Underwater device for imaging a waterbed

Description

[0001] The invention relates to an underwater device with a hyperspectral camera for capturing images of a seabed. Furthermore, the invention relates to an autonomous underwater vehicle and a cable-guided underwater vehicle, each comprising such an underwater device.

[0002] There is a need to monitor marine and freshwater ecosystems from both an economic and ecological perspective. One challenge in monitoring ecosystems is that, on the one hand, a fine spatial resolution of the seafloor is required to capture the high diversity of organisms with sufficient accuracy, and, on the other hand, a large area must be surveyed.

[0003] Underwater devices equipped with a camera for capturing images of the seabed are known from the prior art. These underwater devices are very large and complex in design. This makes adapting the underwater device to different applications very time-consuming. In particular, installing and removing electrical devices in the underwater device is very time-consuming.

[0004] US 2016 / 178993 A1 describes a compact underwater camera which is equipped with a conventional camera system.

[0005] The object of the invention is to provide an underwater device that can be quickly adapted to the desired area of ​​application and / or intended use.

[0006] The object is achieved by an underwater device with a hyperspectral camera for taking images of a water floor, a first housing part, a second housing part which is detachably connected to the first housing part in a watertight manner and which, together with the first housing part, encloses a cavity in which the hyperspectral camera is arranged, and an electrical energy storage device for supplying the hyperspectral camera with electrical energy, which electrical energy storage device is arranged in another cavity, wherein the other cavity is separated from the cavity by a wall section of the first and / or second housing part.

[0007] The underwater device according to the invention has the advantage of being compact and consisting of few components. Furthermore, the electrical energy storage device is easily accessible, allowing it to be replaced quickly and easily. Since the other cavity is separated from the cavity in a watertight manner, this easily prevents water from accidentally entering the cavity when replacing the electrical energy storage device.

[0008] Furthermore, it can be quickly assembled and disassembled. After loosening the connection between the first housing part and the second housing part, the hyperspectral camera located in the cavity can be easily accessed. Furthermore, after loosening the connection, other mechanical components and / or electrical loads located in the cavity can be easily accessed. As a result, the underwater device can be quickly converted to adapt it to its intended use and / or location.

[0009] During operation, the underwater device can be partially or completely submerged in water. For the investigation of a seabed, it is best to have the underwater device completely submerged in the water. The underwater device can be used to investigate marine and freshwater ecosystems.

[0010] The removable connection between the first housing part and the second housing part is designed to be watertight. This prevents water from entering the cavity and thus damaging electrical devices. The watertight connection ensures that there are no openings in the connection area between the first housing part and the second housing part through which water can flow into the cavity. The removable connection can be a screw connection.

[0011] Electrical loads are components of the underwater device that contain electronic components and can therefore be damaged if they come into contact with water, especially condensation, and / or if the humidity of the surrounding air is too high.

[0012] A hyperspectral camera is a camera that records multispectral data in very narrow spectral bands of visible light, near-infrared, and mid-infrared. Hyperspectral cameras thus enable high spectral resolution of object-specific signatures in more than 15, but generally in 30-200 contiguous channels, thus enabling the documentation of a nearly continuous spectrum for each image element. In a special design, the underwater device can include a color camera for imaging the water floor. The color camera can be located in the cavity and / or be an RGB camera.

[0013] A color camera, especially an RGB camera, is not a hyperspectral camera. A color camera differs from a hyperspectral camera in that it has fewer channels—specifically, exactly three—than a hyperspectral camera. Accordingly, a color camera cannot capture the observed object with as high a spectral resolution as a hyperspectral camera. Using a color camera and a hyperspectral camera offers the advantage of capturing multiple images of the same object, which is beneficial for image analysis.

[0014] The color camera and the hyperspectral camera are arranged in a cavity partially enclosed by the first housing part or the second housing part. Therefore, tolerances of only one housing part need to be considered when arranging and mounting the hyperspectral camera and / or the color camera.

[0015] The first housing part can have an opening in which a transparent plate, in particular a glass plate, is arranged in a watertight manner. The hyperspectral camera can be arranged such that the image can be captured through the transparent plate. The color camera can be arranged similarly within the cavity so that images can be captured through the transparent plate. The hyperspectral camera and the RGB camera can be arranged entirely within the cavity. As a result, it can be easily ensured that the color camera and / or hyperspectral camera are protected from contact with water and that images can be captured from the water bottom.

[0016] In a special embodiment, a connection direction for connecting the first housing part to the second housing part can be directed along a central axis of the first housing part and / or the second housing part. Furthermore, the connection direction can be directed perpendicular to an end face plane of the first housing part and / or the second housing part. Connecting the first housing part and the second housing part along the connection direction offers the advantage that the connection area to be sealed is small. This means that sealing only needs to be carried out along an end face circumference of the first housing part and / or the second housing part. The end face plane can be a plane normal to the central axis and / or parallel to a vertical plane. The vertical plane is perpendicular to a horizontally running water floor.

[0017] For sealing, at least one seal can be arranged between the first housing part and the second housing part. The seal can be arranged on an end face region of the first and / or second housing part. As a result, the watertight connection between the first housing part and the second housing part can be easily realized.

[0018] After connecting the two housing parts, the end face of the first housing part can be in contact with the second housing part and / or the end face of the second housing part can be in contact with the first housing part.

[0019] In a special design, the two housing sections can be connected and / or separated by hand. Connecting and separating the two housing sections is non-destructive. This allows the underwater device to be easily assembled and disassembled.

[0020] Assembling and disassembling the underwater device is particularly easy if the first housing part forms one housing half and the second housing part forms the second housing half of the underwater device. In this design, the underwater device has exactly two housing components, namely the two housing halves. The effort required to assemble and disassemble the underwater device is minimized with this design.

[0021] In a special design, the wall section of the first housing part and / or the second housing part can completely separate the cavity from the other cavity. This is advantageous because it cannot be ruled out that water may flow into the other cavity when changing the electrical energy storage device. Changing the electrical energy storage device is usually carried out on a ship. Depending on the sea state, it cannot be ruled out that the underwater device may come into contact with water.

[0022] However, in the underwater device according to the invention, the wall section prevents water from the other cavity from entering the cavity. As a result, the wall section prevents the electrical loads arranged in the cavity, such as cameras, control devices, etc., from coming into contact with water. Due to the watertight separation of the cavity from the other cavity, the electrical energy storage device in the underwater device according to the invention can also be changed on a ship.

[0023] The underwater device is designed such that the wall section of the first housing part and / or the second housing part defines both the cavity and the other cavity. This allows for the realization of a particularly compact underwater device. One advantage of a compact underwater device is that it is easier to maneuver underwater than larger underwater devices.

[0024] In a special embodiment, the electrical energy storage device can be designed such that it can be inserted into the other cavity. This allows the electrical energy storage device to be easily inserted into the other cavity. The electrical energy storage device can be pushed out of the other cavity in the same way. Therefore, in the underwater device, the electrical energy storage device can be easily inserted into the other cavity or removed from the other cavity.

[0025] The electrical energy storage device can be designed modularly, which further simplifies installation and removal. The electrical energy storage device can comprise at least one battery.

[0026] When the electrical energy storage device is pushed into the other cavity, an electrical connection can be automatically established between the electrical energy storage device and the hyperspectral camera and / or another electrical load of the underwater device. The electrical energy storage device can have an electrical interface, such as a plug, which is coupled to another electrical interface of the first or second housing part to realize the electrical connection. This makes installation of the electrical energy storage device particularly simple because the steps to be performed by the user are minimized. An opening can be provided in the wall section through which electrical cables are routed. By means of the electrical cables, electrical loads of the underwater device can be electrically connected to the electrical energy storage device.

[0027] The underwater device can be designed such that an electrical line between the electrical energy storage device and the hyperspectral camera and / or between the electrical energy storage device and another electrical load runs exclusively within the first housing part and / or the second housing part. The electrical line can be routed such that it does not come into contact with water. This offers the advantage of eliminating the risk of, for example, the user inadvertently disconnecting the electrical connection between the electrical energy storage device and the electrical load during diving.

[0028] The other cavity may have a cavity cover by means of which the other cavity can be closed. The cavity cover may be attached to the first or second housing part. Furthermore, the cavity cover may be movable relative to the first or second housing part.

[0029] In a special embodiment, at least one rail-shaped mounting device for mounting on a floor can be provided. At least one weight can be attached to the mounting device. A partial area of ​​the mounting device can be firmly connected to the first housing part and another partial area of ​​the rail can be firmly connected to the second housing part. The mounting device can be designed such that the weight can be positioned at different points on the rail. This makes it easy to adjust the center of mass of the underwater device. The weight can thus be positioned on the rail such that a center of buoyancy of the underwater device and a center of mass of the underwater device lie in a plane normal to the central axis of the underwater device.This simply prevents the underwater device from rotating and requires the user to apply a force to prevent the rotation.

[0030] The underwater device can have a plurality of support devices, in particular exactly two. The support devices can run parallel or at an angle to one another. Furthermore, the support devices can protrude from the first and / or second housing part in such a way that the underwater device can be placed on the ground by means of the support devices. Thus, the underwater device does not need to have separate feet by means of which the underwater device can be placed on the ground.

[0031] The underwater device can map the seafloor based on the captured images. Using the underwater device, a very precise examination of the seafloor is possible compared to previous underwater devices.

[0032] In a special embodiment, the underwater device can be designed to be manually actuated and / or operated and / or portable. This means that the underwater device is not remotely controlled from a vessel, but solely by the diver. The underwater device can be designed to be propellerless. This means that the underwater device is propelled solely by the diver. The underwater device therefore does not have a drive motor to power the underwater device.

[0033] In a particular embodiment, the first housing part and / or the second housing part can have another opening and a cover for sealing the other opening in a watertight manner. A sensor of the underwater device and the other opening can be arranged in a plane. The plane can be a plane perpendicular to the central axis of the underwater device.

[0034] The cover can be made of a different material than the first housing part and / or the second housing part. The first housing part and / or the second housing part can be made of metal. However, metal prevents some measurement signals and / or data signals from reaching the sensor, such as a GNSS (Global Navigation Satellite System) sensor. Therefore, the cover has the advantage that such measurement signals and / or data signals can be received. The other material of the cover can be designed such that it allows wireless communication between the sensor and another communication means. In particular, the other material can be selected such that it does not reflect radio data and thus enables the sensor to receive data.

[0035] The underwater device may include at least one handle for controlling the underwater device. The handle may be attached to the first housing part and / or the second housing part. The handle allows the underwater device to be easily maneuvered.

[0036] The first housing part and / or the second housing part can have a recess directed away from the handle. The recess and the handle are arranged such that they are in a plane perpendicular to the central axis of the underwater device. Since gloves are often worn underwater, the recess allows the handle to be positioned close to the first housing part and / or the second housing part. The user can easily grasp the handle because the recess provides sufficient space.

[0037] In a particular embodiment, the underwater device can have a valve that opens when the pressure in the cavity is too high. Alternatively, the valve can be opened by a user. Furthermore, another valve can be provided that opens when the pressure in the other cavity is too high. Alternatively, the other valve can be opened by a user. As a result, excess pressure in the cavity and / or the other cavity can be easily reduced or prevented.

[0038] It is particularly advantageous if the underwater device is a diver-operable underwater device. A diver-operable underwater device is one that can be operated by a diver in or underwater. This means that the diver can move the underwater device in or underwater and thus move it into the desired position to capture images of the desired area of ​​the seabed. Furthermore, the diver can operate the underwater device in or underwater, in particular, enter appropriate commands to capture images of the seabed.

[0039] Alternatively, the underwater device can be an autonomous underwater vehicle. In this design, the underwater device does not need to be moved by a diver to capture images of the seafloor. The underwater vehicle can be controlled autonomously.

[0040] Alternatively, the underwater device can be a cable-guided underwater vehicle (remotely operated vehicle). In this design, the underwater device does not need to be moved by a diver to capture images of the seabed. The underwater vehicle can be controlled by a person on a vessel.

[0041] The figures show the subject matter of the invention schematically, with identical or equivalent elements generally being provided with the same reference numerals. Here: Fig. 1 a side sectional view of an underwater device according to the invention without electrical consumers, Fig. 2 a side sectional view of the underwater device according to the invention with electrical consumers, Fig. 3 an exploded view of the underwater device according to the invention, Fig. 4 a perspective view of the underwater device according to the invention, Fig. 5a front view of the underwater device according to the invention.

[0042] The Figure 1 The underwater device 1 shown is a diver-operable underwater device. The underwater device 1 may alternatively be an autonomous underwater vehicle or a cable-guided underwater vehicle.

[0043] The underwater device 1 comprises a first housing part 3 and a second housing part 4, which is detachably connected to the first housing part 3 in a watertight manner. The first and second housing parts 3, 4 enclose a cavity 5. Furthermore, the second housing part 4 has another cavity 7, which is completely and watertightly separated from the cavity 5 by a wall section 13 of the second housing part 4. The other cavity 7 is closed by a cavity cover 14. The cavity cover 14 is detachably connected to the second housing part 4. In the Figure 1In the embodiment shown, no electrical consumers are arranged in the cavity 5 or in the other cavity 7.

[0044] The first housing part 3 has an opening 10. A transparent plate 11 in the form of a glass plate is arranged in the opening 10. The transparent plate 11 is designed and connected to the first housing part 3 in such a way that water ingress through the opening 10 into the cavity 5 is prevented.

[0045] The first housing part 3 has a recess 32 at its end facing away from the second housing part 4. The recess 32 serves to accommodate sensors not shown in the figures. Alternatively or additionally, a communication device for transmitting and / or receiving data can be arranged in the recess 32. Using the communication device, a data connection can be established with, for example, another communication device arranged on a ship.

[0046] Figure 2shows a side sectional view of the underwater device 1 according to the invention with electrical loads. The underwater device 1 has a hyperspectral camera 2 and a color camera 8, which are arranged in the cavity 5. In addition, the underwater device 1 has an electrical energy storage device 6 for supplying the hyperspectral camera 2 and the color camera 8 with electrical energy. In addition, the electrical energy storage device 6 supplies further electrical loads of the underwater device 1. The electrical energy storage device 6 is arranged in the other cavity 7 and can have multiple batteries.

[0047] The electrical lines between the electrical energy storage device 6 and the color camera 8 and the hyperspectral camera 2 and the other electrical loads not shown are not shown in the figures. However, they run within the first housing part 3 and / or the second housing part 4. In particular, the electrical lines are arranged such that they do not come into contact with water and thus do not run outside the first housing part 3 and the second housing part 4.

[0048] The color camera 8 and the hyperspectral camera 2 are arranged in the cavity 5 such that they can each capture images through the transparent plate 11. Furthermore, the color camera 8 and the hyperspectral camera 2 are arranged in a cavity section 9 defined by the first housing part 3. The cavity 5 is composed of the cavity section 9 defined by the first housing part 3 and another cavity section 33 defined by the second housing part 4.

[0049] The underwater device 1 has another opening 16 in the second housing part 4. The other opening 16 is closed by a cover 17. The cover 17 is made of a different material than the first housing part 3 and the second housing part 4. A sensor 18, in particular a GNSS sensor, is arranged below the cover 17. The sensor 18 is arranged such that it and the other opening 16 are arranged in a plane, in particular a plane perpendicular to a central axis M of the underwater device 1.

[0050] In addition, the underwater device 1 has a display device 21, by means of which, for example, images captured by the cameras are presented to a user. Furthermore, operating states of the underwater device 1 can be presented to the user via the display device 21. The data acquired by the cameras 2, 8 and / or other electrical consumers can be processed by a control device 23 arranged in the cavity 5. The display device 21 and / or the electrical consumers and / or the control device 23 are arranged in the cavity 5.

[0051] The underwater device 1 also has a measuring device 22, such as a Doppler velocity log, by means of which the direction of the underwater device 1 and the speed over ground can be measured. The measuring device 22 protrudes from an opening in the first housing part 3 and the second housing part 4. The measuring device 22 is designed and / or connected to the first housing part 3 and the second housing part 4 in such a way that no water can flow into the cavity 5 of the underwater device 1.

[0052] The underwater device 1 also has a position-determining element 29 for determining the position of the underwater device 1 underwater. The position-determining element 29 can be a USBL (Ultra Short Baseline) device and can be arranged in a recess on an outer side of the first housing part 3.

[0053] Furthermore, the underwater device 1 has an energy distribution unit 30 arranged within the cavity 5. The energy distribution unit 30 serves to distribute the electrical energy from the electrical energy storage device to the electrical consumers of the underwater device 1. The energy distribution unit 30 can disconnect the electrical connection between the electrical energy storage device and the electrical consumer if, for example, a dangerous condition, such as water penetration into the cavity 5, is detected.

[0054] In addition, the underwater device 1 has a detection means 31, such as an IMU sensor (inertial measurement unit) for detecting a movement of the underwater device 1. The detection means 31 is used for navigation of the underwater device 1 and is arranged in the cavity 5.

[0055] Fig. 3shows an exploded view of the underwater device 1 according to the invention. To connect the two housing parts 3, 4, the first housing part 3 and / or the second housing part 4 are moved towards each other in the connecting direction V along the central axis M of the underwater device 1. The connecting direction V of the first housing part 3 is opposite to the connecting direction V of the second housing part 4. Both connecting directions V run perpendicular to an end face plane of the first housing part 3 and / or the second housing part 4.

[0056] The first housing part 3 and the second housing part 4 are connected to one another in a connecting region 27. The connecting region 27 runs in the circumferential direction of an end face 24 of the first housing part and / or an end face 25 of the second housing part 4. In particular, after the first housing part 3 has been connected to the second housing part 4, the end face 24 of the first housing part 3 is in contact with the second housing part 4 and the end face 25 of the second housing part 4 is in contact with the first housing part 3. For the watertight connection of the first housing part 3 to the second housing part 4, seals 12 are arranged between the first housing part 3 and the second housing part 4.

[0057] The first housing part 3 and the second housing part 4 can be releasably connected to each other. The releasable connection can be realized, for example, by screws. Figure 3a hole 26 for receiving a screw is shown.

[0058] Fig. 4 shows a perspective view of the underwater device 1 according to the invention and Fig. 5 shows a front view of the underwater device 1 according to the invention. The underwater device 1 has two rail-shaped mounting devices 15, which are located opposite one another with respect to the first housing part 3 and the second housing part 4 and serve to mount the underwater device 1 on a floor. One portion of the mounting device 15 is firmly connected to the first housing part 3, and another portion of the mounting device 15 is firmly connected to the second housing part 4.

[0059] The mounting devices 15 are designed such that at least one weight can be positioned at different locations thereon. By positioning the weight, the center of mass of the underwater device 1 can be adjusted. In particular, the weight can be arranged such that the center of mass and the center of buoyancy of the underwater device 1 are arranged in a plane perpendicular to the central axis M.

[0060] The mounting devices 15 protrude from the first housing part 3 and the second housing part 4. They protrude further than the measuring device 22, which is located in the Figures 4 and 5 is not shown. This prevents the measuring device 22 from coming into contact with the ground when the underwater device 1 is placed on the ground.

[0061] The underwater device 1 also has three handles. A handle 28 is arranged on each side of the underwater device 1. Additionally, another handle 19 is arranged on an upper side of the underwater device 1. On both sides of the underwater device 1, there is a recess 20 in the first housing part 3 and the second housing part 4.

[0062] The indentations 20 allow the user to grasp the handles 28 without being hindered by the first housing part 3 and / or the second housing part 4. The indentations 20 and the laterally arranged handles 28 are arranged such that a plane normal to the central axis M has at least one handle and the indentation 20. Each of the two indentations 20 extends almost the entire length of the underwater device 1. The indentations 20 can extend and be designed in such a way that the actuation of buttons 34 is facilitated. Commands for the underwater device 1 can be entered using the buttons 34. List of reference symbols:

[0063] 1 Underwater device 2 Hyperspectral camera 3 First housing part 4 Second housing part 5 Cavity 6 Electrical energy storage device 7 Other cavity 8 Color camera 9 Cavity section 10 Opening 11 Transparent plate 12 Seal 13 Wall section 14 Cavity cover 15 Rail-shaped mounting device 16 Other opening 17 Cover 18 Sensor 19 Other handle 20 Indentation 21 Display device 22 Measuring device 23 Control device 24 Front side of the first housing part 25 Front side of the second housing part 26 Hole 27 Connection area 28 Handle 29 Positioning element 30 Energy distribution unit 31 Detection means 32 Recess 33 Other cavity section 34 Button VConnection direction

Claims

1. An underwater device (1) with a hyperspectral camera (2) for recording images of a water bottom, a first housing part (3), a second housing part (4) which is releasably connected to the first housing part (3) in a watertight manner and encloses a cavity (5) with the first housing part (3) in which the hyperspectral camera (2) is arranged, and an electrical energy storage device (6) for supplying the hyperspectral camera (2) with electrical energy, which is arranged in another cavity (7), wherein the other cavity (7) is separated from the cavity (5) by a wall section (13) of the first and / or second housing part (3, 4).

2. The underwater device (1) according to claim 1, characterized by a color camera (8) for recording the image of the water bottom, which is arranged in the cavity (5).

3. The underwater device (1) according to claim 2, characterized in that the color camera (8) and the hyperspectral camera (2) are arranged in a cavity section (9) partially enclosed by the first housing part (3).

4. The underwater device according to any one of claims 1 to 3, characterized in that a. the first housing part (3) has an aperture (10) in which a transparent plate (11) is arranged in a watertight manner and the hyperspectral camera (2) is arranged in such a way that the image can be operated through the transparent plate (11) and / or that b. a connecting direction (V) for connecting the first housing part (3) to the second housing part (4) is directed along a central axis (M) of the first housing part (3) and / or the second housing part (4) and / or is perpendicular to an end face plane of the first housing part (3) and / or the second housing part (4) and / or that c. after the two housing parts (3, 4) have been connected, one end face of the first housing part (3) is in contact with the second housing part (4) and / or one end face of the second housing part (4) is in contact with the first housing part (3).

5. The underwater device (1) according to any one of preceding claims 1 to 4, characterized in that a. at least one seal (12) is arranged between the first housing part (3) and the second housing part (4) and / or that b. the two housing parts (3, 4) can be connected to each other and / or disconnected from each other by hand.

6. The underwater device (1) according to any one of claims 1 to 5, characterized in that a. the wall section (13) of the first housing part (3) and / or the second housing part (4) completely separates the cavity (5) from the other cavity (7) and / or b. the wall section (13) of the first housing part (3) and / or the second housing part (4) delimits both the cavity (5) and the other cavity (7).

7. The underwater device (1) according to any one of claims 1 to 6, characterized in that the electrical energy storage device (6) is designed in such a way that it can be inserted into the other cavity (7).

8. The underwater device (1) according to claim 7, characterized in that an electrical connection is automatically established between the electrical energy storage device (6) and the hyperspectral camera (2) and / or another electrical consumer of the underwater device (1) when the electrical energy storage device (6) is inserted into the other cavity (7).

9. The underwater device (1) according to any one of claims 1 to 8, characterized in that a. an electrical line between the electrical energy storage device (6) and the hyperspectral camera (2) and / or between the electrical energy storage device (6) and another electrical consumer runs exclusively within the first housing part (3) and / or the second housing part (5) and / or is arranged in such a way that it does not come into contact with water and / or that b. the underwater device (1) has a cavity cover (14) for the closure of the other cavity (7).

10. Underwater device (1) according to any one of claims 1 to 9, characterized by at least one rail-shaped attachment device (15) for attaching the underwater device (1) to a water bottom, to which at least one weight can be attached.

11. The underwater device (1) according to claim 10, characterized in that a. the attachment device (15) is designed in such a way that the weight can be positioned at different points on the rail and / or that b. the weight can be positioned on the attachment device (15) in such a way that a center of buoyancy of the underwater device (1) and a center of mass of the underwater device (1) lie in an axial normal plane to a central axis (M) of the underwater device and / or that c. a partial area of the attachment device (15) is firmly connected to the first housing part (3) and another partial area of the attachment device (15) is firmly connected to the second housing part (4) and / or that d. the underwater device (1) has two attachment devices (15) which run parallel to one another and / or project from the first housing part (3) and / or the second housing part (4) in such a way that the underwater device (1) can be placed on the water bottom by means of the attachment device (15).

12. The underwater device (1) according to any one of claims 1 to 11, characterized in that a. the underwater device (1) maps the water bottom based on the recorded images and / or that b. the underwater device (1) is designed in such a way that it can be actuated and / or operated and / or carried by hand and / or that c. the underwater device (1) is designed without a propeller.

13. The underwater device (1) according to any one of claims 1 to 12, characterized in that a. the first housing part (3) and / or the second housing part (4) have another aperture (16) and a cover (17) for the watertight closure of the other aperture (16) and a sensor (18) of the underwater device (1) and the other aperture (16) are arranged in one plane or that b. the first housing part (3) and / or the second housing part (4) have another aperture (16) and a cover (17) for the watertight closure of the other aperture (16) and a sensor (18) of the underwater device (1) and the other aperture (16) are arranged in one plane and the cover (17) is made of a different material than the first housing part (3) and / or the second housing part (4).

14. The underwater device (1) according to any one of claims 1 to 13, characterized in that a. the underwater device (1) has at least one handle (19) for controlling the underwater device (1), which is attached to the first housing part (3) and / or the second housing part (4), or that b. the underwater device (1) has at least one handle (19) for controlling the underwater device (1), which is attached to the first housing part (3) and / or the second housing part (4) and the first housing part (3) and / or the second housing part (4) has an indentation (20) directed away from the handle (19).

15. The underwater device according to any one of claims 1 to 14, characterized in that the underwater device is a diver-operated underwater device or an autonomous underwater vehicle or a cable-operated underwater vehicle.