WO2016190761A1

WO2016190761A1 - Unit for monitoring underwater objects

Info

Publication number: WO2016190761A1
Application number: PCT/PL2016/000058
Authority: WO
Inventors: Michał BISKUP
Original assignee: Biskup Michał
Priority date: 2015-05-26
Filing date: 2016-05-25
Publication date: 2016-12-01
Also published as: PL412478A1

Abstract

A unit for monitoring underwater objects comprises a surface module (1.13) for receiving a signal from an underwater module (1.10). The underwater module is attached to a main support cable (1.9) connected to the surface module. The underwater module comprises at least one camera (1.12) mounted in a waterproof housing (2.13), under a cover (2.1), a power unit and a lighting assembly, a drive unit and a unit for image transmission to the surface module. The underwater module body comprises a frame (2.6) to which individual components of the underwater module are attached. The underwater module in the upper part is connected to the main support cable, and below this connection there is the video camera (1.12) waterproof housing (2.13). The camera housing is mounted in the frame on the axis of rotation (2.3). The lighting assembly comprises at least one lamp (2.9), and the underwater module is equipped with at least one drive means for changing the position and/or orientation. The drive means for changing the position of the underwater module comprise screw propulsions (2.10, 2.11) with substantially horizontal axes of rotation.

Description

Unit for monitoring underwater objects

The invention relates to a unit for remote monitoring underwater objects which are stationary or moving in vertical directions. The unit has been developed, in particular for use in monitoring sportsmen in freediving, namely breath-hoid diving. The device can also be used in monitoring any other underwater objects.

Breath-hold diving, known as freediving, became more widely known in the sixties. This sports involves reaching the greatest possible depth by a diver without a breathing apparatus on one breath of air stored in the lungs. The first official record in freediving was recorded in 1949, when Raimondo Bucher descended to a depth of 30 metres. In 1976, Jacques Mayol became the first freediver who descended to a depth of 100 metres using a lifting device. To this day, divers who have not used any equipment, including flippers, only slightly exceeded a depth of 100 metres. Slightly greater depths were reached by freedivers using additional equipment to a varying degree, for example in the form of flippers or divers moving along a vertical rope using hands.

Freediving to such great depths is dangerous and a number of attempts have resulted in the partial health detriment or death of a diver.

In the deepest phase of diving, the risk is mainly associated with the possibility of mechanicai damage to the lungs by hydrostatic pressure, in addition, in this phase of diving the risk is associated with a partial impairment of the presence of mind resulting from the narcotic effect of nitrogen contained in the air on the human body at high pressure.

In the final phase of diving a long period of apnea results in a significant decrease in oxygen content in the body which may lead to the loss of consciousness by a diver. The loss of consciousness, if any, usually takes place when a diver resurfaces, just under the surface of water, or already after a diver has resurfaced.

Another phenomenon posing a threat is the fact that the human body which in surface layers of water is displaced towards the surface, below a certain depth, as a result of compression of air spaces in the body, mainly in the lungs, gains negative buoyancy and spontaneously drowns.

For the above reasons, a diver usually dives along a vertical rope determining the diving direction and the return direction. In recent years, due to safety requirements, a diver is attached to said rope using an approximately one metre lanyard. At the end of the lanyard there is a carabiner that can be freely moved along said rope. The solution does not limit the vertical movement of a diver and at the same time prevents him from leaving the passage along which he is to move. At the end of the rope there is a tightening load, and above the load, at the depth of the planned diving, there is an end plate that prevents further movement of the carabiner. in addition, the presence of a clearly marked point of return in the form of the end plate and the frequent use of wrist dive computers to audibly indicate that the programmed depth has been reached, slightly before reaching the end p!ate, relieves a diver's awareness of the duty to remember when he needs to return. This enables a diver to more deeply relax which is conducive to the reduction of oxygen consumption.

A freediver can be monitored at depths corresponding to current records in this sport by divers with breathing apparatuses, but this requires high skills, proper equipment and involves a risk. Irrespective of the advancement of the equipment used, they put their lives and health at risk, and in the case of an emergency situation human lives depend on the effectiveness of their actions in a difficult underwater environment. Moreover, a diver with a breathing apparatus is not able to resurface as quickiy as a monitored freediver. This is associated with a risk of decompression sickness which occurs to a much smaller extent in sportsmen practicing freediving than in divers with breathing apparatuses. Among other things, for this reason a diver with a breathing apparatus cannot effectively escort a freediver to the surface in an emergency situation.

For the above-mentioned reasons, in the current rules of this sport there is a tendency towards replacing deep-water safety team divers, equipped with breathing apparatuses, with simple technical solutions. To monitor a diver, sonar is often used for safety reasons. Sonar placed on a platform on the surface and directed downwards along a rope provides information on the diver's current depth.

A lanyard with a carabiner at the end is also a key element of a widely used safety system using a counterweight. It makes it possible to pull a diver out without the involvement of third parties under water. Its use involves the release of an additional load of the second end of the main rope on the surface and the release of the rope mechanical lock. As a result, the additionally loaded end of the main rope moves downwards by gravity. The moving main rope, through the system of blocks on the platform on the surface, pulls out the end with the end plate towards the surface. The end plate, from the moment it encounters the carabiner, pulls out a diver attached to it with a diver's ianyard.

A number of solutions of devices for monitoring underwater objects are known. The patent specification of international application No. WO 2009/061562 discloses a known solution of an underwater operations support system. The system according to this known solution facilitates underwater exploration and monitoring underwater operations associated with development of natural resources. The system contains energy generation subsystems, energy accumulation subsystems, communication subsystems, docking stations, repair and maintenance stations and video subsystems. Operational efficiency is enhanced by communication systems.

Another solution, known from the patent specification of international application No. WO 2015/040418 discloses a system for remote monitoring underwater locations. The system includes an unmanned surface vessel, an underwater unit for tracking the location of underwater objects which is connected to and communicated with the unmanned surface vessel. The unmanned vessel which moves on the surface relative to the movements of the observed underwater object can be observed by an accompanying manned vessel. The underwater communication unit has a communication arrangement from the unmanned surface vehicle and a communication arrangement to the unmanned vessel. The unmanned surface vessel has another communication arrangement with an accompanying manned vessel with an observer remote from the unmanned surface vessel. The three communication arrangements are arranged in series such that the operator or observers may wirelessly control both the unmanned surface vessel and the underwater vehicle.

The patent specification of international application No. WO 01 /53149 discloses another solution of a remotely operated vehicle comprising a tethered module unit control. The module is a kind of a frame-like cage or cylinder. The module control unit performs main operations using a remotely operated vehicle and a smaller remotely operated vehicle detachab!y mounted in the module frame. The main remotely operated vehicle has all necessary functions to perform underwater tasks, but if it is not able to perform planned tasks, said smaller underwater vehicle can be used for this purpose, which can have less functions, but should have video lighting and tracking functions to enable underwater location.

The subject of another solution, known from patent specification No. WO 2010/123380 is an underwater vehicle with improved propulsion and handling. According to this known solution, a vehicle for use underwater contains a buoyancy unit mounted on top of a frame. The buoyancy unit contains at least one thruster, at least one camera and at least one source of light. The frame contains at least two thrusters and at least one set of tools or manipulators. The vehicle is characterised by that the buoyancy unit and said main frame can rotate around its own axis independent of each other, and at least two thrusters mounted to said main frame can rotate around its own axis. Said thrusters can be mounted to joints. In another solution known from US patent specification No. US 2009/0208292, a remotely operated underwater vehicle is disclosed. According to this known solution, the vehicle includes a case to which is attached a camera for transmitting video to a remotely located base station. A tether has four pairs of twisted wire, connects the underwater vehicle and the camera to the base station. Video is transmitted from the camera to the base station on a pair of wire.

A number of known solutions cannot be effectively used for monitoring, recording or transmitting a freediver's actions during a competition or training in this sport, because they do not meet certain requirements. The first requirement is to completely exclude the possibility of getting a rope supporting a diver tangled, as above, with a cable supporting an underwater module which cannot be ensured by underwater vehicles with neutral buoyancy and a free feeder cable. The second principle is to reduce the level of generated noise to a minimum in order not to affect the level of concentration and relaxation of a diver.

Sonar used during a freediving competition provides information only on a diver's current depth. The problem of a more accurate assessment of a diver's health and the moment when rescue operations should be taken is solved by the unit for monitoring underwater objects according to the invention. The image transmitted to the surface makes it possible to observe a competition in real time during the whole diving session and increases the media attractiveness of transmission which may affect greater sponsorship opportunities in this sport.

The unit for monitoring underwater objects has been developed especially for use in the continuous monitoring of sportsmen, in particular in freediving, namely breath-ho!d diving. This task has been solved according to claim 1 and subsequent claims.

According to the invention, the unit for monitoring underwater objects comprises a surface module for receiving data from an underwater module and sending data to the underwater module, where the underwater module, which is a component of the unit, is attached to a support cable connected to the surface module. The surface module comprises a device for dispensing and pulling the support cable out. The underwater module comprises at least one camera mounted in a sealed housing, a power unit and a lighting assembly, a drive unit and a unit for image transmission to the surface module. The underwater module has the form of a streamlined body.

According to the invention, the unit for monitoring underwater objects is characterised in that the underwater module body comprises a support structure to which individual components of the underwater module are attached, where the underwater module in the upper part is connected to the support cable. Below this connection there is at least one waterproof housing which contains a video camera. The underwater module drive unit comprises at least one drive means for changing the position and/or orientation of the underwater module.

According to the invention, the underwater module's specific weight is preferably higher than the specific weight of water.

The surface module is equipped with a support cable winding reel with the reel drive and the reel control system, with a user interface and a power supply system.

The solution according to the invention provides that the surface module can have battery power supply. It makes it possible to work in the environment without access to external power supply. If there is access to external power supply, it plays the role of emergency power supply, of key importance for a safety system which is the unit according to the invention.

In a preferred embodiment of the invention, the surface module can comprise a video recorder for recording video images from the underwater module.

In a preferred embodiment according to the invention, the surface module can be equipped with a communication module with a remote module. The term remote module should be understood as a data reception and/or transmission module located at a certain distance from the surface module. The remote module may enable remote control of the unit according to the invention.

The remote module may preferably comprise a module located on land. The underwater module design provides for drive means for changing the position and/or orientation of the underwater module, useful for directing the camera lens to the monitored object. The drive means, in a preferred embodiment, comprise at least one rudder mounted on a substantially horizontal axis of rotation. The term rudder should be understood in this invention as a flat vertical blade mounted on a horizontal axis of rotation, allowing it to be deflected from the neutral position. When at the same time the rudder is deflected and the underwater module is given velocity in the vertical direction, using a winch on the surface module, it is possible to change the position and/or orientation of the underwater module for directing the camera lens to the monitored object. The neutral position of the rudder should be understood as a position parallel to the main axis of the underwater module.

Even though rudders are means that generally do not generate noise, they have their own disadvantages and the most important of them is the fact that they cannot be effectively used in the case of low vertical velocity of the underwater module. Therefore, another embodiment according to the invention provides that drive means for changing the position and/or orientation of the underwater module comprise at least two screw propulsions with substantially horizontal axes of rotation.

The term screw propulsion should be understood as a jet propeller known from ship structures, enabling power generation using water jet generated by a screw propeller. Drive means for changing the position and/or orientation of the underwater module can be arranged above the video camera box and under the video camera box. This arrangement of drive means makes it possible to effectively manoeuvre the elongated underwater module and move it in water while maintaining the vertical orientation.

In the solution according to the invention it is provided that above the underwater module and/or under the underwater module there can be at least one additional standalone camera or in the form of another underwater module attached under the underwater module according to the invention. The camera housing can be mounted in the underwater module on the horizontal axis of rotation and can be controlled via a power transmission unit making it possible to direct the camera with the lens up and down, in a vertical plane. The pressure waterproof camera housing is arranged inside a non-pressure cover which when in use is filled with water. The purpose of the cover is to reduce the impact of the angle of rotation of the camera on the hydrodynamic properties of the entire underwater module, reduce the risk of getting the camera housing caught on objects in water and provide aesthetic values.

In the solution according to the invention it is provided that inside the camera housing there may be a unit of the camera rotation with respect to the axis parallel to its optical axis. The provided camera movements increase the diversity of film frames possible to be obtained, increasing the artistic and media value of the video material obtained.

In a preferred embodiment according to the invention it is provided that the unit of the camera rotation with respect to the axis parallel to its optical axis comprises a frame with rollers guiding the frame and a drive motor for this purpose.

in a further embodiment of the solution according to the invention the camera housing can be fixedly mounted in the underwater module, and the camera inside the housing can be mounted on an upward and downward rotation mechanism, in this embodiment the housing window can be convex.

The camera's rotation mechanism can comprise a left and right and upward and downward rotation shaft assembly mechanism. Said shafts comprise axes one of which is horizontally arranged and the other is vertically arranged. This shaft assembly, similar by design to a universal joint, enables the adjustment of the camera lens direction in two dimensions.

In the solution according to the invention it is provided that drives of the above- mentioned rotation shafts of the camera can comprise brushiess motors with direct power transmission to said shafts. In the solution according to the invention, the underwater module is equipped with a lighting assembly which can comprise at least one LED lamp arranged in the underwater module body.

In a preferred embodiment of the solution according to the invention the lighting assembly can also comprise at least one horizontal arm mounted on a joint to the underwater module body provided with a LED light fixture.

An assembly with more lights from different directions and an increased distance of lights from the camera lens makes it possible to better light the monitored object.

In a further development the lighting assembly can comprise at least one vertical light strip with at least one LED light.

In a preferred embodiment, the lighting assembly can comprise a multipoint light arranged along the length of said light strip.

The underwater module can also be fitted with an extendable rescue arm. The term extendable rescue arm should be understood that in the rest position the arm is hidden in the underwater module housing or is adjacent to the housing. To change the arm's position into the working position, one end of the arm should be released for the arm to be able to move from the inside of said housing or deviate from the underwater module housing. The arm can be fitted with an element for taking a diver and towing him to the water surface.

In another preferred embodiment the underwater module can be fitted with a wireless data receiver from a vital signs monitor with a transmitter which can be used by a diver. Data from this monitor can be transmitted on a regular basis to the surface module.

The unit for monitoring an underwater object according to the invention provides the possibility of continuous filming of a diver during ail diving stages, including during preparation on the surface, diving, returning, resurfacing and a surface protocol. Video transmission to the surface is carried out in real time for judges, a safety team, or for an audience and the media. Prior art solutions usually enable filming either at the surface, or at a constant depth, or at the end plate, introducing periods for which a diver's video is not available.

Constant monitoring of a diver in the form of video provides a high level of situational awareness for a safety team and a panel of judges present on the surface. This makes it possible to intervene as soon as the first symptoms of a diver's problems occur and continuously assess the degree of compliance with the rules in a given competition.

Unprecedented control and flexibility in the selection of a video perspective and the possibility of using a number of cameras operating with one or more winches enables takes increasing the media attractiveness of this sport to be obtained and new sponsorship opportunities in this sport to be opened.

The use of vertical light strips fitted with light emitting elements arranged along the strips enables the creation of a virtually stationary light at a constant depth and not moving vertically with the underwater module. It is possible by generating a light wave moving along the strip with velocity equal to the movement speed of the underwater module and the strip and in the opposite direction to the movement. A take of a diver swimming in the vertical direction in the vicinity of a static light generated in such a way gains dynamics. The technique used eliminates the need for an additional cable running from the surface on which a stationary light would be hung.

With a vertical movement drive arranged on the surface in the form of a winch and rudders in the underwater module, a substantially silent change in the position and/or orientation of the underwater module has been enabled. Said control of the position and/or orientation of the underwater module is of key importance for obtaining the desired direction of the camera lens. It is obtained by the simultaneous deviation of rudders from the vertical and moving the underwater module up or down using the winch in the surface module. Therefore, the level of noise generated in the vicinity of a diver has been limited to a minimum, while maintaining control over the movement and orientation of the underwater module without using additional screw propulsions in the underwater module itself. In addition, in this way a lightweight, portable and compact design has been obtained enabling quick mobilisation of the device. Irrespective of that, an embodiment with screw propulsions for changing the position and/or orientation of the underwater module and a hybrid version connecting both types of drives have also been provided.

The unit for monitoring according to the invention is characterised by the suitability for use up to depths significantly exceeding the current maximum depths reached during freediving. In addition, the unit is characterised by the possibility of moving in the vertical direction with velocity exceeding the speeds of freedivers and with velocity exceeding permitted speeds for stand-by divers equipped with breathing apparatuses.

The constant tension of the main cable resulting from negative buoyancy of the underwater module with the full movement control of the underwater module minimises the risk of getting the main cable with a descending line tangled.

The physical connection of the underwater module with the surface using the main cable which is always tight and the full control of movements of the underwater module together with the underwater module with the rescue arm for taking a diver make that the solution according to the invention can be a new, independent safety system not limited only to observation of a diver but also enabling intervention and taking him out to the surface in an emergency situation.

Apart from the known counterbalance system described above, currently there aren't any other practical safety systems making it possible to quickly take a diver out to the surface from great depths and not requiring the participation of divers with breathing apparatuses. The discussed unit provided with the rescue arm is such a solution.

The constant proximity of the underwater module to a diver enables the integration of a wireless monitoring system of a diver's vital signs. In this embodiment a diver is provided with a small, battery-powered system monitoring heart rate and oxygen saturation of haemoglobin, and wirelessly transmitting data to a receiver located a few metres away in the underwater module. A relatively small transmission distance facilitates the performance of the data transmission system. Data from the underwater module is provided to the surface via the main cable in real time and can be made available to the safety team, an audience and television to increase the media attractiveness of this sport.

The possibility of remote monitoring of a diver and taking him out to the surface from the depths using the rescue arm is a step towards elimination of divers from the safety team with breathing apparatuses from depths that are dangerous for them. At the same time, the proposed use of the collision avoidance sonar, arranged in the bottom part of the underwater module enables the complementary, simultaneous operation of a diver with a breathing apparatus and the solution according to the invention without the risk of collision.

The subject of the invention is shown in the embodiments in the accompanying drawings in which the individual figures show:

Fig. 1 - a schematic view of the unit for monitoring an underwater object.

Fig. 2a - a half-view, half-section of the underwater module with the plane

\ perpendicular to the axis of rotation of the camera housing.

Fig. 2b - a^~view of the underwater module from the front with screw propulsion channels visible.

Fig. 2c - a haif-view, haif-section of the moving camera housing.

Fig. 2d - a half-view, half-section of the camera housing, according to Fig. 2c, in a front view.

Fig. 2e - a half-view, half-section of the housing with the possibility of the camera moving in the horizontal and vertical planes.

Fig. 2f - a front view of the camera housing, according to Fig. 2e.

Fig. 3a - a view of the surface module in the direction of the winch axis.

Fig. 3b - a half-view, half-section of the surface module in the direction

perpendicular to the winch axis.

Fig. 4a - a view of the underwater module with the rudder propulsion. Fig. 4b - another view of the underwater module, according to Fig. 4a,

Fig. 5a - a view of the underwater module with the lighting assembly.

Fig. 5b - another view of the underwater module, according to Fig. 5a.

Fig. 6 - a wiring diagram of the underwater module systems.

Fig. 7 - a wiring diagram of the surface module systems.

Fig. 1 shows a schematic view of the unit for monitoring an underwater object according to the invention. In this embodiment a diver 1.1 is an underwater object. The diver 1.1 is freediving at an assumed depth and is connected via a lanyard 1.2 with a descending line 1 .3. On the descending line 1 .3 an end plate 1.4 is attached which determines the depth at which the diver .1 plans to dive. The end plate 1 .4 contains tags 1.5. When the diver 1.1 reaches the end plate 1 .4, he should tear any of the tags 1.5 off as proof of reaching the target and take it to the surface. The descending line 1.3 at the end contains a load 1 .6 which keeps it tightened and in a vertical orientation.

The descending line 1.3 in this embodiment is dispensed from a platform 1.7 deck via a crane 1.8. In other embodiments, other vessels or shoreline devices can be used for this purpose. In this embodiment from a different place on the platform 1.7 a main support cable 1.9 is dispensed at the end of which an underwater module 1.10 is attached. In this figure it is schematically shown that at the end of the main cable 1 .9 more than one underwater module 1.10 can be attached in other embodiments, for example, in series, one below the other, two underwater modules 1.10 which can monitor and film the diver 1.1 from two different perspectives. For safety reasons, at the time of monitoring and filming freediving, it is important to keep any monitoring devices and cables on which they are hung at the necessary distance from the diver 1.1 and from the descending line 1.3. The priority is to completely eliminate the possibility of getting those lines and cables tangled which could stop the free movement of the driver's 1.1 lanyard 1.2 carabiner along the descending line 1 .3. Therefore, Fig. 1 shows that the descending line .3 is dispensed by one crane 1.8, and the main support cable 1.9 with the underwater module 1.10 is dispensed by a second crane 1.1 . The spatial separation of the two cranes is conducive to keeping the necessary distances. The condition for the good control of the trajectory of the main cable 1 .9 is also its loading with the underwater module 1 .10. The underwater module 1.10 must be made as negatively buoyant, namely its specific weight must be higher than the specific weight of water, namely higher than 0 kN/m³. The negative buoyancy of the underwater module 1 .10 during a downward movement also prevents the hydrodynamic resistance of the underwater module 1 .10 and enables its fall under gravity in water without the need to use a screw propulsion in the vertical direction. This makes it possible to reduce the level of noise emitted under water.

On the platform 1 .7 there is a surface module 1 .13 for dispensing the main cable 1 .9 and receiving and reading the camera 1.12 image. The main support cable 1 .9 is dispensed by the operator, or automatically, with the speed at which the diver 1.1 descends or with a greater speed to be ahead of the diver or with a lower speed for the diver to be ahead of the camera. This is to provide more varied and dynamic takes. On the diver's 1 .1 way back the main cable 1.9 is also pulled out with a speed adjusted to the speed at which the diver 1.1 ascends. The image in this embodiment is read on the surface module 1.13 monitor. This image can also be used to broadcast a freediving competition or attempts to break records in this sport. Fig. 1 schematically shows that the image from the surface module 1.13 on the platform 1 .7 is wire!essly transmitted to a land module 1.14. There it can be observed on the monitor by a wider audience or made available by a broadcasting van to a TV station for further transmission.

In the presented embodiment the diver 1 .1 is provided with a battery-powered vital signs monitor with a transmitter 1.15. The monitoring of such parameters as heart rate and oxygen saturation of haemoglobin is provided for. Data from the vital signs monitor with a transmitter 1 .15 is wire!essly sent in real time to a receiver located in the underwater module 1 .10 for its further transmission to the surface module 1.13 via the main support cable 1.9. Wireless transmission of data from the vital signs monitor with a transmitter 1 .15 via a radio, optical or ultrasound signal is provided for. The solution according to the invention does not exclude the possibility of monitoring other vital signs and the diver's 1 .1 depth.

Fig. 1 shows a commonly used system for monitoring the diver's depth in the form of sonar 1.16 arranged under the platform 1.7 and the existing safety system enabling taking the diver 1 .1 up to the surface using a counterweight and not requiring the participation of divers with breathing apparatuses. The system consists of a load 1 .17 which balances the load 1.6, an additional load 1.18 and a brake 1.19. in an emergency situation the brake 1.19 of the main line 1.3 is released and the load 1.18 is released which resting on the load 1 .17 falls by gravity and pulls the main line 1.3 with the end piate 1 .4 out to the surface by the system of blocks. Moving towards the surface, the end plate 1.14 takes the lanyard 1 .2 carabiner and the diver 1 .1 attached to it.

As shown in Fig. 2a and Fig. 2b, the underwater module 1 .10 in the upper part is connected to the main support cable 1 .9. In the central zone of the underwater module 1.10 there is a waterproof housing of the camera 1.12 mounted on an axis of rotation 2.3.

Fig. 2a shows a half-view, half-section of the underwater module 1.10 with the plane perpendicular to the axis of rotation of the camera 1.12 housing 2.13. The underwater module 1 .10 in the upper part is connected to the main support cable 1 .9 which supply power and signal. The underwater module 1.10 comprises the camera 1 .12 mounted in the sealed pressure housing 2.13, monitoring the surroundings via a window 2,14. On the camera 1 .12 housing 2.13 in this embodiment there is a cylindrical cover 2.1 ensuring streamlining, aesthetics and having a part with an arched gear rack 2.2 attached. The cover 2.1 with the camera housing 2.13 is mounted in a seat on the axis of rotation 2.3. The arched gear rack 2.2 cooperates with a drive 2.4 gear of the cover 2.1 rotation around the axis of rotation 2.3. As shown in Fig. 2a, this makes it possible to rotate the cover 2.1 with the housing 2.13 arranged in it with the camera 1.12 by a specified angle. The free rotation of the cover 2.1 partially arranged inside a housing 2.5 is enabled by a slit 2.8 between the elements shown in Figs. 2a and 2b. Thus, the camera 1.12 fens can follow the diver 1 .1 even when the underwater module 1.10 is still or moves in the vertical direction with a different speed than the diver 1 .1.

The underwater module 1.10 comprises the streamlined closed housing 2.5 inside which there is a spatial steei frame 2.6 to which individual components are attached. The interior of the housing 2.5 is filled with water when in use. In the bottom part of the underwater module there is a configurable ballast 2.7 module making it possible to implement the appropriate weight of the underwater module 1.10 and ensure its proper vertical orientation.

As an important element the underwater module 1.10 comprises a lighting assembly. Fig. 2a and Fig. 2b show that in this embodiment the underwater module comprises two lamps 2.9. In a preferred embodiment the lamps are arranged in the uppermost and/or lowermost part of the underwater module 1.10 body. Fig. 2a and Fig. 2b show an embodiment of the underwater module 1.10 equipped with a drive means for changing the position and/or orientation of the underwater module 1.10 in the form of screw propulsions 2.10, 2.11. In this embodiment it is shown that above and below the camera 1.12 there are two screw propulsions 2.10 on each side powered from the main power cable 1.9 through a power supply module 2.12, and propulsion drivers not shown in these figures. In this embodiment said four screw propulsions are directed in parallel and each of them can operate in both directions. As it is shown in Fig. 2a and Fig. 2b, the underwater module 1.10 is equipped with two further screw propulsions 2.1 1 also arranged below and above the camera 1 .12. These figures also show the power supply module 2.12 and a module with electronics 2.11 of functional units of the underwater module 1.10.

A preferred embodiment of the underwater module provides for the use of two screw propulsions enabling the control of the underwater module rotation in relation to the vertical axis and the control of the distance from the descending line 1 .3. Such a solution also makes it possible to manoeuvre the underwater module 1 .10 to take the diver 1.1 , as presented hereafter. The development of the underwater module according to the invention provides for the use of three screw propulsions making it possible to additionally control the movement of the underwater module in the transverse direction. A further development provides for the underwater module 1.10 being equipped with groups of screw propulsions arranged in its upper and bottom part. Such a solution ensures better control of the vertical orientation of the underwater module 1 .10 when controlling its movement in the above-mentioned directions. An embodiment of such a solution is shown in Figs. 2a and 2b.

In the bottom part of the underwater module 1 .10 there is sonar 2.15 enabling detection of obstacles below the underwater module 1.10 when it moves downwards in order to avoid collision.

The underwater module 1.10 is equipped with an extendable rescue arm 2.16 allowing the taking of the diver 1.1 out in an emergency situation by taking the diver 1 .1 or the lanyard 1 .2 using the rescue arm 2.16. Fig. 2a shows the rescue arm in the folded position 2.16 and a ready to use rescue arm in the extended position 2.19. The possibility of changing the position of the rescue arm 2.16 in this embodiment is provided by a joint 2.17 with an antagonistic spring and a release mechanism 2.18 containing a permanent magnet and an electromagnet. The arm's extreme position in the extended position is provided by a mechanical stopper 2.20. In the folded position the rescue arm 2.16 does not limit the camera 1 .12 view and does not introduce the risk of getting caught on objects in water. In the extended position the rescue arm 2.19 is directly in front of the camera 1.12 lens which provides a video making it possible to precisely manoeuvre the underwater module 1 .10 when trying to take the diver 1.1 or the lanyard 1.2 using the arm and then observe the diver when being towed, if needed.

Another embodiment of the rescue arm 2.16 provides that at its end there is an electromagnet enabling the attachment of the underwater module to a ferromagnetic element with which the diver 1.1 is provided. Such a solution makes it possible to efficiently take the diver 1 .1 and bring him to the surface even when he does not use the lanyard 1.2. This embodiment also provides that the rescue arm 2.16 is extendable.

Another embodiment provides for the equipment of the rescue arm 2. 6 with a grab to make it possible to grab the diver to bring him to the surface.

The underwater module 1.10 also comprises a wireless signal receiver 2.21 from the vital signs monitor with a transmitter 1.15 with which the diver 1 .1 is provided. It is provided that the receiver 2.21 is able to receive a radio, optical or ultrasound signal. The wirefessly received data is transmitted in real time via the main cable 1.9 to the surface module 1.13 and can be made available to the safety team and an audience to increase the media attractiveness of this sport.

In the embodiment shown in Fig. 2a it is provided that the underwater module 1 .10 is equipped with sonar 2.23 for measuring the distance between the underwater module 1.10 and the diver 1.1 and/or the descending line 1.3. In this embodiment the sonar 2.23 is mounted, with the camera 1.12, on the horizontal axis of rotation 2.3. This makes that it always faces the direction corresponding to the direction of the camera 1 .12, so the direction of the diver 1.1. When the cover 2.1 under which the sonar 2.23 is arranged interferes with its operation, the invention provides for making an opening in the cover 2.1 enabling undisturbed transmission and reception of acoustic waves.

In other embodiments the sonar 2.23 can be fixedly attached to the underwater module 1 .10 frame 2.6 and faced towards the underwater module 1.10 front enabling the measurement of the distance to the descending line 1.3 or can be rotatably mounted on a horizontal axis of rotation other than the camera 1.12, enabling it to be directed towards the diver 1.1.

Knowing the distance between the underwater module 1.10 and the diver 1 .1 and/or the descending line 1.3 is essential to ensure safety, and in a further development of the solution according to the invention enables the implementation of a system for automatic control of this distance.

Fig. 2c and Fig. 2d show the waterproof camera 1.12 housing 2.13 taking into account in detail components of the system enabling the camera 1.12 rotation with respect to the axis parallel to its optical axis. In this embodiment inside the housing 2.13, consisting of a pipe 3.15 closed at the ends with the window 2.14 and a cover 3.2, there is the camera 1 .12 fitted with a lens 3.1. Said camera and the lens are mounted on a shelf 3.8 with the possibility of rotation with respect to the axis parallel to the housing 2.13 axis provided by a mechanism consisting of rims 3.3 fitted with radial stabilisation rolls 3.4 rigidly connected with one another by means of connectors 3.5 fitted with axial stabilisation rolls 3.6. The system further comprises a drive 3.7,

In another embodiment it is possible to use a piezoelectric drive transmitting the drive directly to the inner surface of the housing 2.13 pipe 3.15 with partial or complete exclusion of rolls. In another embodiment it is also possible to partially or completely replace rolls with gears cooperating with internally toothed racks stationary relative to the housing 2.13.

Fig. 2e and Fig. 2f show an embodiment of the camera 1 .12 rotation with the waterproof housing 2.13 fixedly attached to the underwater module 1.10 frame 2.6. The housing 2.13 consists of the window 2.14, the cover 3.2 and the pipe 3.15. The camera 1.12 with the lens 3.1 rests on the shelf 3.8. The possibility of upward and downward rotation of the camera is provided by the drive 3.9 fixed on a support 3.10 to the housing 2.13 which through a shaft 3.1 1 drives a support 3.12. On the support 3.12 a drive 3.13 is mounted which through a shaft 3.14 drives the shelf 3.8 and enables rotation of the camera to the left and to the right. The presented solution with two rotary axes makes it possible to observe the diver 1 .1 at various angles. In the known embodiment in the field of camera stabilisation based on a direct brushless motor drive it can provide high-quality mechanical stabilisation of the camera 1.12. Said stabilisation is advantageous in case of vibrations and uncontrolled minor changes in the orientation of the underwater module 1.10. The term brushless motor is understood in this embodiment as a brushless direct-current three-phase electric motor with sensorless commutation control. Other embodiments of the camera drive are not excluded, including a solution with three axes of rotation and three drives. Fig. 3a and Fig. 3b show in detail the underwater module 1.13 arranged in this embodiment on the platform 1.7, as shown in Fig. 1. The surface module 1.13 as the main element comprises a reel 4.1 with the main cable 1.9 reeled onto it. The cable 1.9, with the underwater module 1.10 attached at the end, is unreeled and reeled onto the reel 4.1 using a drive 4.14. The reel 4.1 in the event of a failure of the drive 4.14 or in the event of a power failure is fitted with a hand crank's socket 4.16 of the reel 4.1 rotation. The surface module 1.13 is fitted with a user interface 4.3 for observing the underwater module 1.10 camera 1.12 image and controlling the unit according to the invention. Fig. 3a and Fig. 3b show a dynamic junction box 4.4 of the main cable. Power supply connection and signal connection of the main cable 1.9 is routed from the reel 4.1 through a rotary joint 4.5 which is schematically shown in Fig. 3b. The camera 1.12 image in this embodiment is transmitted by wire or wirelessSy to the land module 1.14, shown in Fig. 1 , via a communication module 4.6. From the land module 1.14 the camera 1.12 image can be further transmitted via known means of communication. In other embodiments the surface module is not fitted with the communication module 4.6. Fig. 3b also shows a head 4.7 for routing the cable unreeled from the reel 4.1 with a routing slit 4.8 slidable on guides 4.9. Fig. 3b also shows a static junction box 4.10, a voltage converter 4.11 and a control and video recording module 4.12 and a battery power supply module 4.13. In other embodiments there may be other solutions for these elements than in the form of separated modules. The rigidity of the surface module 1.13 and the fixing of its components is provided by a frame 4.5.

Fig. 4a and 4b show the underwater module 1 .10 in an embodiment with rudder propulsion. The term rudder propulsion should be understood in this patent specification that the underwater module 1.10 is fitted with rudders 5.1 with propulsion enabling their controlled deflection from the neutral position on axes 5.2. When the underwater module 1.10 moves in the vertical ascending or descending direction it is possible to change the position and/or orientation of the underwater module 1.10 as a result of the action of hydrodynamic forces on the rudders 5.1 . In this embodiment this makes it possible not to use in the underwater module 1 .10 the screw propulsions 2.20, 2.1 1 shown in Figs. 2a and 2b. The main cable 1 .9 is dispensed and pulled out using the winch reel 4.1 for lowering and lifting the underwater module 1.10. The rudders 5.1 have covers 5.7 in the form of safety bars protecting the rudders 5.1 from damage.

In a preferred embodiment the underwater module 1 .10 comprises at least one rudder 5.1 enabling the control of the rotation of the underwater module in relation to the vertical axis. A development of the underwater module according to the invention provides for the use of two rudders 5.1 further allowing the distance from the descending line 1.3 to be controlled. A further development provides for the use of more rudders 5.1 further allowing a movement in the transverse direction in relation to the underwater module 1.10 and the underwater module 1 .10 to be fitted with groups of rudders arranged in its upper and bottom part. Such a solution ensures better control of the vertical orientation of the underwater module 1.10 while controlling its movement in the above directions. An example of such a solution is shown in Figs. 4a and 4b.

in another embodiment the underwater module 1.10 can also be performed in hybrid technology in which it contains both the screw propulsion 2.10, 2.1 1 and the rudders 5.1 . Such a solution combines the advantages of both types of the propulsions used.

Fig. 5a and Fig. 5b show embodiments of necessary lighting, in particular at greater depths, for the proper operation of the camera 1 .12 recording the image through the window 2.14. Fig. 5a shows the underwater module 1 .10 hung on the main support cable 1 .9. In this embodiment the underwater module 1 .10 comprises the lamps 2.9 shown in Fig. 5b, but also above and below the underwater module comprises vertical light strips 5.3 with lighting points 5.8. The advantage of the vertical light strips 5.3 is their low hydrodynamic resistance when the underwater module moves in the vertical direction. Fig. 5b shows that the underwater module 1 .10 in this embodiment is also fitted with horizontal arms 5.4 with light fixtures 5.5 containing point LED lights. The arms 5.4 are mounted here on joints 5.6 with the known latching mechanism for determining the working position. The joint 5.6 enables the arm 5.4 to be folded to facilitate the transport of the underwater module 1.10 and enables it to be independently folded in a situation where during the vertical movement of the underwater module 1.10 there will be a collision between the arm 5.4 and an object in water. The arm 5.4 being independently folded in such a situation is to limit the extent of damage to the arm 5.4 and the extent of damage to said object, and enable a further, uninterrupted vertical movement of the underwater module 1.10 despite the presence of the obstacle.

A development of the unit according to the invention provides for the possibility of control of the stream of light of the lamps 2.9, the light strips 5.3 and the light fixtures 5.5 according to the direction of the camera 1.12 lens. The possibility of mechanical control of the direction of the stream of light by arranging lights on a rotating mechanism is provided for. In addition, the possibility of non-mechanical control of the direction of the stream of light by using more lights directed at many directions and an electronic control for them is provided for. The effect of a change in the direction of light is obtained in this case by complete or partial turning on and off of the respective lights directed at various directions. The non-mechanical solution is characterised by the lack of moving parts.

In the presented embodiment the underwater module 1.10 comprises the screw propulsion 2.10, 2. 1. Other embodiments do not exclude the use of the propulsion described above in the form of the rudders 5.1 or a hybrid drive containing the rudders 5.1 and a screw propulsion.

Fig. 6 shows an example of a wiring diagram of the systems of the underwater module 1.10 according to the invention. Signal connections are marked by a thin line, power supply connections are marked by a thick line, and signal and power supply connections are marked by a double line. The main component of the module with electronics 2.22 is a control system 6.1 into which signals are fed from a sensor module 6.2 installed in the underwater module 1.10. The control system 6.1 is also connected to lighting controllers 6.8, drive controllers 6.9 and the drive 2.4 of the camera 1.12 arranged in the cover 2.1. The control system 6.1 manages the operation of these components. The system is fitted with a fuse block 6.6 through which the control system 6.1 , an electro-optical converter 6.4, a video converter 6.7 and components inside the cover 2.1 are supplied from a power busbar 6.5. The components inside the cover 2.1 comprise the camera 1.12, the camera rotation drive 3.7 and the sonar 2.23 shown in Figs. 2a, 2c and 2d, The lamps 2.9, the arms 5.4 and the light strips 5.3 are supplied through the lighting controllers 6.8. The propulsion controllers 6.9 supply the screw propulsion 2.10, 2.1 1 and the rudder propulsion 5.1. Power supply and signals are fed to the underwater module 1.10 through a main connection 6.3. The power supply module

2.12 provides electricity to the underwater module 1.10 components.

Another Fig. 7 shows an example of a wiring diagram of the surface module

1 .13 systems. Signal connections are marked by a thin line, power supply connections are marked by a thick line, and signal and power supply connections are marked by a double line. A component of this system comprises the control and video recording module 4.12 in which there is a control system 7.1 connected to the user interface 4.3 devices and the communication module 4.6. The control system 7.1 is supplied from a power busbar 7.2 which is supplied by the battery power supply 4.13 module supplied from a power connection 7.3. A video recorder 7.4, a video converter 7.5 and an electro-optical converter 7.6 are also supplied from the power busbar 7.2. The winch drive 4.14 is supplied from the same power busbar 7.2. Battery power supply is also fed to the voltage converter 4.11. Power supply is fed from the voltage converter to the static junction box 4.10, and then through the rotary joint 4.5 to the dynamic junction box 4.4 and to the main support cable 1 .9. The battery power supply 4.13 should be understood as an uninterruptible power supply that maintains power supply in case of external power supply interruption.

In a preferred embodiment the video recorder 7.4 is arranged in the surface module 1 .13 to allow the camera 1.12 image to be recorded in the best possible quality which may be required for further distribution, for example through the communication module 4.6 with the land module 1.14.

In a preferred embodiment the surface moduie 1.13 is equipped with a video input from at least one external surface camera which can be operated by the operator. Centralised access of the unit according to the invention to the image from all cameras, including said surface camera, allows their simultaneous recording, provides a greater choice of takes in live video editing and enables further distribution of also this image, for example through the communication module 4.6. A development of a preferred embodiment provides for the possibility of remote control of the camera 1.12 parameters, such as zoom, focus, white balance, colour correction, aperture as well as remote control of the position of the camera rotation mechanism, position and/or orientation of the underwater module 1.10 and the winch reel drive 4.14. The possibility of remote supervision of live video editing is also provided for.

The user interface 4.3 shown in Fig. 7 comprises, inter alia, a monitor which in real time displays the camera 1.12 image, and a control panel for the unit according to the invention. It is provided that the user interface 4.3 can be connected to the surface module 1 .13 by a cable allowing it to be positioned at any place in the vicinity of the surface moduie. In a waterproof embodiment, the user interface 4.3 can be used by a judge in water on the surface allowing him access to a video preview. In other embodiment the user interface 4.3 can be wireless.

List of designations in the figures

1.1. Diver.

.2. Lanyard.

1.3. Descending line.

1.4. End plate.

1.5. Tag.

1.6. Load.

1.7. Floating platform.

1 .8. Crane.

1 .9. Main support cable.

1 .10. Underwater module.

1 .11. Crane.

1.12. Camera.

1.13. Surface module.

1.14. Land module.

1. 5. Vital signs monitor with a transmitter.

1.16. Sonar.

1.17. Load.

1.18. Load.

1.19. Brake.

2.1. Camera housing cover.

2.2. Gear section.

2.3. Axis of rotation of the camera housing. 2.4. Drive.

2.5. Underwater module housing.

2.6. Underwater module frame.

2.7. Ballast.

2.8. Slit.

2.9. Lamp.

2.10. Screw propulsion.

2.11. Screw propulsion.

2.12. Power supply module.

2.13. Housing.

2.14. Window.

2.15. Sonar.

2.16. Rescue arm in the folded position.

2.17. Arm joint.

2.18. Release mechanism.

2.19. Rescue arm in the extended position.

2.20. Mechanical stopper.

2.21 . Wireless receiver.

2.22. Module with electronics.

2.23. Sonar. 3.1. Camera lens.

3.2. Housing cover.

3.3. Rim.

3.4. Radial stabilisation roll.

3.5. Rim connector.

3.6. Axial stabilisation roll.

3.7. Drive.

3.8. Camera shelf.

3.9. Drive.

3.10. Support.

3.11. Shaft.

3.12. Support.

3.13. Drive.

3.14. Shaft.

3.15. Pipe.

4.1 . Reel.

4.2. Axis of rotation.

4.3. User interface.

4.4. Dynamic junction box.

4.5. Rotary joint.

4.6. Communication module.

4.7. Head for routing the main cable.

4.8. Routing slit.

4.9. Guide.

4.10. Static junction box.

4.11. Converter.

4.12. Control and video recording module.

4.13. Battery power supply.

4.14. Reel drive.

4.15. Frame.

4.16. Socket.

5.1 . Rudder.

5.2. Rudder axis.

5.3. Vertical light strip.

5.4. Horizontal arm.

5.5. Light fixture.

5.6. Joint.

5.7 Rudder cover.

5.8 Lighting points.

6.1. Control system.

6.2. Sensor module.

6.3. Main connection. 6.4. Electro-optical converter.

6.5. Power busbar.

6.6. Fuse block.

6.7. Video converter.

6.8. Lighting controller.

6.9. Propulsion controller.

7.1. Control system.

7.2. Power busbar.

7.3. Power connection.

7.4. Video recorder.

7.5. Video converter.

7.6. Electro-optical converter.

Claims

1. A unit for monitoring underwater objects comprising a surface module for receiving data from an underwater module and sending data to the underwater module, where the underwater module is attached to a signal support cable connected to the surface module comprising a device for dispensing and pulling the support cable out, wherein the underwater module comprises at least one camera mounted in a sealed housing, a power unit and a lighting assembly, a drive unit and a unit for image transmission to the surface module, where the underwater module comprises a streamlined body characterised in that the underwater module (1.10) body comprises a support structure to which individual components of the underwater module (1.10) are attached, where the underwater module (1 .10) in the upper part is connected to the main support cable (1.9), and below this connection there is at least one waterproof housing (2.13) in which there is a video camera (1 .12), and the underwater module (1.10) drive unit comprises at least one drive means for changing the position and/or orientation of the underwater module (1 .10).

2. The unit for monitoring, according to claim 1 , characterised in that the underwater module's (1.10) specific weight is greater than the specific weight of water.

3. The unit for monitoring, according to claim 1 , characterised in that the surface module (1 .13) comprises the main support cable (1 .9) reel (4.1 ) with a drive (4.14), a user interface (4.3) and a control system (7.1 ).

4. The unit for monitoring, according to ciaim 3, characterised in that the surface module (1.13) comprises battery power supply (4.13).

5. The unit for monitoring, according to claim 3, characterised in that the surface module (1 .13) comprises a video recorder (7.4).

6. The unit for monitoring, according to claim 3, characterised in that the surface module (1.13) comprises a communication module (4.6) with a remote module.

7. The unit for monitoring, according to claim 6, characterised in that the remote module is a land module (1 .14).

8. The unit for monitoring, according to claim 1 , characterised in that drive means for changing the position and/or orientation of the underwater module (1 .10) comprise at least one rudder (5.1 ) mounted on a substantially horizontal axis of rotation (5.2) with a vertical neutral position.

9. The unit for monitoring, according to claim 1 or 8, characterised in that drive means for changing the position and/or orientation of the underwater module (1.10) comprise at least two screw propulsions (2.10, 2.1 1 ) with substantially horizontal axes of rotation.

10. The unit for monitoring, according to claim 1 , characterised in that above the underwater module (1.10) and/or under the underwater module (1 .10) there is at least one additional camera (1.12).

11 . The unit for monitoring, according to claim 1 , characterised in that the camera (1 .12) housing (2.13) is mounted on the horizontal axis of rotation

(2.3) in the underwater module (1.10) and is controlled via a power transmission unit (2.2, 2.4).

12. The unit for monitoring, according to ciaim 1 1 , characterised in that inside the housing (2.13) there is a unit of the camera (1.12) rotation with respect to the axis parallel to the camera's (1.12) optical axis.

13. The unit for monitoring, according to ciaim 12, characterised in that the unit of the camera's (1.12) rotation comprises a frame (3.3,3.5) with rollers (3.4,3.6) and a motor (3.7).

14. The unit for monitoring, according to claim 1 , characterised in that the housing (2.13) is fixedly mounted in the underwater module (1.10), wherein the housing window (2.14) is convex, and the camera (1.12) inside the housing (2.13) is mounted on an upward and downward rotation mechanism (3.9, 3.11 ).

15. The unit for monitoring, according to claim 14, characterised in that the camera's (1.12) rotation mechanism comprises a shaft assembly mechanism (3.11 , 3.14), where one shaft (3.1 1 ) is horizontal, and the other shaft (3.14) is vertical.

16. The unit for monitoring, according to claim 14 or 15, characterised in that the drive of the rotation mechanism comprises brushless motors with direct power transmission to the shafts (3.11 ,3.14).

17. The unit for monitoring, according to claim 1 , characterised in that a lighting assembly comprises at least one LED lamp (2.9) arranged in the underwater module (1.10) body.

18. The unit for monitoring, according to claim 1 or 17, characterised in that the lighting assembly comprises at least one horizontal arm (5.4) mounted on a joint (5.6) to the underwater module (1.10) body provided with a LED light fixture (5.5).

19. The unit for monitoring, according to claim 1 or 17 or 18, characterised in that the lighting assembly comprises at least one vertical light strip (5.3) with at least one LED light.

20. The unit for monitoring, according to claim 19, characterised in that the lighting assembly comprises a multipoint light arranged along the length of the strip (5.3).

21. The unit for monitoring, according to one of the claims from 1 to 20, characterised in that the underwater module (1.10) is equipped with an extendable rescue arm (2.16).

22. The unit for monitoring, according to one of the claims from 1 to 20, characterised in that the underwater module (1 .10) is equipped with a wireless data receiver (2.21 ) from a vital signs monitor with a transmitter (1.15) with which a diver (1.1 ) is provided.