims 1 to 5, characterized in that the submersible module (1) comprises a structure (16), which in turn comprises rolling means (17), configured to support said means of rolling (17) on a surface and allow displacement of the submersible module (1).
8.- Dispositivo de inspección subacuática, según cualquiera de las reivindicaciones anteriores, caracterizado porque comprende medios de freno configurados para ser accionados por parte de un usuario (11 ) y actuar sobre el cable (2) produciendo su detención y Ia detención del movimiento del módulo sumergible (1). 8. Underwater inspection device, according to any of the preceding claims, characterized in that it comprises brake means configured to be operated by a user (11) and act on the cable (2) causing its arrest and the stopping of the movement of the submersible module (1).
9.- Dispositivo de inspección subacuática, según cualquiera de las reivindicaciones anteriores, caracterizado porque el módulo sumergible (1 ) comprende un aro centrador (18) situado en una zona extrema de Ia carcasa superior (6), estando configurado dicho aro centrador (18) para apoyar el dispositivo cuando se encuentra fuera del agua, así como para proteger los elementos que comprende el dispositivo y orientar el flujo hidrodinámico que se produce durante el movimiento de ascenso y descenso del módulo sumergible (1 ).9. Underwater inspection device, according to any of the preceding claims, characterized in that the submersible module (1) comprises a centering ring (18) located in an extreme area of the upper housing (6), said centering ring being configured (18 ) to support the device when it is out of the water, as well as to protect the elements that comprise the device and orient the hydrodynamic flow that occurs during the ascent and descent movement of the submersible module (1).
10.- Dispositivo de inspección subacuática, según Ia reivindicación 9, caracterizado porque el aro centrador (18) está configurado para acoplarse a una aleta extensible (19) que está configurada para ser orientada y estabilizar el giro libre del módulo sumergible (1 ) en zonas de corriente, evitando Ia necesidad de compensar Ia visión con el giro dé la cámara de vídeo (7). 10. Underwater inspection device, according to claim 9, characterized in that the centering ring (18) is configured to engage an extensible fin (19) that is configured to be oriented and stabilize the free rotation of the submersible module (1) in areas of current, avoiding the need to compensate the vision with the rotation of the video camera (7).
PCT/ES2007/000136 2007-03-13 2007-03-13 Underwater inspection device WO2008110636A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/ES2007/000136 WO2008110636A1 (en) 2007-03-13 2007-03-13 Underwater inspection device
CL200800729A CL2008000729A1 (en) 2007-03-13 2008-03-12 UNDERWATER INSPECTION DEVICE THAT INCLUDES A SUBMERSIBLE MODULE WITH A SEALED COMPARTMENT WITH A CAMERA THAT CAN ROTATE 360 DEGREES INSIDE, A CONTROLLER CONNECTED OPERATIVELY TO SUCH MODULE TO CONTROL THE CAMERA AND REC

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/ES2007/000136 WO2008110636A1 (en) 2007-03-13 2007-03-13 Underwater inspection device

Publications (1)

Publication Number Publication Date
WO2008110636A1 true WO2008110636A1 (en) 2008-09-18

Family

ID=39759039

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2007/000136 WO2008110636A1 (en) 2007-03-13 2007-03-13 Underwater inspection device

Country Status (2)

Country Link
CL (1) CL2008000729A1 (en)
WO (1) WO2008110636A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2948523A1 (en) * 2009-07-23 2011-01-28 Ifremer Autonomous sub-marine video device for use in e.g. sea, to record video images of e.g. aquatic fauna, has programmable control unit controlling driving mechanism and/or starting and stopping of video camera according to preset sequence

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2181040A (en) * 1985-10-02 1987-04-15 John Cameron Robertson Remotely-operated vehicle for cleaning offshore structures
EP0337849A1 (en) * 1988-04-12 1989-10-18 Thomson-Csf Under-water buoy equipped with hydrodynamic stabilisation means, to be suspended, particularly from a helicopter
US6304289B1 (en) * 1996-10-28 2001-10-16 Director General Of The 1St District Port Construction Bureau, Ministry Of Transport Submerged laser television and submerged laser visual recognizer
US20010038491A1 (en) * 2000-02-02 2001-11-08 Fergason John D. Modular 3-D shutter glasses and method
US6509926B1 (en) * 2000-02-17 2003-01-21 Sensormatic Electronics Corporation Surveillance apparatus for camera surveillance system
US6633328B1 (en) * 1999-01-05 2003-10-14 Steris Corporation Surgical lighting system with integrated digital video camera
EP1394822A2 (en) * 2000-02-10 2004-03-03 H2EYE (International) Limited Method of transferring power and/or data streams to an underwater vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2181040A (en) * 1985-10-02 1987-04-15 John Cameron Robertson Remotely-operated vehicle for cleaning offshore structures
EP0337849A1 (en) * 1988-04-12 1989-10-18 Thomson-Csf Under-water buoy equipped with hydrodynamic stabilisation means, to be suspended, particularly from a helicopter
US6304289B1 (en) * 1996-10-28 2001-10-16 Director General Of The 1St District Port Construction Bureau, Ministry Of Transport Submerged laser television and submerged laser visual recognizer
US6633328B1 (en) * 1999-01-05 2003-10-14 Steris Corporation Surgical lighting system with integrated digital video camera
US20010038491A1 (en) * 2000-02-02 2001-11-08 Fergason John D. Modular 3-D shutter glasses and method
EP1394822A2 (en) * 2000-02-10 2004-03-03 H2EYE (International) Limited Method of transferring power and/or data streams to an underwater vehicle
US6509926B1 (en) * 2000-02-17 2003-01-21 Sensormatic Electronics Corporation Surveillance apparatus for camera surveillance system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2948523A1 (en) * 2009-07-23 2011-01-28 Ifremer Autonomous sub-marine video device for use in e.g. sea, to record video images of e.g. aquatic fauna, has programmable control unit controlling driving mechanism and/or starting and stopping of video camera according to preset sequence

Also Published As

Publication number Publication date
CL2008000729A1 (en) 2008-07-04

Similar Documents

Publication Publication Date Title
KR101667755B1 (en) Fixed frame type recording device of images and videos
US20220150387A1 (en) Photographing Apparatus and Inspection Device
JP6933840B2 (en) Connected underwater spacecraft
ES2847523T3 (en) Pool cleaning robot and method of rendering the image of a pool
JP2001247086A (en) Automatic guided submarine and position holding control method thereof
JP6726885B2 (en) Inspection camera, inspection system including the same, and inspection method
US20210321022A1 (en) Means and apparatus for enhancing visibility of proximate subsurface features for vessel
RU2276647C1 (en) Submersible rescue vehicle
US8200074B1 (en) Apparatus for murky water camera inspection of under-water construction features
WO2008110636A1 (en) Underwater inspection device
JP7020640B2 (en) Underwater photography equipment
Hildebrandt et al. Design of a versatile auv for high precision visual mapping and algorithm evaluation
ES2966284T3 (en) Observation system comprising a submerged observation unit for a fish tank
RU2728888C1 (en) Device for deep-sea monitoring of underwater environment and underwater technical works
US2396267A (en) Device for viewing underwater
US7106359B2 (en) Subsurface video observation system
KR20200029434A (en) Underwater photography device
ES2824478T3 (en) Inspection vehicle
JP7499496B2 (en) Underwater Survey Equipment
ES2936815T3 (en) Underwater sound measurement system
JP2004138824A (en) Photographing device for researching bed ecological system
WO2016075864A1 (en) Underwater robot
KR102090323B1 (en) Underwater photography device
JP2017069763A (en) Underwater visual recognition device and inspection method for underwater tubular structure executed using the same
RU71009U1 (en) UNDERWATER CAMERA BOXING

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07730377

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO F.1205A OF 18.01.10)

122 Ep: pct application non-entry in european phase

Ref document number: 07730377

Country of ref document: EP

Kind code of ref document: A1