Illumination light gun and illumination light gun system

Abstract

The invention relates to an illumination light gun and an illumination light gun system. The illumination light gun comprises a light gun body, and a control module, a light emitting module, a positioning module and a power module which are arranged on the light gun body. The light gun position of the light gun body is obtained through the positioning module, the light gun position is sent to the control module, the control module can output a moving instruction to the power module according to the light gun position and the first target position, and the power module drives the illumination light gun to move to the first target position. And after the control module obtains a second target position issued by the shore-based control box, a light beam adjustment instruction is output to the light emitting module, so that the light emitting module projects a light beam to the second target position, precise illumination of any underwater position of the reactor core pool is realized, the illumination efficiency is improved, and the service life of the reactor core pool is prolonged. And the illumination light gun can be moved to any position of the water surface of the reactor core pool, so that all-directional dead-corner-free illumination can be provided for the reactor core pool, and the operation time of reactor core refueling, power station overhaul and the like is greatly shortened.

Description

Technical Field

[0001] This application relates to the field of underwater lighting technology, and in particular to a lighting light gun and lighting light gun system. Background Technology

[0002] During the refueling phase of reactor core pool fuel handling and storage, in order to enable staff to clearly observe the condition of the core fuel assemblies, a special core lighting tool—a light gun—is usually used for illumination, providing sufficient underwater lighting for underwater core loading and unloading operations.

[0003] In traditional technology, the core illumination guns used in nuclear power plants are typically fixed guns mounted on the edge of the core pool. These guns include an illumination probe, a telescopic mast, a mounting bracket, a float, cables, and an operating handle. Two special mounting pins are located at the edge of the core pool to secure the mounting bracket. One end of the telescopic mast is connected to the bracket, and the other end is connected to the float. The float is then connected to the illumination gun. This installation method allows the gun to be mounted on the edge of the core pool, and the illumination function of the core pool is achieved through the operating handle.

[0004] However, fixed lighting guns require the use of other underwater cameras to observe and constantly adjust the lighting angle, which is time-consuming and cannot provide effective lighting in blind spots. Summary of the Invention

[0005] Therefore, it is necessary to provide a lighting gun and lighting gun system to address the technical problem of low lighting efficiency in traditional fixed lighting guns.

[0006] An illumination light gun includes a light gun body, and a control module, a light emission module, a positioning module and a power module disposed on the light gun body. The control module is connected to the light emission module, the positioning module and the power module.

[0007] The positioning module is used to obtain the position of the light gun on the light gun body and send the position of the light gun to the control module. The control module sends the position of the light gun to the shore-based control box of the illumination light gun system.

[0008] The control module is used to send a movement command to the power module, and the power module is used to drive the light gun body to move to the first target position according to the movement command; the movement command is issued by the shore-based control box, or output by the control module after path planning based on the position of the light gun and the first target position;

[0009] The control module is also used to acquire the second target position issued by the shore-based control box, and output a beam adjustment command to the light-emitting module according to the second target position. The light-emitting module is used to project a beam to the second target position according to the beam adjustment command.

[0010] In one embodiment, the first target position is any position within a preset circular area, which is a circular area with the vertical projection position of the second target position onto the water surface of the reactor core pool as the center and a preset distance as the radius.

[0011] In one embodiment, the light-emitting module includes an LED module and an adjustment mechanism, wherein the adjustment mechanism connects the control module and the LED module;

[0012] The LED module is used to project a light beam, and the adjustment mechanism is used to adjust the illumination angle of the light beam to illuminate the second target position.

[0013] In one embodiment, the LED module is a mercury-free LED module.

[0014] In one embodiment, the light gun body includes a body frame, and the control module, the light-emitting module, the positioning module and the power module are all fixed on the body frame.

[0015] In one embodiment, the power module includes multiple pairs of thrusters, each pair of thrusters being disposed opposite to each other on the side of the body frame near the surface of the core pool.

[0016] In one embodiment, the propeller is a propeller propeller.

[0017] In one embodiment, the positioning module includes at least one positioning tag disposed on the light gun body;

[0018] The positioning tag is used to measure distance with the positioning base station to determine the position of the light gun. The control module is connected to the positioning base station and obtains the position of the light gun. The positioning base station is distributed in the environmental space where the light gun body is located.

[0019] In one embodiment, the illumination gun further includes a radar module, which is connected to the control module;

[0020] The radar module is used to scan the environment around the light gun body, obtain laser scanning data, and send the laser scanning data to the control module;

[0021] The control module is used to identify obstacles in the environment around the light gun body based on the laser scanning data. If an obstacle is detected in the forward path of the light gun body, the forward path is updated to avoid the obstacle.

[0022] In one embodiment, the illumination gun further includes an underwater image acquisition module, which is connected to the control module;

[0023] The underwater image acquisition module is used to acquire underwater image information of the environment below the water surface of the reactor core pool and send it to the control module. The control module also sends the underwater image information to the shore-based control box.

[0024] In one embodiment, the illumination gun further includes a water surface image acquisition module, which is connected to the control module;

[0025] The above-water image acquisition module is used to acquire above-water image information of the environment above the water surface of the reactor core pool and send it to the control module. The control module also sends the above-water image information to the shore-based control box.

[0026] In one embodiment, the illumination gun further includes a first communication module, through which the control module communicates with the shore-based control box.

[0027] In one embodiment, the illumination gun further includes a battery module and a charging module, both of which are connected to the control module;

[0028] The charging module can be a wireless charging module or a wired charging module.

[0029] In one embodiment, this application also provides an illumination light gun system, which includes a shore-based control box, a positioning base station, and an illumination light gun as described above;

[0030] The positioning base station is used to measure distance with the positioning module of the illumination light gun to assist the positioning module in obtaining the position of the illumination light gun.

[0031] The shore-based control box is equipped with a second communication module and at least one mobile control terminal. The mobile control terminal communicates with the first communication module of the illumination gun through the second communication module.

[0032] The mobile control terminal is used to calibrate and obtain a core pool map based on the light gun position, underwater image information and above-water image information received from the illumination light gun.

[0033] In manual remote control mode, the mobile control terminal is used to issue movement commands to the illumination gun based on the core pool map; in autonomous positioning mode, the mobile control terminal is used to issue at least a second target location to the illumination gun based on the core pool map.

[0034] In one embodiment, the shore-based control box is equipped with a first movable control terminal and a second movable control terminal;

[0035] The first movable control terminal is a mobile operating tablet, and the second movable control terminal is an auxiliary operating handle.

[0036] In one embodiment, the shore-based control box is also equipped with a display module, a power module and a storage module;

[0037] The display module is used to display the underwater image information and the surface image information, the power module is used to supply power to the shore-based control box, and the storage module is used to store the underwater image information and the surface image information.

[0038] The aforementioned illumination light gun and illumination light gun system include a light gun body, and a control module, a light-emitting module, a positioning module, and a power module disposed on the light gun body. The positioning module obtains the light gun position of the light gun body and sends the light gun position to the control module. The control module can output a movement command to the power module based on the light gun position and a first target position. The power module drives the illumination light gun to move to the first target position. Then, after the control module obtains the second target position from the shore-based control box, it outputs a beam adjustment command to the light-emitting module, causing the light-emitting module to project a beam to the second target position, achieving precise illumination of any underwater location in the reactor core pool, improving illumination efficiency. Furthermore, since the illumination light gun can move to any position on the surface of the reactor core pool, it can provide omnidirectional, blind-spot-free illumination of the core pool, greatly shortening the operation time for reactor core refueling, power plant overhauls, and other similar tasks. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of a system block diagram of an illumination light gun in one embodiment;

[0041] Figure 2 This is a schematic diagram of the system block diagram of the positioning module in one embodiment;

[0042] Figure 3 This is a schematic diagram of the power module in one embodiment;

[0043] Figure 4 This is a schematic diagram of a system block diagram of a light-emitting module in one embodiment;

[0044] Figure 5 This is a schematic diagram of the illumination light gun system in another embodiment;

[0045] Figure 6 This is a charging schematic diagram of the wireless charging module in one embodiment;

[0046] Figure 7 This is a schematic diagram of a system block diagram of an illumination light gun system in one embodiment;

[0047] Figure 8 This is a schematic diagram of a mobile operating tablet in one embodiment;

[0048] Figure 9 This is a schematic diagram of the shore-based control box in one embodiment;

[0049] Figure 10 This is a schematic diagram of the auxiliary operating handle in one embodiment;

[0050] Figure 11 This is a schematic diagram of the system block diagram of the illumination light gun system in another embodiment;

[0051] Figure 12 This is a schematic diagram of the operation process of an illumination light gun system in one embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. The accompanying drawings illustrate embodiments of this application; however, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this application more thorough and complete. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0054] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0055] It is understandable that "at least one" refers to one or more, and "multiple" refers to two or more. "At least a part of an element" refers to part or all of an element.

[0056] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0058] In one exemplary embodiment, such as Figure 1 As shown, an illumination light gun is provided, comprising a light gun body 100, a control module 200, a light-emitting module 300, a positioning module 400, and a power module 500. The control module 200 is connected to the light-emitting module 300, the positioning module 400, and the power module 500. The positioning module 400 is used to obtain the light gun position of the light gun body 100 and send the light gun position to the control module 200. The control module 200 also sends the light gun position to the shore-based control box of the illumination light gun system. The control module 200 is used to send a movement command to the power module 500, which drives the light gun body 100 to move to a first target position according to the movement command. The movement command is issued by the shore-based control box or output by the control module 200 after path planning based on the light gun position and the first target position. The control module 200 is also used to obtain a second target position issued by the shore-based control box and output a beam adjustment command to the light-emitting module 300 according to the second target position. The light-emitting module 300 projects a beam to the second target position according to the beam adjustment command.

[0059] The light gun body 100 has buoyancy, which allows the entire lighting light gun to float on the surface of the core pool. With the assistance of other modules, it can float and move on the surface of the core pool. It is suitable for precise lighting in the underwater high-irradiation environment during the refueling operation of the nuclear power plant core fuel assembly.

[0060] In one example, the light gun body 100 can be implemented using an annular float filled with a lightweight material with a density less than water to provide buoyancy. The annular float can have a closed cavity structure filled with a lightweight material (such as foam, gas, or vacuum cavity) with a density less than water, resulting in an overall average density of less than water for the light gun body 100, thus forming a buoyancy carrier. Furthermore, the lower part of the light gun body 100 can be equipped with a counterweight or a center of gravity adjustment mechanism to lower the overall center of gravity and improve its anti-overturning capability while floating. The outer surface of the light gun body 100 can also be provided with anti-slip textures or wave-resistant structures to enhance frictional resistance or hydrodynamic stability when floating on the water surface. It can be understood that utilizing the buoyancy of the light gun body to float the illumination light gun on the surface of the reactor core pool eliminates the need for a fixed installation process, enabling convenient light gun setup, effectively reducing the risks of disassembly and assembly for technicians, shortening the disassembly and assembly time, and reducing radiation protection risks for technicians.

[0061] In one example, the light gun body includes a main frame, with the control module, light-emitting module, positioning module, and power module all fixed to the main frame. Specifically, the main frame can be understood as a support frame for the various modules of the light gun, used to fix each module. Its specific structure is not limited, as long as it can stably support each module component. For example, the control module, light-emitting module, positioning module, and power module can be fixed to the main frame using anti-loosening nuts and 304 stainless steel screws. It is understood that fastening using the above-mentioned anti-loosening method can effectively prevent components from loosening and rusting, which could affect the use of the equipment. Threadlocker and locking clamps can also be added to the screws to further enhance the anti-loosening effect.

[0062] Reference Figure 1 The positioning module 400 is used to acquire the position of the light gun on the light gun body 100 and send the position to the control module 200, so that the control module 200 can use it as the data basis for controlling the navigation of the light gun body 100. Different positioning technologies can be used for the positioning module 400, such as UWB (Ultra-Wideband) technology or inertial navigation technology.

[0063] In one exemplary embodiment, such as Figure 2 As shown, the positioning module includes at least one positioning tag 410, which is set on the light gun body. The positioning tag 410 is used to measure distance with the positioning base station to determine the position of the light gun. The control module 200 communicates with the positioning base station and obtains the position of the light gun. There can be multiple positioning base stations, which are distributed in the environmental space where the light gun body is located.

[0064] Specifically, the positioning tag 410 is set on the light gun body, specifically on the body frame. The positioning tag 410 can periodically emit UWB pulse signals to multiple positioning base stations distributed in the environment space where the light gun body is located. Each base station performs distance measurement through TOF (Time of Flight) or TDOA (Time Difference of Arrival), and then performs position calculation and error correction steps to determine the real-time position of the illumination light gun.

[0065] The number of positioning tags 410 is not limited and can be selected according to actual technical requirements. The positioning tags 410 can be implemented using UWB chips (such as Decawave DW1000 or Qorvo DWM3000), and can support two-way ranging (TWR) or time-of-flight ranging (TOF), which can be selected according to actual technical requirements.

[0066] The geometric layout of multiple positioning base stations in the environment surrounding the light gun is not limited and can be selected based on actual technical requirements. For example, if only two-dimensional coordinates (X, Y) are needed to obtain the light gun's position, only three positioning base stations can be deployed in the environment, avoiding collinear deployment; a triangular layout could be used, for instance. If three-dimensional coordinates (X, Y, Z) are required for the light gun's position, four positioning base stations can be deployed in the environment, preferably in a non-coplanar tetrahedral distribution, such as in the four corners of a room plus the ceiling. This can be understood as the presence of a certain height difference between the positioning base stations improving vertical positioning accuracy.

[0067] For example, the maximum short distance between the positioning tag 410 and the positioning base station provided in this application embodiment can reach 150m, the ranging accuracy can reach ±5cm, the communication method with the outside can be USB to serial port, the data update frequency can be 100 Hz, the bandwidth can be 500 MHz, the communication rate can reach 110Kbps / 6.8Mbps, and the protection level is IP31.

[0068] Reference Figure 1 The light gun body 100 can be moved to the first target position under the action of the power module 500, so that the light-emitting module 300 can project the light beam to the second target position. It can be understood that the first target position is a position close to the second target position. Since the second target position is actually a position below the water surface of the reactor core pool, and the first target position is actually a position on the water surface of the reactor core pool, the first target position can be defined as a position close to the vertical projection position of the second target position onto the water surface of the reactor core pool.

[0069] The second target position is the location where the beam needs to be projected, which can be sent from the shore-based control box to the control module 200. The first target position is the position where the light gun body 100 needs to travel. This can be sent directly from the shore-based control box, or it can be obtained by the control module 200 based on the second target position. Alternatively, the first target position can be left unspecified, and the control module can continuously receive movement commands from the shore-based control box to drive the light gun body 100 to reach it. When a first target position is specified, the control module 200 also needs to perform path planning based on the light gun position and the first target position, and output movement commands to drive the light gun body 100 to reach the first target position.

[0070] In an exemplary embodiment, the control module 200 obtains the first target position based on the analysis of the second target position by setting the first target position as any position within a preset circular area. The preset circular area is a circular area with the vertical projection position of the second target position onto the water surface of the reactor core pool as the center and a preset distance as the radius.

[0071] To ensure that the beam projected onto the second target location has sufficient light intensity and spot area, the area of ​​the preset circular region, i.e., the preset distance, can be designed based on the vertical distance between the bottom of the pool and the surface of the reactor core pool. For example, in this embodiment, the preset distance can be set to 3-5m to ensure that the beam spot diameter of the beam projected obliquely onto the bottom of the pool is approximately 300-500mm.

[0072] It is understandable that setting the first target position to multiple positions that are close to the second target position can provide a certain range of movement for the light gun body 100, thereby ensuring that other important tasks in the refueling stage of the reactor core pool are not affected.

[0073] Specifically, the power module 500 is used to drive the light gun body 100 to move according to a movement command. The movement command can be an instruction to drive the light gun body 100 to move in a target direction, such as forward, backward, left, left turn, right, or right turn. After receiving the movement command, the power module 500 drives the light gun body 100 to move in the target direction until it stops receiving movement commands. Alternatively, the movement command can be an instruction to drive the light gun body 100 to move a target distance in the target direction. After receiving this movement command, the power module 500 drives the light gun body 100 to move the target distance in the target direction.

[0074] Based on different power implementation principles, the power module 500 can be implemented using different devices, such as propeller thrusters, jet thrusters, water jet thrusters, ion thrusters, etc. In an exemplary embodiment, such as... Figure 3As shown, the power module 500 includes multiple pairs of thrusters 510, each pair of thrusters 510 being positioned opposite each other on the side of the main frame near the water surface of the core pool.

[0075] Reference Figure 3 In this embodiment, two pairs of thrusters 510 may be used. The four thrusters 510 are evenly distributed in a plane, with a 90-degree difference between each other, forming a layout of two pairs facing each other. It can be understood that this layout has an average orientation, and each thruster 510 exerts an equal thrust on the light gun body 100, which is beneficial for the thrusters 510 to control the light gun body 100 to maintain its pose and stabilize it at a target position.

[0076] For example, each thruster 510 can be a 24V powered thruster, which has significant advantages such as high thrust, high pressure resistance, and low maintenance cost. In addition, each thruster 510 adopts open waterproofing, which is smaller in size, lighter in weight, and has a more streamlined overall structure compared to traditional closed waterproofing, and also has lower maintenance costs.

[0077] In one exemplary embodiment, the propeller provided in this application is a propeller propeller.

[0078] Specifically, a propeller propulsion system generates forward thrust by using rotating blades to push water backward. In scenarios like this application, where only the light gun body 100 is needed for navigation at medium to low speeds, a propeller propulsion system offers higher efficiency and relatively lower noise.

[0079] Continue to refer to Figure 1 The control module 200 is also used to acquire the second target position issued by the shore-based control box, and output a beam adjustment command to the light-emitting module 300 according to the second target position. The light-emitting module 300 is used to project a beam onto the second target position according to the beam adjustment command. It can be understood that the first target position where the light gun body 100 is located is a position close to the second target position, and not necessarily a position where their projections overlap in the vertical direction. Therefore, the control module 200 needs to output a beam adjustment command so that the light-emitting module 300 of the light gun body 100 located at the first target position projects a beam at an angle onto the second target position.

[0080] The beam adjustment command can be used to adjust the illumination angle of the light-emitting module 300, the pitch angle of the beam projected by the light-emitting module 300, or the horizontal displacement of the beam projected by the light-emitting module 300.

[0081] For example, the beam adjustment command can be calculated based on the coordinate difference between the first target position and the second target position. The first target position and the second target position can be three-dimensional coordinates represented by the same coordinate system. Then, using the Pythagorean theorem, based on the coordinate difference in the Z-axis direction, the coordinate difference in the X-axis direction, and the coordinate difference in the Y-axis direction, the pitch angle and horizontal displacement between the first target position and the second target position can be calculated, and then the beam adjustment command can be output. Of course, if no first target position is specified, and the beam gun body 100 is moved only by a movement command, the beam adjustment command can also be calculated based on the coordinate difference between the real-time beam gun position and the second target position.

[0082] In other embodiments, the beam adjustment command may also be issued directly from the shore-based control box to fine-tune the beam projected by the light-emitting module 300 to accurately illuminate the second target position.

[0083] In one exemplary embodiment, refer to Figure 4 The light-emitting module 300 includes an LED module 310 and an adjustment mechanism 320. The adjustment mechanism 320 connects the control module 200 and the LED module 310. The LED module 310 is used to project a light beam, and the adjustment mechanism 320 is used to adjust the illumination angle of the light beam to illuminate the second target position.

[0084] The LED module 310 is the most important part of the light gun body 100, used to provide a low-voltage, high-brightness light source, suitable for underwater or water feature lighting. In this embodiment, the LED module 310 is a 100W LED module with a standard color temperature of 5000K and a lifespan (L70) ≥48000h.

[0085] Specifically, the LED module 310 can be designed using the principle of total internal reflection, which optimizes the distribution and intensity of light through optical reflection and transmission structures. By using reflective surfaces at specific angles to concentrate or disperse light to the desired area, the divergence angle and spot size of the light can be controlled, thereby improving lighting efficiency and uniformity. In simulation calculations, optical software (such as LightTools or TracePro) can be used for ray tracing and simulation to achieve a maximum illuminance of 12561 lux (lx) at 10 meters and a spot diameter of approximately 350 mm. Furthermore, in practical applications, the total internal reflection design not only improves the efficiency of the lighting gun but also reduces energy loss and extends the lifespan of the LED module 310.

[0086] In one exemplary embodiment, refer to Figure 4 LED module 310 is a mercury-free LED module.

[0087] Specifically, mercury-free LED modules do not contain harmful substances such as mercury, thus they do not pollute the environment during production and use. This is particularly important for the application scenario of this application, namely, core pool lighting, as pool environments typically require high cleanliness and safety standards to prevent potential harm to water quality and organisms. Secondly, the light emitted by mercury-free LED modules does not emit ultraviolet or infrared radiation, posing no harm to humans or objects. Furthermore, mercury-free LED modules have a long lifespan, reaching tens of thousands of hours, significantly reducing replacement and maintenance costs. In the application scenario of lighting guns, frequent replacement of LED modules not only increases maintenance costs but may also pose radiation protection risks to technicians, affecting the stability and reliability of the lighting gun. Finally, the low energy consumption and high efficiency of mercury-free LED modules also give them an advantage in core pool lighting, with high photoelectric conversion efficiency that can significantly reduce energy consumption.

[0088] For example, the control module 200 may be implemented using a platform architecture based on an STM32F429VET6 microcontroller as the core processor.

[0089] The STM32F429VET6 microcontroller is a high-performance microcontroller based on the ARM Cortex-M4F core. This 32-bit RISC processor features a floating-point unit (FPU) and a DSP instruction set, making it ideal for performing complex mathematical operations and signal processing tasks. Furthermore, the Cortex-M4F supports hardware division, which accelerates processing speed and improves system efficiency. The STM32F429VET6 provides ample internal SRAM and Flash memory. Internal SRAM stores data and variables during program execution, while Flash memory stores program code and fixed data. Additionally, the microcontroller supports external memory expansion, allowing connection to external memory via the FSMC (Flexible Static Memory Controller) interface for further expansion of storage capacity.

[0090] In addition, the control module 200 uses the FreeRTOS operating system for task scheduling and MCU allocation. The system selects a priority preemptive scheduling mechanism with a time slice of 1ms. FreeRTOS is a real-time operating system (RTOS) used to manage computer hardware and software resources. It is designed to be very compact, able to run on resource-constrained microcontrollers, and allows for very fast task switching between tasks.

[0091] The aforementioned illumination light gun includes a light gun body, and a control module, a light-emitting module, a positioning module, and a power module disposed on the light gun body. The positioning module obtains the light gun position of the light gun body and sends the position to the control module. The control module outputs a movement command to the power module based on the light gun position and a first target position. The power module drives the illumination light gun to move to the first target position. Then, after the control module obtains the second target position from the shore-based control box, it outputs a beam adjustment command to the light-emitting module, causing the light-emitting module to project a beam to the second target position. This achieves precise illumination of any underwater location in the reactor core pool, improving illumination efficiency. Furthermore, since the illumination light gun can move to any position on the surface of the reactor core pool, it can provide omnidirectional, blind-spot-free illumination of the core pool, significantly shortening the operation time for reactor core refueling, power plant overhauls, and other similar tasks.

[0092] In one exemplary embodiment, refer to Figure 5 The light gun body 100 also includes a radar module 600, which is connected to the control module 200. The radar module 600 is used to scan the environment around the light gun body 100, obtain laser scanning data, and send the laser scanning data to the control module 200. The control module 200 is used to identify obstacles in the environment around the light gun body 100 based on the laser scanning data. If obstacles are detected in the forward path of the light gun body 100, the forward path is updated to avoid the obstacles.

[0093] The radar module 600 emits electromagnetic waves of a certain frequency into the environment surrounding the light gun body 100 and receives electromagnetic waves reflected back from the target to form laser scanning data. The control module 200 then processes and analyzes the received laser scanning data through a signal processing circuit to determine the position, distance, speed, and other information of obstacles in the environment surrounding the light gun body 100.

[0094] For example, the radar module 600 in this embodiment can be implemented using the LeiShen series aurora radar, suitable for scanning in medium to close range environments. It can transmit received laser scanning data to the control module 200 via a serial port. The technical parameters of the LeiShen series aurora radar used in this embodiment may include: output data resolution of 1mm, measurement distance accuracy of ±3cm, and minimum measurement distance of 0.05m. For white objects, the measurement radius is 30m; for black objects, the measurement radius is 12m. The angular resolution is 0.22°, the protection level is IP65, and the communication interface is a network port or serial port (512000bps).

[0095] It is understandable that while the control module 200 outputs movement commands to the power module 500 to drive the light gun body 100 to move towards the target direction, the radar module 600 continuously scans the environment around the light gun body 100 to detect the presence of obstacles. If the control module 200 detects an obstacle in the path of the light gun body 100 moving towards the target direction, it can re-output movement commands to drive the light gun body 100 to move in another direction to avoid the obstacle.

[0096] In one exemplary embodiment, please continue to refer to Figure 5 The light gun body 100 also includes an underwater image acquisition module 700, which is connected to the control module 200. The underwater image acquisition module 700 is used to acquire underwater image information of the environment below the water surface of the core pool and send it to the control module 200. The control module 200 also sends the underwater image information to the shore-based control box.

[0097] The underwater image acquisition module 700 utilizes photography equipment specifically designed for underwater environments. It can withstand the high pressure and humidity of underwater conditions, protecting internal electronic equipment from damage. Equipped with a high-definition camera and lighting system, it can capture clear images and videos. For waterproofing, to ensure the reliability of the underwater image acquisition module 700 in the reactor core pool, it incorporates multiple features including sealing rings, waterproof adhesive, and waterproof interfaces to effectively isolate moisture.

[0098] The technical parameters of the underwater image acquisition module 700 used in this embodiment may include: a resolution of 3840*2160, a magnification of up to 20 times, a pixel count of up to 8 million, a protocol support of GB28181, a focal length range of 6.5 to 130 mm, and a baud rate of 9600.

[0099] In one exemplary embodiment, please continue to refer to Figure 5 The light gun body 100 also includes a water surface image acquisition module 800, which is connected to the control module 200. The water surface image acquisition module 800 is used to acquire water surface image information of the environment above the water surface of the core pool and send it to the control module 200. The control module 200 also sends the water surface image information to the shore-based control box.

[0100] Specifically, the surface image acquisition module 800 is a photographic device used in the aquatic environment and can be a different photographic device from the underwater image acquisition module 700. For example, in this embodiment, a spherical camera can be used as the surface image acquisition module 800 to achieve 360-degree horizontal rotation and 150-degree pitch, thereby enabling the acquisition of surface image information of the environment above the core pool without blind spots. The technical parameters of the surface image acquisition module 800 used in this embodiment may include: a resolution of 1080P, a pixel count of 200W, and a focal length range of 2.8-12m.

[0101] It is understood that both the underwater and surface image information can be sent to the shore-based control box for display on its display module, allowing technicians to observe the situation above and below the core pool in real time. The shore-based control box can also calibrate a map of the core pool based on the aforementioned underwater and surface image information, assisting in controlling the output commands of various modules on the laser gun body 100.

[0102] In one exemplary embodiment, the illumination gun further includes a first communication module, through which the control module communicates with the shore-based control box.

[0103] Specifically, the first communication module can be a wired communication module or a wireless communication module, that is, the illumination light gun and the shore-based control box can communicate either via wired or wireless communication.

[0104] When connecting via wired communication, the first communication module can be a powerline carrier, such as the powerline adapter from the original 20-cell lithium-ion light gun. When connecting via wireless communication, the first communication module can be a wireless Wi-Fi module, using a master-slave router network. The master router is deployed in the shore-based control box, and the slave routers are deployed in the light guns. This not only improves coverage but also supports simultaneous wired and wireless connections, automatic switching, and link aggregation, enabling both wired and wireless communication between the light guns and the shore-based control box.

[0105] In one exemplary embodiment, the illumination gun further includes a battery module and a charging module, both of which are connected to the control module; the charging module is a wireless charging module or a wired charging module.

[0106] Specifically, the battery module powers all the modules in the light gun, with an output voltage of 24V, a maximum discharge current of 30A, a maximum charging current of 10A, and a capacity of 21000mAh. When operating on the battery module at full power, the light gun has a runtime of at least 3 hours.

[0107] In addition, the battery module is equipped with a battery management unit (BMS) to provide protection against overvoltage, overcharge, and over-discharge during operation. The control module can also, based on the battery management unit, issue an alarm when the remaining battery power falls below a preset low-power threshold, and output a movement command to the power module to drive the lighting gun to automatically return to the charging position.

[0108] Furthermore, the charging module is used to charge the battery module, which can be achieved through wireless charging or wired charging.

[0109] For example, refer to Figure 6 The charging module can be a wireless charging module 900. The wireless charging module 900 includes a transmitter and a receiver, with the receiver located on the side of the light gun body.

[0110] Reference Figure 6 Since the water level in the reactor core pool is lower than the shore base, the transmitter can be extended from a long rod to a position below the shore base, close to the water surface of the reactor core pool. After the illumination gun automatically returns to the charging position, the wireless charging receiver on it can automatically engage with the transmitter extended from the long rod to achieve wireless charging of the battery module. It can be understood that this wireless charging module uses a high-power wireless charging receiver chip, has a simple wireless power supply circuit, and a large load capacity, which can effectively improve the wireless charging efficiency of the battery module.

[0111] For example, the charging module can also be a wired charging module. Specifically, in order to reduce energy loss from the shore base to the illumination gun body, a switching power supply is used in the illumination gun to convert 220V AC power to 24V DC power, with a power of approximately 155W. Considering the margin, a Mornsun power supply module with a maximum power of 750W is selected for the switching power supply.

[0112] For example, the receivers of the radar module 600, the underwater image acquisition module 700, the surface image acquisition module 800, and the wireless charging module 900 can all be fixed to the main frame.

[0113] In one exemplary embodiment, such as Figure 7 As shown, this application also provides an illumination light gun system, which includes a shore-based control box 20, a positioning base station 30, and an illumination light gun 10. The positioning base station 30 is used to measure distance with the positioning module of the illumination light gun 10 to assist the positioning module in obtaining the position of the light gun of the illumination light gun 10. The shore-based control box 20 is equipped with a second communication module and at least one mobile control terminal. The mobile control terminal communicates with the first communication module of the illumination light gun 10 through the second communication module.

[0114] The positioning base station 30 is distributed in the environmental space where the illumination light gun 10 is located. The positioning module of the illumination light gun 10 can periodically emit UWB pulse signals to the positioning base station 30. The positioning base station 30 performs distance measurement by TOF (Time of Flight) or TDOA (Time Difference of Arrival), and then performs position calculation and error correction, thereby measuring the real-time position of the illumination light gun 10.

[0115] Specifically, the geometric layout of the positioning base stations 30 in the environment where the illumination gun 10 is located is not limited and can be selected according to actual technical requirements. For example, if only two-dimensional coordinates (X, Y) are needed to obtain the position of the illumination gun 10, only three positioning base stations 30 can be deployed in the environment where the illumination gun 10 is located, and collinear deployment should be avoided; for example, a triangular layout can be used. If the obtained position of the illumination gun needs to be three-dimensional coordinates (X, Y, Z), four positioning base stations 30 can be deployed in the environment where the illumination gun 10 is located, and it is recommended that they be distributed in a non-coplanar tetrahedral pattern, for example, they can be placed in the four corners of the room plus the ceiling. It can be understood that a certain height difference between the positioning base stations 30 can improve the positioning accuracy in the vertical direction.

[0116] Furthermore, the shore-based control box 20 is equipped with a second communication module and at least one mobile control terminal. The mobile control terminal communicates with the first communication module of the illumination gun 10 through the second communication module. The illumination gun 10 can feed back data such as its position, underwater image information, and surface image information to the shore-based control box 20. The shore-based control box 20 can send at least one type of data or command to the illumination gun 10, such as the first target position, the second target position, a movement command, or a beam adjustment command.

[0117] The movable control terminal installed within the shore-based control box 20 is used to calibrate a map of the reactor core pool based on the position of the illumination gun 10, underwater image information, and surface image information received from the illumination gun 10. This can be understood as calibrating the camera coordinate systems of the underwater image acquisition module and the surface image acquisition module of the illumination gun 10 based on the positioning coordinate system of the illumination gun position, to obtain an underwater map of the reactor core pool calibrated on the underwater image information, and a surface map of the reactor core pool calibrated on the surface image information. For example... Figure 8 As shown, this is to obtain an underwater map of the reactor core pool marked on underwater image information.

[0118] It is understood that when the shore-based control box 20 controls the movement of the illumination gun 10, it can be controlled based on manual remote control mode or autonomous positioning mode. For example, in manual remote control mode, the mobile control terminal is used to issue movement commands to the illumination gun 10 based on the core pool map; in autonomous positioning mode, the mobile control terminal is used to issue at least a second target location to the illumination gun 10 based on the core pool map.

[0119] Specifically, the manual remote control mode refers to operation entirely by the shore-based control box 20, which issues movement commands to control the movement of the illumination gun 10. The autonomous positioning mode, on the other hand, refers to the shore-based control box 20 only sending the target position to the illumination gun 10, and the control module inside the illumination gun 10 automatically outputs movement commands based on the target position to control the movement of the illumination gun 10. In this mode, the shore-based control box 20 needs to send at least a second target position to the illumination gun 10 to inform it of the location where the beam should be projected.

[0120] The solution provided by this illumination light gun system is similar to the solution described in the above-mentioned illumination light gun. Therefore, the specific limitations of one or more illumination light gun system embodiments provided in this application can be found in the limitations of the illumination light gun above, and will not be repeated here.

[0121] In one exemplary embodiment, refer to Figure 9 The shore-based control box 20 is equipped with a first movable control terminal 210 and a second movable control terminal 220; the first movable control terminal 210 is a mobile operating tablet, and the second movable control terminal 220 is an auxiliary operating handle.

[0122] It is understood that the first movable control terminal 210 and the second movable control terminal 220 can be embedded in the corresponding grooves provided in the shore-based control box 20, or they can be taken out and operated separately.

[0123] Specifically, both the first movable control terminal 210 and the second movable control terminal 220 can be used to issue movement commands or beam adjustment commands to the illumination gun 10. Since the first movable control terminal 210 is a mobile operating tablet, it includes a display panel and can be used as follows: Figure 8 The image shows the calibrated underwater map of the reactor core pool, which can then be used to send the positions of the first and second targets to the illumination gun. For example... Figure 10 As shown, the auxiliary operating handle can be used to control the light gun to move forward, backward, left, right, turn left and right via buttons. It can also adjust the brightness of the light-emitting module, the zoom of the camera, and the angle of the gimbal.

[0124] In one exemplary embodiment, continuing with reference to Figure 9 The shore-based control box 20 is also equipped with a display module 230, a power supply module, and a storage module. The display module 230 is used to display underwater image information and surface image information, the power supply module is used to supply power to the shore-based control box, and the storage module is used to store underwater image information and surface image information.

[0125] The storage module can be implemented using a hard disk burner, with more than 4TB of available hard disk storage space (more than 4000G available) to save important image data as much as possible.

[0126] In addition, the shore-based control box 20 can be equipped with various types of interface components, such as two USB 3.0 or higher data export interfaces, a type-C interface, and a network cable interface, to communicate and connect with various peripheral devices.

[0127] In one specific embodiment, refer to Figure 11 and Figure 12 As shown, an illumination light gun system is provided, which includes a shore-based control box 20, a UWB positioning base station, and an illumination light gun 10.

[0128] The illumination gun integrates a power supply module, a power module, a control module, an image acquisition module, a radar module, and a positioning module. The shore-based control box integrates a computing center, a monitor, and a CD burner. The connection between the two is as follows: Figure 11 As shown.

[0129] The innovative features of the floating illumination light gun system are as follows:

[0130] 1) The floating light gun can float on the water surface, enabling it to float and move, accurately locate and effectively identify obstacles, and automatically avoid collisions with obstacles;

[0131] 2) It can resist the influence of water flow disturbance and remain in place even when there is disturbance on the water surface;

[0132] 3) The movement and attitude of the light gun on the water surface are achieved by four sets of thrusters installed on the main body. This includes the forward, backward, and turning movements of the main body on the water surface, and the attitude sensor adjusts the attitude of the light gun body on the horizontal plane in real time, giving it a certain degree of resistance to water surface disturbance;

[0133] 4) It has two working modes: wired traction and wireless. In wired mode, it can rely on the cable for power supply and signal transmission. The cable is a zero-buoyancy control cable with a total length (15 meters underwater and 15 meters above water): 30m.

[0134] 5) When operating on battery power, the battery life is no less than 3 hours in full-power mode, and the battery can be quickly replaced or charged.

[0135] 6) The charging method is a radiation-resistant wireless charging system, the charging time is less than 3 hours, and the radiation dose of the whole lamp is greater than 105 Gy;

[0136] 7) When operating on battery power, it can issue an alarm when the battery is low and automatically return to the poolside when the battery level drops below the limit;

[0137] 8) It has a certain amount of power, can move autonomously on the water surface, can turn 360 degrees, can quickly locate itself on the water surface, and can stop quickly and maintain stability;

[0138] 9) When an obstacle is located in the remote control operation path, the equipment can stop operation and issue an alarm, and the remote control command can be executed again after confirmation;

[0139] 10) Based on a pre-recorded water tank diagram, the device's own positioning system can display the real-time location of the device in the water tank after simple calibration.

[0140] 11) It can automatically control the floating light gun to move to a specified coordinate position by inputting the core coordinates;

[0141] 12) It can automatically control the illumination spot of the light gun to move to a specified coordinate position by inputting the core coordinates;

[0142] 13) The light gun has automatic high-temperature overheat protection and temperature display functions;

[0143] 14) Light gun carrier dimensions: ≤Φ680mm, carrier weight ≤18kg, total equipment weight ≤25kg;

[0144] 15) The protection level of the gun carrier compartment shall not be lower than IP68;

[0145] 16) Light gun illumination angle: pitch ≥ ±30°; horizontal ≥ ±360°;

[0146] 17) Easy to hoist, and equipped with lifting rings and a long pole, allowing the equipment to be moved out of the water and onto shore in case of malfunction.

[0147] 18) All fasteners on the light gun carrier have sufficient anti-loosening measures, and the welds are ground smooth; all sharp corners on the surface of the parts are ground rounded to facilitate cleaning;

[0148] 19) The floating light gun has two working modes: automatic and remote control. In remote control mode, it is controlled by a tablet. The tablet remote control distance is ≥12 meters. It has a long standby time, is rechargeable, and uses a 220V power supply. It supports national standard plugs.

[0149] 20) The light gun has a built-in camera at the front, with a horizontal adjustment angle of no less than 360 degrees and a tilt adjustment angle of no less than 180 degrees; the camera has a resolution of no less than 8 megapixels and an optical zoom of no less than 20x.

[0150] 21) The control system consists of software and hardware, capable of simultaneously controlling two floating light guns. The system hardware configuration is no less than the mainstream configuration, with more than 4TB of available hard disk storage space (more than 4000G available), two USB 3.0 or higher data export interfaces, supporting Type-C interface; one network cable interface (all the above interfaces are calculated based on available capacity, that is, the spare interfaces available when the device is running normally; if the device itself occupies the interface, it is not included in the calculation), and the main display device size is no less than 19 inches;

[0151] 22) The light gun control system is a handheld micro tablet computer and an electrical control box control system. By operating the joystick and buttons on the tablet computer, the light gun can achieve two-dimensional pitch and horizontal rotation, adjust the light gun illumination angle, and control the light gun's forward, backward and turning movements in the water tank.

[0152] 23) The external dimensions of the light gun electrical control box are ≤350×200×200mm; the weight is ≤8kg.

[0153] based on Figure 12 The flowchart explains the operation process of the illumination light gun system.

[0154] After completing the on-site system deployment, first connect the power supply to the shore-based control box and the lighting gun, test the communication function between them, and then lower or lower the lighting gun into the water to check for any abnormal floating conditions. Complete the above self-testing steps.

[0155] After the self-test is passed, the light-emitting module and camera module of the lighting gun can be manually switched on and off via the mobile control terminal. After verification, the control mode can be selected.

[0156] In autonomous positioning mode, the position coordinates of the illumination gun can be input via a mobile control terminal. The lidar is automatically activated to detect obstacles along the movement path. If obstacles are found, the illumination gun's path is replanned; otherwise, it is driven along a predetermined path to the designated location, and target tracking is activated. Upon reaching the designated location, the position coordinates of the reactor core fuel rods can be input via the mobile control terminal to drive the light-emitting module to project a beam, autonomously moving and locking the light spot at the bottom of the pool to the designated position.

[0157] In manual remote control mode, the illumination gun can be moved manually via a movable control terminal. Simultaneously, the lidar can be activated to detect obstacles along the movement path. If obstacles are found, the power module is automatically shut down and an alarm is issued, allowing manual replanning of the movement path. The illumination gun is driven along a predetermined path to the designated position. Once at the designated position, the pan-tilt unit of the light-emitting module is manually rotated to adjust the landing point of the projected beam, thus positioning it at the designated location.

[0158] During the above process, the remaining battery power of the module can be continuously monitored. If the remaining power falls below a preset low-power threshold, the light-emitting module will be turned off, an alarm signal will be activated, and the module will automatically return to its home position or be manually remotely returned to the connected wireless charging module. Continuous operation will resume after charging is complete.

[0159] In this embodiment, the original technology required specialized personnel to work at the reactor core pool during disassembly and assembly, posing risks of falls and radiation exposure. The floating light gun effectively avoids these risks. Existing light guns are not only large and heavy but also consist of multiple components, making disassembly and assembly very complex. This application's technology reduces weight and size, creating a one-piece floating light gun, thus shortening disassembly and assembly time. Existing technology requires manual adjustment of the lighting position via a control handle; the floating light gun automatically positions itself and achieves precise illumination, significantly reducing time compared to manual adjustment. Existing technology has blind spots, while the floating light gun offers high illumination efficiency and allows for real-time monitoring of the reactor core surface and underwater conditions via shore-based equipment, effectively improving fuel handling quality, shortening the critical path for nuclear power plant overhauls, and contributing to improved safety and operational performance. The floating light gun eliminates the need to pause equipment operation and monitoring due to difficulty in locating the lighting position, effectively reducing interruptions in personnel operations and avoiding human error.

[0160] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0161] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0162] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A light gun, characterized in that, The illumination light gun includes a light gun body, and a control module, a light-emitting module, a positioning module and a power module disposed on the light gun body. The control module is connected to the light-emitting module, the positioning module and the power module. The positioning module is used to obtain the position of the light gun on the light gun body and send the position of the light gun to the control module. The control module sends the position of the light gun to the shore-based control box of the illumination light gun system. The control module is used to send a movement command to the power module, and the power module is used to drive the light gun body to move to the first target position according to the movement command; the movement command is issued by the shore-based control box, or output by the control module after path planning based on the position of the light gun and the first target position; The control module is also used to acquire the second target position issued by the shore-based control box, and output a beam adjustment command to the light-emitting module according to the second target position. The light-emitting module is used to project a beam to the second target position according to the beam adjustment command.

2. The illumination gun according to claim 1, characterized in that, The first target location is any location within a preset circular area, which is a circular area with the vertical projection of the second target location onto the surface of the reactor core pool as its center and a preset distance as its radius.

3. The illumination gun according to claim 1, characterized in that, The light-emitting module includes an LED module and an adjustment mechanism, wherein the adjustment mechanism connects the control module and the LED module; The LED module is used to project a light beam, and the adjustment mechanism is used to adjust the illumination angle of the light beam to illuminate the second target position.

4. The illumination gun according to claim 3, characterized in that, The LED module is a mercury-free LED module.

5. The illumination gun according to claim 1, characterized in that, The light gun body includes a body frame, and the control module, the light emission module, the positioning module and the power module are all fixed on the body frame.

6. The illumination gun according to claim 5, characterized in that, The power module includes multiple pairs of thrusters, each pair of thrusters being positioned opposite each other on the side of the main frame near the water surface of the reactor core pool.

7. The illumination gun according to claim 6, characterized in that, The propeller is a propeller propeller.

8. The illumination gun according to claim 1, characterized in that, The positioning module includes at least one positioning tag, which is disposed on the light gun body; The positioning tag is used to measure distance with the positioning base station to determine the position of the light gun. The control module is connected to the positioning base station and obtains the position of the light gun. The positioning base station is distributed in the environmental space where the light gun body is located.

9. The illumination gun according to claim 1, characterized in that, The illumination gun also includes a radar module, which is connected to the control module. The radar module is used to scan the environment around the light gun body, obtain laser scanning data, and send the laser scanning data to the control module; The control module is used to identify obstacles in the environment around the light gun body based on the laser scanning data. If an obstacle is detected in the forward path of the light gun body, the forward path is updated to avoid the obstacle.

10. The illumination gun according to claim 1, characterized in that, The illumination gun also includes an underwater image acquisition module, which is connected to the control module. The underwater image acquisition module is used to acquire underwater image information of the environment below the water surface of the reactor core pool and send it to the control module. The control module also sends the underwater image information to the shore-based control box.

11. The illumination gun according to claim 1, characterized in that, The illumination gun also includes a water surface image acquisition module, which is connected to the control module; The above-water image acquisition module is used to acquire above-water image information of the environment above the core pool and send it to the control module. The control module also sends the above-water image information to the shore-based control box.

12. The illumination gun according to claim 1, characterized in that, The illumination gun also includes a first communication module, through which the control module communicates with the shore-based control box.

13. The illumination gun according to claim 1, characterized in that, The illumination gun also includes a battery module and a charging module, both of which are connected to the control module. The charging module can be a wireless charging module or a wired charging module.

14. An illumination light gun system, characterized in that, The illumination light gun system includes a shore-based control box, a positioning base station, and an illumination light gun as described in any one of claims 1 to 13; The positioning base station is used to measure the distance with the positioning module of the illumination light gun to determine the position of the illumination light gun and output it to the control module of the illumination light gun. The shore-based control box is equipped with a second communication module and at least one mobile control terminal. The mobile control terminal communicates with the first communication module of the illumination gun through the second communication module. The mobile control terminal is used to calibrate and obtain a core pool map based on the light gun position, underwater image information and above-water image information received from the illumination light gun. In manual remote control mode, the mobile control terminal is used to issue movement commands to the illumination gun based on the core pool map; In autonomous positioning mode, the mobile control terminal is used to send at least a second target location to the illumination gun based on the core pool map.

15. The illumination light gun system according to claim 14, characterized in that, The shore-based control box is equipped with a first movable control terminal and a second movable control terminal. The first movable control terminal is a mobile operating tablet, and the second movable control terminal is an auxiliary operating handle.

16. The illumination light gun system according to claim 15, characterized in that, The shore-based control box is also equipped with a display module, a power module and a storage module; The display module is used to display the underwater image information and the surface image information, the power module is used to supply power to the shore-based control box, and the storage module is used to store the underwater image information and the surface image information.

Images