A grab system and method for operating the same

Abstract

A grab system (10) is disclosed. The grab system comprises: a grab (11) having at least two grab members (110, 120), each grab member (110, 120) having a proximal region (111, 121) and a distal region (112, 122), wherein the at least two grab members are pivotably moveable at the proximal regions of the at least two grab members, and the grab is configured to operate between an open position where the distal regions of the at least two grab members are distanced from each other and a closed position where the distal regions of the at least two grab members are positioned adjacent to each other, such that the at least two grab members form an enclosed space. The grab system further comprises an image capturing device (12), positioned such that it faces the enclosed space when the grab is in the closed position.

Description

A GRAB SYSTEM AND METHOD FOR OPERATING THE SAMEFIELD OF THE INVENTION

[0001] The present disclosure generally relates to the field of mechanical engineering or civil engineering, and more specifically to a grab system and a method for operating the same.BACKGROUND OF THE INVENTION

[0002] Grabs, or grab samplers, are versatile tools used for various purposes across different industries. Some exemplary applications of grabs include the following.

[0003] Sediment Sampling: Grabs like the Van Veen grab are used in marine biology and oceanography to collect sediment samples from the ocean floor. These samples help researchers study the composition and characteristics of the seafloor.

[0004] Soil Sampling: Grabs are used in geotechnical engineering and environmental science for soil sampling. They help assess soil properties, composition, and contamination levels.

[0005] Material Handling: Grabs are used in construction, mining, and bulk material handling to lift and move materials such as sand, gravel, rocks, and debris. They are often attached to cranes or other heavy machinery.

[0006] Clamshell Buckets for Dredging: Clamshell buckets, a type of grab, are used in dredging operations to remove sediment or debris from bodies of water, such as rivers or harbours.

[0007] The above lists a few exemplary applications of grabs. In most of these applications, conventional grabs do not allow information transfer to the operator, that is, the object being grabbed or collected cannot be viewed or checked by a person operation the grab. Without visual feedback on the object, such as location in relation to the grab, the operator may face challenges in accurately positioning the grab over the target objects. Other problems may also be caused by not having information, that is, having no visual inspection on the object before or during it is being grabbed.

[0008] In situations where the operator misses information on the objects being grabbed, there is an increased risk of unintentional collisions with obstacles or structures. This can result in damage to the grab or the equipment to which it is attached.

[0009] Without object information, the operator may struggle to optimize the grabbing process. This can lead to inefficiencies, longer cycle times, and increased operational costs. Some grabbing operations require real-time adjustments based on the conditions of the material being collected. Without object information, the operator may find it difficult to adapt quickly to changing circumstances.

[0010] In applications such as sediment or soil sampling, the inability to receive information on the collected material may hinder the operator's ability to ensure that the desired sample has been obtained. This can impact the accuracy of environmental assessments.

[0011] There is thus a need for an improved grab which addresses the above issues.BRIEF SUMMARY OF THE INVENTION

[0012] According to one aspect of the present disclosure, there is presented a grab system, comprising:

[0013] a grab having at least two grab members, each grab member having a proximal region and a distal region,

[0014] wherein the at least two grab members are pivotably and moveably connected at the proximal regions of the at least two grab members by a central pivot mechanism, and

[0015] the grab is configured to operate between an open position where the distal regions of the at least two grab members are distanced from each other and a closed position where the distal regions of the at least two grab members are positioned adjacent to each other, such that the at least two grab members form an enclosed space;

[0016] the grab system further comprising:

[0017] an image capturing device, positioned such that it faces the enclosed space when the grab is in the closed position.

[0018] In an advantageous embodiment, in the closed position of the grab, the distal regions of the at least two grab members engage each other.

[0019] The present disclosure is based on the insight that the grabbing performance of a grab can be improved by providing an image capturing device at the proximal regions of the grab members. The image capturing device such as a camera faces the enclosed space formedby the grab members, which allows a target or object to be grabbed or grabbed by the grab system to be seen by a person operating the grab. It thereby allows the grabbing of the object to be more accurately and more reliably performed.

[0020] In an example of the present disclosure, the at least two grab members comprise a first clamshell bucket and a second clamshell bucket, each clamshell bucket comprises a platelike proximal region connected to a curved surface-like distal region at an outer edge of the plate-like proximal region,

[0021] each of the plate-like proximal regions of the first clamshell bucket and the second clamshell bucket comprises a cut-out section along a centre line of the grab such that an opening is formed,

[0022] the grab system further comprises:

[0023] a plate-like central member moveably connected to the proximal regions of the first and second clamshells buckets such that the central member is positioned in the opening between the cut-out sections of the first and second clamshells buckets when the grab is in the closed position, wherein:

[0024] the image capturing device is fixably supported by a surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member.

[0025] This represents a commonly used grab with two hinged jaws or bucket. The grab is designed such that the proximal region of each bucket is formed with a cut-out sections, which allows an opening to be formed at the proximal regions of the buckets. A plate-like central member is arranged in the opening and used to support the image capturing device.

[0026] When the two buckets open, the central part or central member, which is connected to the buckets, moves relatively with respect to the buckets as the result of the movement of the buckets, and is seen as being lowered into a position between the buckets. This allows the object to be grabbed, for example, something on the seafloor to be seen by the person operating the grab.

[0027] When the two buckets close, as the camera faces the space enclosed by the buckets, what is grabbed or collected can still be checked by the operator of the grab.

[0028] In an example of the present disclosure, the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets is a rectangle or square, and the plate-like central member is rectangle or square with dimensions smaller or equal to dimensions of the opening.

[0029] In another example of the present disclosure, the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets is a circular, and the plate-like central member is circular, a diameter of the plate-like central member is smaller or equal to a diameter of the opening.

[0030] As can be contemplated by those skilled in the art, depending on the shape of the cut-out sections at the proximal regions of the buckets, the plate-like central member can have a shape similar to the opening and be dimensioned smaller than the opening, such that the central member can fit into the opening.

[0031] In an example of the present disclosure, the grab system further comprises a flash light fixably supported by the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member.

[0032] By providing a flash, the object to be grabbed or being grabbed can be better seen under poor light conditions.

[0033] In an example of the present disclosure, the grab system further comprises: a first housing arranged to house the image capturing device and to be fixed to the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the platelike central member.

[0034] The provision of the housing allows the camera to be protected from severe conditions.

[0035] In an example of the present disclosure, the first housing is further arranged to cover the flash light. It therefore allows the flash to be protected as well.

[0036] In an example of the present disclosure, the grab system further comprises a second housing arranged to cover the flash light and to be fixed next to the first housing to the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member.

[0037] The camera and flash may be housed in two separate housings, which allows more design flexibility.

[0038] In an example of the present disclosure, the grab system further comprises at least one of a depth sensor and a temperature sensor housed in the first housing or the second housing.

[0039] The integration of more environment monitoring sensors allows the operation to be adjusted where necessary.

[0040] In an example of the present disclosure, each of the first and second housing is waterproof.

[0041] This is advantageous when the grab is operating under water, it prevents the camera from being damaged by the water.

[0042] In an example of the present disclosure, the central pivot mechanism comprises a hinge.

[0043] A hinge is a simple and frequently used way of connecting different parts pivotably.

[0044] In an example of the present disclosure, the grab system further comprises one or more connectors positioned on the housing and arranged for connecting the image capturing device, the flash light and the depth and temperature sensor to a cable connected to a vehicle.

[0045] The cable is used to communication information collected by various devices including the image capturing device, the flash and the sensors to a person operating the grab remotely. It thus allows the operation of the grab to be adapted where necessary.

[0046] As can be easily understood by those skilled in the art, the image capturing device comprises a camera, which is a simple way of capturing images and videos.

[0047] In a second aspect of the present disclosure, there is presented a method of operating the grab system according to the first aspect of the present disclosure, comprising the steps of:

[0048] - connecting the one or more connectors of the grab system to a cable connected to a surface vehicle;

[0049] - capturing images or video while the grab system is operated to grab an object.

[0050] When operating the grab in a marine environment, the gray system is conveniently used to grab or collect objects from the sea while having the operator check what is grabbed / has been grabbed.

[0051] In an example of the present disclosure, the method further comprises the step of: switching the flash light on while the grab system is operating.

[0052] When the ambient light is limited, the flash can be used to light up the area where the grab is operating, still allowing the operator to see the object being grabbed.

[0053] The above mentioned and other features and advantages of the disclosure will be best understood from the following description referring to the attached drawings. In the drawings, like reference numerals donate identical parts or parts performing an identical or comparable function or operation.BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to describe the manner in which the above-recited and other advantages and features of the disclosure can be obtained, a more particular description of the principles briefly described above will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Understanding that these drawings depict only exemplary embodiments of the disclosure and are therefore not to be considered to be limiting of its scope, the principles herein are described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0055] FIG. 1 schematically illustrates an embodiment of a grab system in accordance with the present disclosure.

[0056] FIG. 2 schematically illustrates a clamshell bucket as a grab member which can be used in the grab system of the present disclosure.

[0057] FIG. 3 schematically illustrates an exploded view of the grab system of the present disclosure.

[0058] FIG. 4 schematically illustrates relationship between an opening formed by cut-out sections of the grab members and a central member.

[0059] FIG. 5 schematically illustrates an exploded view of another grab system of the present disclosure.

[0060] FIG. 6 schematically illustrates an exemplary central member of the grab system in accordance with the present disclosure.

[0061] FIG. 7 schematically illustrates the grab system in its close position.DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

[0062] Embodiments contemplated by the present disclosure will now be described in more detail with reference to the accompanying drawings. The disclosed subject matter should not be construed as limited to only the embodiments set forth herein. Rather, the illustrated embodiments are provided by way of example to covey the scope of the subject matter to those skilled in the art.

[0063] The term "grab" in the context of mechanical devices refers to a pair of hinged or articulated arms or jaws. A typical grab, in the context of grab samplers used for soil or sediment sampling, consists of two main members, that is, a first bucket member and a secondbucket member. The first bucket member is one of the two hinged arms or jaws of the grab. It is designed to move in conjunction with the second bucket member to open and close, allowing the grab to collect samples. The second bucket member is the other hinged arm or jaw of the grab. It is connected to the first bucket member at a pivot point, enabling it to open and close along with the first bucket member.

[0064] These two members work together to form the grabbing mechanism. When the grab is closed, the two members come together to capture and hold the material or sample. The grabbing action is typically controlled by a mechanism that allows the members to open and close as needed.

[0065] In the context of the present disclosure, a grab may comprise two or more grab members. Each grab member has a proximal region and a distal region, the at least two grab members are pivotably connected at the proximal regions of the at least two grab members. The at least two grab members may be connected to each other at their proximal regions by for example a central pivot mechanism, allowing the at least two grab members to be pivotably movable to each other at the proximal regions.

[0066] The grab of the present disclosure is configured to operate between an open position where the distal regions of the at least two grab members are distanced from each other and a closed position where the distal regions of the at least two grab members engage each other. When the two grab members engage each other, an enclosed space or space is formed by the distal regions of the at least two grab members, allowing any sample collected or grabbed to be held in the enclosed space.

[0067] As an example, the grab of the present disclosure may comprise four members, with each pair of members facing each other and arranged to pivotably open and close so as to grab a sample. Each member of the grab may comprise for example a clamshell bucket.

[0068] As another example, each of the proximal regions of four members of a grab of the present disclosure may have a shape of a quarter circle, allowing the proximal regions of the members of the grab to form a circle when the grab closes. When the grab closes, the distal regions of the adjacent members of the grab engage each other, allowing an enclosed space to be form by the four members together.

[0069] The grab system of the present disclosure comprises the grab as disclosed above and an image capturing device. The image capturing device is centrally positioned or located relative to proximal regions of the grab members. The image capture device is positioned such that it faces the enclosed space when the grab is in the closed position.

[0070] Moreover, the image capturing device can be arranged to be connected to the proximal regions of the grab members, by for example the central pivot mechanism connecting the proximal regions of the grab members.

[0071] In the following, the grab system of the present disclosure will be described with reference to Figure 1, which schematically illustrates an exemplary grab with two grab members, in accordance with the present disclosure. The grab can be for example a van Veen grab. Those skilled in the art will understand that the present disclosure is not limited to grabs with two members. Instead, a grab with two or more members can be designed following the principle described herein.

[0072] Referring to Figure 1, a grab system 10 of the present disclosure comprise a grab 11 and an image capturing device 12 (housed in the tube). The grab 11 comprises two grab members 110 and 120, each grab member 110 (120) comprises a proximal region 111 (121) and a distal region 112 (122). The two grab members are pivotably connected to each other at the proximal regions 111 and 121 of the at least two grab members 110 and 120, by for example a central pivot mechanism 130.

[0073] Each of the grab member 110, 120 may comprise a bucket or a jaw. As an example, Figure 2 schematically illustrates a clamshell bucket 20 as a grab member.

[0074] The clamshell bucket 20 comprises for example two fan-shaped side walls 21, 22 facing each other. Each fan-shaped side wall 21, 22 has a curved edge 211, 221 and a first straight edge 212, 222 and a second straight edge 213, 223. The two straight edges 212, 213 may be for example arranged as substantially orthogonal to each other and connected to each other by the curved edge 211. The two straight edges 212, 213 may also be arranged at other angles.

[0075] The clamshell bucket 20 further comprises a curved bottom surface 23 connecting the two side walls 21, 22 at the curved edges 211, 221 of the two side walls 21, 22.

[0076] The curved surface 23 is connected to the two fan-shaped side walls 21, 22 at an end by a flat surface, which in Figure 2 is illustrated as a surface located at the top of the clamshell bucket and referenced with the numeral 24. The flat surface 24 is referred in the present disclose as the proximal region of the grab.

[0077] When two clamshell buckets 20 are hinged or pivotably and moveably connected in another manner together at the proximal regions of the buckets 20 and at the edge vertical to the two fan-shaped side walls, the main body of a conventional grab is formed.

[0078] Figure 3 schematically illustrates an exploded view of the grab system of the present disclosure.

[0079] The grab system 30 of Figure 3 comprises a grab 30 having a first bucket 31 and a second bucket 32, which are similar to the clamshell bucket of Figure 2.

[0080] In Figure 3, first bucket 31 and a second bucket 32 are connected by pivot hinges respectively formed by protrusions 331, 332 at two central corners of the plate-like or flat surface proximal regions of the first bucket and the second bucket, and a pin 333. Both the first bucket 31 and the second bucket 32 comprises a cut-out section 311, 321 along a centre line 300 of the grab, which allows an opening to be formed at the proximal regions of the grab when the grab is in its closed position.

[0081] The grab system 30 of Figure 3 further comprises a plate-like central member 34 which is moveably connected to the proximal regions of the first and second buckets 31 and 32 such that the central member 34 is positioned in the opening between the cut-out sections of the first and second clamshells buckets 31, 32 when the grab is in the closed position, as illustrated in Figure 4. In Figure 4 the same reference numbers are used for same parts as in Figure 3.

[0082] The plate-like central member 34 of the grab system 30 maybe for example pivotably connected, using a same hinge to the two buckets 31, 32 at both edges of the central member.

[0083] Referring back to Figure 3, the plate-like central member 34 of the grab system 30 is arranged to support the image capturing device, which is fixed to plate-like central member. The part of the plate-like central member under lens of the image capturing device may be made transparent. As an alternative, an opening may be made in the plate-like central member under of the lens of camera, allowing light to get into the lens such that pictures or video can be made when the grab system is operating.

[0084] In Figure 3, the image capturing device is shown to be housed in a housing 35 (and therefore not shown). The housing 35 is arranged to enclose the image capturing device and to be fixed to the surface facing away the space surrounded or enclosed by the first and second clamshells buckets 31, 32 of the plate-like central member 34. The housing 35 is arranged to protect the image capturing device from damage or unfavourable environment such as excessive heat or humid.

[0085] In Figure 3, the housing 35 is shown as a tube, and fixed to a round opening 351 on the central member of the grab system 30.

[0086] In an example, the image capturing device or camera can be fixed to the central member 34 of the grab system 30 directly without being enclosed in a housing.

[0087] Referring to Figure 4, it shows that the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets is a rectangle, and the plate-like central member 34 is rectangle with dimensions slightly smaller than dimensions of the opening. The plate-like central member 34 is dimensioned such that is fit into the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets 31, 32.

[0088] Those skilled in the art will understand that the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets 31, 32 can be in other forms as well, such as a square, a circle or an ellipse. The plate-like central member 34 may have a shape substantially complementary to the shape of the opening, and with smaller dimensions such that it will fit into the opening.

[0089] In an example, the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets is a circular, and the plate-like central member is circular, a diameter of the plate-like central member is smaller or equal to a diameter of the opening.

[0090] The grab system 30 of the present disclosure may further comprises a flash light fixably supported by the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member. In the case that the grab system 30 operates in an environment with limited light, the flash light is arranged to be switched on and to provide sufficient light such that the content being grabbed can be clearly seen. The flash may be for example a high intensity LED lamp, of for example 12 watt.

[0091] The first housing 35 may be further arranged to cover the flash light, as long as sufficient space is provided in the housing 35 such that both the image capturing device and the flash light can be accommodated in the first housing.

[0092] In another embodiment, the grab system may comprise a second housing 36, as illustrated in Figure 5. In Figure 5, same parts are referenced with the same numeral as in Figure 3. In addition to the first housing 35, the second housing 36 is arranged to cover the flash light and to be fixed next to the first housing to the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member. In Figure 5, the housing 36 is shown as a tube, and fixed to a round opening 361 on the central member of the grab system 30.

[0093] The first housing 35 and the second housing 36 may be arranged next to each other on top of the plate-like central member 34.

[0094] The grab system 30 may comprise other parts known to those skilled in the art, which may include for example levers 37, 38 for closing and opening the grab. The grab system 30 may further comprise a release mechanism 39 to open the jaws 31, 32 and release the collected sample when the grab finishes collecting the sample.

[0095] As can be contemplated by those skilled in the art, the grab system may comprise other sensors for monitoring the environment as well, which may include for example a depth sensor and a temperature sensor. These sensors may be housed in the first housing or the second housing.

[0096] When the grab system 30 is designed to operate under water, as can be contemplated by those skilled in the art, the first housing 35, and the second housing 36 when there is one, is water-proof. This protects the image capturing device and any other device that is housed in the housing(s) from being damaged by the water.

[0097] Figure 6 schematically illustrates an exemplary central member 50 of the grab system in accordance with the present disclosure. The central member 60 is described for illustrative purposes only and is not limitative to the present disclosure.

[0098] The central member 60 of Figure 6 is illustrated to have a rectangular shape. Two protrusions 61 and 62 are respectively formed at a short edge of the rectangular, which will be used to form a pivot connection for connecting the central member to the buckets.

[0099] Two openings 63, 64 are provided on the central member 60 and arranged to fixably accommodating the camera, the flash or other parts that are intended to be integrated in the grab.

[0100] When housings are provided to house the camera and / or other parts, the housings are supported and accommodated in the openings 63, 64.

[0101] A pole 65 may be formed on the central member 60 in between the openings 63 and 64, which may facilitate the fixing of for example the housings to be fixed to the central member 50, by way of for example a strap not shown.

[0102] It will be understood by those skilled in the art that the central member 60 may be provided with only one opening, when it is arranged to support only one housing 35, 36 as illustrated in Figure 3.

[0103] Moreover, the openings 63 and 64 may be replaced by a transparent part, which is configured to allow light to enter the lens of the camera and / or to leave the flash supported by the central member 60.

[0104] Referring back to Figure 3, the grab system 30 may further comprise one or more connectors 320 (only one indicated with a reference number), positioned for example on thehousing 35 and arranged for connecting the image capturing device, the flash light and the depth and temperature sensor to a cable. The cable is connected to a device, such as a surface vessel where an operator of the grab stays. It therefore allows images, videos and other information collected by the camera and sensors on the grab system to be transmitted to a device. The collected information is thus reviewed by the operator when the grab is being operated.

[0105] The cable may be for example a SSS winch. The one or more connectors 320 is configured to connect the camera and any other component that is integrated with the grab to the winch. The connectors 320 may comprise for example RS232 serial interface and / or PLC signal interface.

[0106] By way of the cable, the grab system may be controlled by a computer using for example TCP / IP protocols. Each component, including the image capturing device, the flash and other sensors is configured with an IP address, which allows it component to be controlled remotely. The way of controlling the component is similar to control computer peripheral devices such as a camera connected to a personal PC.

[0107] Figure 7 schematically illustrates the grab system in its close position. Referring to Figures 1 and 7 at the same time, it is seen that when the two buckets open as shown in Figure 1, the central part or central member, which is connected to the buckets, moves relatively with respect to the buckets as the result of the movement of the buckets. It is seen as being lowered into a position between the buckets. This allows the object to be grabbed, for example, something on the seafloor to be seen by the person operating the grab.

[0108] When the two buckets close as shown in Figure 7, as the camera faces the space enclosed by the buckets, what is grabbed or collected can still be checked by the operator of the grab.

[0109] A method of operating the grab system of comprises the step of connecting the one or more connectors of the grab system to a cable connected to a surface vehicle. Then the grab system is operated to capture images or video while grabbing an object or sample. When the grab closes, the operator can also inspect whether the intended sample is successfully retrieved or what is retrieved.

[0110] Where necessary, the flash light may be switched on while the grab system is operating, which will help to illuminate the sample being grabbed.[OHl] The invention has been described by reference to certain embodiments discussed above. It will be recognized that these embodiments are susceptible to various modifications and alternative forms well known to those of skill in the art.

[0112] Further modifications in addition to those described above may be made to the structures and techniques described herein without departing from the spirit and scope of the invention. Accordingly, although specific embodiments have been described, these are examples only and are not limiting upon the scope of the invention.

Claims

CLAIMS1. A grab system, comprising: a grab having at least two grab members, each grab member having a proximal region and a distal region, wherein the at least two grab members are pivotably moveable at the proximal regions of the at least two grab members, and the grab is configured to operate between an open position where the distal regions of the at least two grab members are distanced from each other and a closed position where the distal regions of the at least two grab members engage each other, such that the at least two grab members form an enclosed space; the grab system further comprising: an image capturing device, positioned such that it faces the enclosed space when the grab is in the closed position.

2. The grab system according to claim 1, wherein: the at least two grab members comprise a first clamshell bucket and a second clamshell bucket, each clamshell bucket comprises a plate-like proximal region connected to a curved surface-like distal region at an outer edge of the plate-like proximal region, each of the plate-like proximal regions of the first clamshell bucket and the second clamshell bucket comprises a cut-out section along a centre line of the grab such that an opening is formed, the grab system further comprises: a plate-like central member moveably connected to the proximal regions of the first and second clamshells buckets such that the central member is positioned in the opening between the cut-out sections of the first and second clamshells buckets when the grab is in the closed position, wherein the image capturing device is fixably supported by a surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member.

3. The grab system according to claim 2, wherein the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets is a rectangle orsquare, and the plate-like central member is rectangle or square with dimensions smaller or equal to dimensions of the opening.

4. The grab system according to claim 2, wherein the opening formed by the cut-out sections of the proximal regions of the first and second clamshell buckets is a circular, and the plate-like central member is circular, a diameter of the plate-like central member is smaller or equal to a diameter of the opening.

5. The grab system according to any of claims 2 to 4, further comprising: a flash light fixably supported by the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member.

6. The grab system according to any of claims 2 to 5, further comprising: a first housing arranged to house the image capturing device and to be fixed to the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member.

7. The grab system according to claim 6, wherein the first housing is further arranged to cover the flash light.

8. The grab system according to claim 6, further comprising: a second housing arranged to cover the flash light and to be fixed next to the first housing to the surface facing away the space surrounded or enclosed by the first and second clamshells buckets of the plate-like central member.

9. The grab system according to any of claims 6 to 8, further comprising at least one of a depth sensor and a temperature sensor housed in the first housing or the second housing.

10. The grab system according to claim 5 or 6, wherein each of the first and second housing is waterproof.

11. The grab system according to any of the previous claims, wherein the central pivot mechanism comprises a hinge.

12. The grab system according to any of claims 6 to 11, further comprising: one or more connectors positioned on the housing and arranged for connecting the image capturing device, the flash light and the depth and temperature sensor to a cable connected to a vehicle.

13. The grab system according to any of the previous claims, wherein the image capturing device comprises a camera.

14. A method of operating the grab system according to any of the previous claims 1 to 13, comprising the steps of: connecting the one or more connectors of the grab system to a cable connected to a surface vehicle; capturing images or video while the grab system is operated to grab an object.

15. The method according to claim 14, further comprising the step of: switching the flash light on while the grab system is operating.

Images