Underwater radiation tolerant video camera and monitoring system

Abstract

The application relates to an underwater radiation-resistant camera and a monitoring system, which comprises a base, a mounting shell rotatably arranged on the base and in dynamic sealing connection with the base, a containing cavity in the mounting shell, a first driving assembly and a second driving assembly arranged in the containing cavity, the first driving assembly being connected with the mounting shell and the base and being configured to drive the mounting shell to rotate relative to the base in a first plane, a support frame rotatably arranged on the mounting shell and in dynamic sealing connection with the mounting shell, the second driving assembly being connected with the support frame and the mounting shell, the support frame comprising at least one mounting cavity, and a camera unit detachably arranged in the mounting cavity. The mounting shell and the camera unit are independently designed, so that the dynamic sealing between the mounting shell and the base and between the mounting shell and the support frame does not leak water to directly enter the camera unit, and the service life of the camera unit under water is improved.

Description

Technical Field

[0001] This application relates to the field of camera technology, and in particular to an underwater radiation-resistant camera and monitoring system. Background Technology

[0002] Nuclear power is developing rapidly as a clean energy source, leading to a surge in demand for underwater monitoring of nuclear facilities. However, the high radiation environment and deep water conditions place stringent requirements on the equipment, such as requiring the monitoring equipment to have functions such as radiation resistance, deep water sealing, and modular maintenance.

[0003] Currently, most underwater cameras use integrated pan-tilt-zoom (PTZ) cameras. However, these cameras typically integrate the pan-tilt-zoom drive, camera, and lighting modules into a through-cavity, resulting in low dynamic sealing reliability. Water can easily enter due to seal failure, damaging the expensive camera module. Furthermore, since the camera module and lighting module are fixedly connected to the pan-tilt-zoom, if a single module (such as an irradiated and aged camera) fails, the entire camera needs to be replaced, significantly increasing maintenance costs. Utility Model Content

[0004] Therefore, it is necessary to provide an underwater radiation-resistant camera and monitoring system to address the problem that traditional cameras typically integrate pan-tilt drive, camera, and lighting modules into a through-cavity, resulting in low dynamic sealing reliability and easy water ingress due to seal failure, which can damage expensive camera components.

[0005] This application first provides an underwater radiation-resistant camera, which includes:

[0006] Base;

[0007] A mounting housing is rotatably disposed on the base and dynamically sealed to the base. The mounting housing has a receiving cavity, in which a first driving assembly and a second driving assembly are installed. The first driving assembly connects the mounting housing and the base and is configured to drive the mounting housing to rotate relative to the base on a first plane.

[0008] A support frame is rotatably disposed on the mounting housing and dynamically sealed to the mounting housing. A second drive assembly connects the support frame and the mounting housing. The second drive assembly is configured to drive the support frame to rotate relative to the mounting housing in a second plane, which intersects with the first plane. The support frame includes at least one mounting cavity.

[0009] The camera unit is detachably mounted in the mounting cavity.

[0010] In one embodiment, the base is provided with a first aviation connector; the mounting housing is provided with a second aviation connector, the first aviation connector and the second aviation connector are connected by a first cable, the first cable being located inside the receiving cavity;

[0011] The camera unit includes a third aviation connector, which is connected to the second aviation connector via a second cable located outside the mounting housing.

[0012] In one embodiment, the support frame includes a first connecting arm, a second connecting arm, and a frame body. The frame body is disposed between the first connecting arm and the second connecting arm. The first connecting arm and the second connecting arm are respectively disposed on opposite side walls of the mounting housing and are rotatably connected to the mounting housing.

[0013] At least one of the first connecting arm and the second connecting arm is connected to the output terminal of the second drive component.

[0014] In one embodiment, the base includes a connecting shaft having a hollow cavity communicating with the receiving cavity, and the first cable is placed inside the hollow cavity;

[0015] The mounting housing has an opening that is adapted to be inserted into the connecting shaft. A first bearing is provided between the outer wall of the connecting shaft and the mounting housing, and a first oil seal is provided between the outer wall of the connecting shaft and the mounting housing.

[0016] In one embodiment, the first driving component includes:

[0017] A first drive motor is disposed in the mounting housing;

[0018] The first driving gear is connected to the output end of the first drive motor;

[0019] A first driven gear is disposed on the connecting shaft. The first driven gear meshes with the first driving gear. The first driven gear is configured to rotate under the drive of the first driving gear, so that the mounting housing rotates clockwise or counterclockwise about the axis of the connecting shaft.

[0020] In one embodiment, the mounting housing is connected to the support frame via a mating shaft;

[0021] The docking shaft passes through the side wall of the mounting housing, and a second oil seal is provided between the docking shaft and the mounting housing; a second bearing is provided between the docking shaft and the mounting housing.

[0022] The docking shaft includes a first end and a second end opposite to each other. The first end is located inside the receiving cavity and is connected to the output end of the second drive assembly. The second end is located outside the mounting housing and is fixedly connected to the support frame.

[0023] In one embodiment, the second driving component includes:

[0024] The second drive motor is located in the mounting housing;

[0025] The gear set is connected to the output end of the second drive motor;

[0026] A second driven gear is disposed on the docking shaft and connected to the gear set. The second driven gear is configured to rotate under the drive of the gear set so that the support frame rotates clockwise or counterclockwise about the axis of the docking shaft.

[0027] In one embodiment, the gear set includes a first bevel gear, a second bevel gear, and a threaded rod connected in sequence, wherein the axis of the first bevel gear is parallel to the axis of the mating shaft; the ends of the second bevel gear and the threaded rod are fixedly connected; and the threaded rod meshes with the second driven gear.

[0028] The angle at which the support frame rotates clockwise around the axis of the docking shaft is between 0° and 90°;

[0029] The angle at which the support frame rotates around the axis of the docking shaft is between 0° and 70°.

[0030] In one embodiment, the underwater radiation-resistant camera further includes at least one supplementary lighting unit, and the support frame includes at least one sub-cavity located on one side of the mounting cavity, wherein the supplementary lighting unit is detachably disposed within the sub-cavity;

[0031] The mounting housing is also provided with a fourth aviation plug interface, which is connected to the first aviation plug interface via a third cable, and the third cable is located inside the receiving cavity;

[0032] The supplementary lighting unit includes a fifth aviation connector, which is connected to the fourth aviation connector via a fourth cable located outside the mounting housing.

[0033] This application also provides a monitoring system, which includes at least one underwater radiation-resistant camera as described in the above embodiments; and...

[0034] A central controller, which is communicatively connected to at least one of the underwater radiation-resistant cameras.

[0035] The aforementioned underwater radiation-resistant camera and monitoring system, by placing the first and second drive components within a dynamically sealed mounting housing, and independently mounting the camera unit within the mounting cavity of the support frame, completely isolates it from the housing's containment cavity. Even if water enters the containment cavity, the liquid cannot directly contact the camera unit. In other words, by designing the mounting housing containing the first and second drive components separately from the camera unit, the risk of liquid directly entering the camera unit due to leakage from the dynamic seals between the mounting housing and the base, or between the mounting housing and the support frame, is avoided, thus improving the camera unit's underwater lifespan. Furthermore, by detachably mounting the camera unit within the housing, installation and quick replacement are facilitated, significantly reducing equipment procurement costs compared to the complex process of traditional designs requiring complete disassembly, and allowing for flexible replacement of camera units with different radiation resistance levels for different radiation scenarios. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of a structure of an underwater radiation-resistant camera provided according to some embodiments of this application.

[0037] Figure 2 This is a side view of an underwater radiation-resistant camera provided according to some embodiments of this application.

[0038] Figure 3 This is a disassembled structural diagram of an underwater radiation-resistant camera provided according to some embodiments of this application.

[0039] Figure 4 This is a schematic diagram of the structure of the first drive component and the second drive component in an underwater radiation-resistant camera provided according to some embodiments of this application.

[0040] Figure 5 This is a top view schematic diagram of another underwater radiation-resistant camera provided according to some embodiments of this application.

[0041] Figure 6 This is a schematic diagram of another front view of an underwater radiation-resistant camera provided according to some embodiments of this application.

[0042] Figure 7 This is a schematic cross-sectional view of another underwater radiation-resistant camera provided according to some embodiments of this application.

[0043] Icon labels:

[0044] 100. Base; 101. Hollow cavity; 110. Connecting shaft;

[0045] 200. Mounting housing; 201. Receiving cavity;

[0046] 300, Support frame; 310, First connecting arm; 320, Second connecting arm; 330, Frame body; 331, Mounting cavity; 332, Sub-cavity;

[0047] 400. Camera unit;

[0048] 500, supplementary lighting unit;

[0049] 600, First drive assembly; 610, First drive motor; 620, First drive gear; 630, First driven gear;

[0050] 700, Second drive assembly; 710, Second drive motor; 720, Gear set; 721, First bevel gear; 722, Second bevel gear; 723, Threaded rod; 730, Second driven gear;

[0051] 800, docking shaft;

[0052] 10a, First aviation connector; 10b, Second aviation connector; 10d, Third aviation connector; 10c, Fourth aviation connector; 10e, Fifth aviation connector; 20a, Second cable; 20b, Fourth cable; 30a, First bearing; 30b, Second bearing; 40a, First oil seal; 40b, Second oil seal; 50a, First PCB board; 50b, Second PCB board. Detailed Implementation

[0053] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0054] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0055] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0059] As mentioned in the background section, most underwater PTZ cameras utilize integrated designs. However, these cameras typically integrate the PTZ drive, camera, and lighting modules into a single, continuous cavity, resulting in low dynamic sealing reliability. Water ingress due to seal failure can easily damage the expensive camera module. Furthermore, because the camera module and lighting module are fixedly connected to the PTZ, the failure of a single module (e.g., an irradiated camera) necessitates the replacement of the entire unit, significantly increasing maintenance costs. Additionally, the inability to quickly switch between fixed-focus or zoom cameras and lighting modules according to mission requirements necessitates the configuration of multiple units, further increasing deployment costs. Therefore, there is an urgent need for a modular, highly sealed, easily maintainable, and multi-scenario adaptable radiation-resistant underwater PTZ camera.

[0060] To address the aforementioned problems, this application provides an underwater radiation-resistant camera and monitoring system. By separating the mounting housing, which houses the first and second drive components, from the camera unit, the risk of liquid directly entering the camera unit and causing camera malfunction due to leakage from the dynamic seals between the mounting housing and the base, and between the mounting housing and the support frame is avoided. This improves the underwater lifespan of the camera unit. Furthermore, by detachably housing the camera unit within the mounting cavity, installation and quick replacement are facilitated, significantly reducing equipment procurement costs compared to the complex process of traditional designs requiring complete disassembly, and allowing for flexible replacement of camera units with different radiation resistance levels for different radiation scenarios.

[0061] See Figure 1 and Figure 3 , Figure 1 This is a schematic diagram of a structure of an underwater radiation-resistant camera provided according to some embodiments of this application. Figure 3 This is a disassembled structural diagram of an underwater radiation-resistant camera provided according to some embodiments of this application. One embodiment of this application provides an underwater radiation-resistant camera that can be used for underwater monitoring of nuclear power plants. The underwater radiation-resistant camera may include a base 100, a mounting housing 200, a support frame 300, and a camera unit 400.

[0062] The mounting housing 200 is rotatably disposed on the base 100 and dynamically sealed to the base 100. The mounting housing 200 has a receiving cavity 201, in which a first drive assembly 600 and a second drive assembly 700 are installed. The first drive assembly 600 connects the mounting housing 200 and the base 100 and is configured to drive the mounting housing 200 to rotate relative to the base 100 on a first plane. The support frame 300 is rotatably disposed on the mounting housing 200 and dynamically sealed to the mounting housing 200. The second drive assembly 700 connects the support frame 300 and the mounting housing 200 and is configured to drive the support frame 300 to rotate relative to the mounting housing 200 on a second plane, which intersects with the first plane. The support frame 300 includes at least one mounting cavity 331. The camera unit 400 is detachably disposed within the mounting cavity 331.

[0063] Understandably, the base 100 can be made of high-strength, radiation-resistant, and corrosion-resistant titanium alloy. It can be disc-shaped with multiple mounting holes at the bottom for connection to fixed supports of underwater nuclear facilities. A cylindrical support shaft can extend from the base 100 into the mounting housing 200. An annular groove can be machined on the outer surface of the support shaft for mounting a dynamic sealing assembly. In this embodiment, the dynamic sealing assembly can be an oil seal, a mechanical seal (combination of dynamic and static rings), a packing seal, a floating ring seal, etc. For example, the dynamic sealing assembly includes two radiation-resistant fluororubber sealing rings. The lips of the sealing rings fit tightly against the annular groove of the support shaft, forming a dynamic sealing structure to prevent liquid from entering the receiving cavity 201 of the mounting housing 200. The support shaft is connected to the mounting housing 200 via bearings to ensure that the mounting housing 200 can rotate flexibly relative to the base 100.

[0064] The mounting housing 200 can be configured as a hollow cylindrical cavity with an internal receiving cavity 201 for mounting the first drive assembly 600 and the second drive assembly 700. The side of the mounting housing 200 facing the base 100 is defined as the top, and the side facing away from the base 100 is provided with the camera unit 400. To facilitate rotation of the camera unit 400 relative to the mounting housing 200, a support frame 300 for mounting the camera unit 400 is rotatably connected to the side wall of the mounting housing 200, which is the portion between the top and bottom of the mounting housing 200.

[0065] To mate with the support shaft of the base 100, the top of the mounting housing 200 is provided with a bearing mounting hole for engagement with the support shaft of the base 100. Similarly, the side wall of the mounting housing 200 is also provided with bearing mounting holes to facilitate a rotatable connection with the support frame 300 via bearings.

[0066] The first drive assembly 600 primarily causes the base 100 to rotate relative to the mounting housing 200, thereby driving the support frame 300 and the camera unit 400 connected to the mounting housing 200 to rotate in a first plane. The second drive assembly 700 primarily causes the support frame 300 to rotate relative to the mounting housing 200, thereby driving the camera unit 400 to rotate in a second plane. If the first plane is defined as a horizontal plane, then the second plane can correspond to a vertical plane. The actions of the first drive assembly 600 and the second drive assembly 700 enable synchronous rotation of the camera unit 400 in both the horizontal and vertical planes, thereby increasing the rotational freedom of the camera unit 400.

[0067] The structures of the first drive assembly 600 and the second drive assembly 700 mentioned above can be gear structures, timing belts, nuts, gear racks, etc. For more specific structures, please refer to the examples below for understanding, and no restrictions are imposed here.

[0068] The dynamic sealing connection between the support frame 300 and the mounting housing 200 can be set with reference to the dynamic sealing connection between the mounting housing 200 and the base 100. For example, a dynamic sealing assembly including an oil seal, a mechanical seal (combination of dynamic and static rings), a packing seal, and a floating ring seal can be set between the support frame 300 and the mounting housing 200.

[0069] In this embodiment, a mounting cavity 331 is provided within the support frame 300. This mounting cavity 331 can be used for detachable mounting of the camera unit 400. The mounting cavity 331 can be designed to fit the shape of the camera unit 400, such as a cylindrical shape, and internal threads can be machined on its inner wall for connection with the external threads of the camera unit 400, improving installation and replacement efficiency. Alternatively, a cavity for mounting a supplementary lighting module can be provided on one side of the support frame 300 of the mounting cavity 331. The mounting structure of the supplementary lighting module can be similar to that of the camera unit 400, and will not be described in detail here. This arrangement facilitates modular installation.

[0070] It should be emphasized that the second drive assembly 700 is mainly used to adjust the angle of the support frame 300 relative to the mounting housing 200. In other words, the second drive assembly 700 can realize the up and down tilting motion of the support frame 300, thereby adjusting the shooting angle of the camera unit 400.

[0071] The camera unit 400 in this embodiment may include a lens, an image sensor, a circuit board, and a housing. The housing may be made of materials such as lead alloy, and the interior is coated with a radiation-resistant coating to shield the internal image sensor and circuit board from radiation, enabling the camera unit 400 to withstand a certain level of nuclear radiation. Specifically, the image sensor converts light signals into electrical signals, which are then processed by the circuit board and transmitted to an external computer via cables. The camera unit 400 in this embodiment can be configured with either an optical zoom camera or a high-definition fixed-focus camera depending on the monitoring requirements. For example, the zoom camera uses a 33x optical zoom 4-megapixel (2560*1440) sensor, while the fixed-focus camera uses a 6-megapixel resolution, with a maximum resolution of 3072×2048, a 50mm lens focal length, supports an underwater shooting distance of 200mm, is waterproof to 35 meters underwater, and has a 10x visual magnification function.

[0072] The underwater radiation-resistant camera provided in this embodiment can be used as follows: when monitoring of underwater nuclear facilities is required, an external computer sends control signals to control the operation of the first drive component 600 and the second drive component 700, thereby enabling the camera unit 400 to rotate in the first plane and adjust its pitch in the second plane. This allows for angle adjustment of the camera unit 400 in three-dimensional space, enabling comprehensive monitoring of key areas of the underwater nuclear power equipment. The video signals captured by the camera unit 400 and the control signals of the supplementary lighting module are transmitted through an integrated single cable, which is divided into underwater and above-water parts. The underwater cable uses a radiation-resistant and waterproof special cable and connects to the camera unit 400, the supplementary lighting module, and the pan-tilt drive module; the above-water cable connects to the external computer. After the equipment is used in radioactive underwater environments, the underwater cable can be easily decontaminated, and the single-cable design also facilitates the transportation and storage of the equipment.

[0073] The specific cable connection method can be that the signal and power can be connected to each other through aviation plugs and cables to achieve power-on and functional operation. Please refer to the following example for a specific understanding.

[0074] In addition to the above-mentioned method of designing the camera module and the mounting housing 200 (related to dynamic sealing) independently, the first drive component 600 and the second drive component 700 can also be designed independently. When a certain transmission component fails, it is not necessary to disassemble the entire camera. Only the corresponding transmission module needs to be replaced, which can further improve the maintenance efficiency of the equipment and reduce maintenance costs.

[0075] Of course, the camera unit 400 and the supplementary lighting module provided in this embodiment can all adopt an O-ring static sealing structure. For example, the connection between the lens and the housing can be sealed. Since the reliability of static sealing is much higher than that of dynamic sealing, and there is no need to bear the wear of the sealing surface caused by rotation, it can operate stably in deep water environment for a long time, which is beneficial to improving the waterproof life of the core components of the underwater radiation-resistant camera.

[0076] The underwater radiation-resistant camera provided in this application embodiment, by placing the first drive assembly 600 and the second drive assembly 700 inside the mounting housing 200 where dynamic seals are concentrated, and independently mounting the camera unit 400 in the mounting cavity 331 of the support frame 300, is completely physically isolated from the receiving cavity 201 of the mounting housing 200. Even if water enters the receiving cavity 201, the liquid cannot directly contact the camera unit 400. That is, by designing the mounting housing 200, which is equipped with the first drive assembly 600 and the second drive assembly 700, and the camera unit 400 separately, the risk of liquid directly entering the camera unit 400 due to water leakage from the dynamic seals between the mounting housing 200 and the base 100, and between the mounting housing 200 and the support frame 300, is avoided, which would cause the camera function to fail. This is beneficial to improving the service life of the camera unit 400 underwater. In addition, by detachably mounting the camera unit 400 in the mounting cavity 331, it is easy to install and quickly replace, which significantly reduces the complex process of disassembling the entire unit required by traditional designs, and makes it easy to flexibly replace the camera unit 400 with different radiation resistance levels for different radiation scenarios, thus reducing equipment procurement costs.

[0077] Below, we will combine the appendix Figure 1 -Appendix Figure 7 The specific structure of the underwater radiation-resistant camera provided in the embodiments of this application will be described.

[0078] like Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, Figure 2 This is a side view of an underwater radiation-resistant camera provided according to some embodiments of this application. Figure 5 This is a top view schematic diagram of another underwater radiation-resistant camera provided according to some embodiments of this application. Figure 6 This is a schematic front view of another underwater radiation-resistant camera provided according to some embodiments of this application. In some embodiments, the base 100 is provided with a first aviation connector 10a; the mounting housing 200 is provided with a second aviation connector 10b, the first aviation connector 10a and the second aviation connector 10b are connected by a first cable, the first cable being located inside the receiving cavity 201; the camera unit 400 includes a third aviation connector 10d, the third aviation connector 10d being connected to the second aviation connector 10b by a second cable 20a, the second cable 20a being located outside the mounting housing 200.

[0079] Understandably, a first aviation connector 10a is located at the top center of the base 100, employing a radiation-resistant and waterproof aviation connector, with its internal pins connected to the internal circuitry of the base 100. A second aviation connector 10b is located on the remaining area of ​​the top or side wall of the mounting housing 200. The two (first aviation connector 10a and second aviation connector 10b) are connected by a first cable, which is laid inside the receiving cavity 201 of the mounting housing 200 to prevent exposed cables from being damaged by radiation and water pressure. In terms of sealing design, O-rings are provided on the contact surfaces of the first aviation connector 10a and the base 100, and on the contact surfaces of the second aviation connector 10b and the mounting housing 200, forming a double static seal to ensure the waterproofness of the receiving cavity 201.

[0080] The camera unit 400 can integrate a third aviation connector 10d at its rear. The third aviation connector 10d is connected to a second aviation connector 10b on the outside of the mounting housing 200 via a second cable 20a. The second cable 20a is a radiation-resistant polyurethane-sheathed cable, externally fitted with an anti-tangle protective tube, and laid along the outer wall of the mounting housing 200 to the aviation connector. In this embodiment, the camera unit 400 and the mounting housing 200 are connected via a quick-plug aviation connector. Replacement only requires disconnecting the second cable 20a; no internal disassembly is necessary, allowing for rapid module replacement.

[0081] In this embodiment, external power and control signals are transmitted through the first aviation connector 10a on the base 100, the first cable, the second aviation connector 10b on the mounting housing 200, the second cable 20a, and the third aviation connector 10d on the camera unit 400, forming an independent electrical signal path. The cable layout avoids the transmission module and the camera module cavity from being connected, so as to ensure that the core camera function is not affected.

[0082] like Figure 1 and Figure 3 As shown, in some embodiments, the support frame 300 includes a first connecting arm 310, a second connecting arm 320, and a frame 330. The frame 330 is disposed between the first connecting arm 310 and the second connecting arm 320, and a mounting cavity 331 is provided on the frame 330. The first connecting arm 310 and the second connecting arm 320 are respectively disposed on opposite side walls of the mounting housing 200 and are rotatably connected to the mounting housing 200. At least one of the first connecting arm 310 and the second connecting arm 320 is connected to the output end of the second drive assembly 700 so that the second drive assembly 700 can drive the first connecting arm 310 and the second connecting arm 320 to rotate relative to the mounting housing 200.

[0083] It is understood that the support frame 300 includes symmetrically arranged first connecting arm 310, second connecting arm 320, and intermediate frame 330, forming an overall U-shaped structure. The first connecting arm 310 and second connecting arm 320 can be designed as hollow rods, with bearings at their ends adapted to the sidewalls of the mounting housing 200 for rotatable connection to the mounting housing 200. In this embodiment, at least one connecting arm is required; for example, the first connecting arm 310 is fixed to the output end of the second drive assembly 700 to ensure effective transmission of torque.

[0084] The operation of the support frame 300 can be as follows: when the second drive component 700 is driven, the connecting arm (e.g., the first connecting arm 310) connected to the second drive component 700 drives the frame 330 to rotate around the rotation axis of the side wall of the mounting housing 200, thereby realizing the angle adjustment of the support frame 300 in the vertical plane (e.g., the pitch direction) to match the horizontal rotation of the mounting housing 200 and form a three-dimensional monitoring perspective.

[0085] like Figure 7 As shown, Figure 7 This is a schematic cross-sectional view of another underwater radiation-resistant camera provided according to some embodiments of this application. In some embodiments, the base 100 includes a connecting shaft 110, the connecting shaft 110 having a hollow cavity 101 communicating with the receiving cavity 201 of the mounting housing 200, and a first cable being placed inside the hollow cavity 101; the mounting housing 200 has an opening adapted to be inserted into the connecting shaft 110, a first bearing 30a is provided between the outer wall of the connecting shaft 110 and the mounting housing 200, and a first oil seal 40a is provided between the outer wall of the connecting shaft 110 and the mounting housing 200.

[0086] Specifically, a hollow connecting shaft 110 is provided in the middle of the base 100, and a receiving cavity 201 passing through the base 100 and the mounting housing 200 for laying the first cable. The connecting shaft 110 can be understood as a vertical extension of the base 100, and its axis is perpendicular to the mounting plane of the base 100 (this mounting plane can be understood as the rotation plane of the first drive assembly 600). The outer wall of the connecting shaft 110 is machined with an annular groove for mounting the first bearing 30a, such as a deep groove ball ceramic bearing, and for mounting the first oil seal 40a, such as a fluororubber double-lip oil seal. The bearing is located below the oil seal and bears the radial load. The lip of the oil seal is tightly fitted with the inner wall of the opening of the mounting housing 200 to form a dynamic seal.

[0087] The bottom opening diameter of the mounting housing 200 is adapted to the outer diameter of the connecting shaft 110. A boss is provided on the edge of the opening to fix the outer ring of the first bearing 30a. An oil seal mounting groove is opened on the inner side of the boss, and the depth matches the height of the oil seal.

[0088] like Figure 3 and Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of a first drive assembly 600 and a second drive assembly 700 in an underwater radiation-resistant camera provided according to some embodiments of this application. In some embodiments, the first drive assembly 600 may include a first drive motor 610, a first drive gear 620, and a first driven gear 630. The first drive motor 610 is disposed on the mounting housing 200; the first drive gear 620 is connected to the output end of the first drive motor 610; the first driven gear 630 is disposed on the connecting shaft 110, and the first driven gear 630 meshes with the first drive gear 620. The first driven gear 630 is configured to rotate under the drive of the first drive gear 620, so that the mounting housing 200 rotates clockwise or counterclockwise about the axis of the connecting shaft 110.

[0089] Specifically, the first drive motor 610 is fixed inside the mounting housing 200 and is connected to a first PCB board 50a, which is also located inside the mounting housing 200. The first PCB board 50a can be connected to the aforementioned first cable to receive external control commands, thereby controlling the operation of the first drive motor 610. The output shaft of the first drive motor 610 can be connected to a first driving gear 620 via a torque coupling. The first driven gear 630 is mounted on the top of the connecting shaft 110 and meshes with the driving gear.

[0090] When the first drive motor 610 rotates, the first driving gear 620 drives the first driven gear 630, which in turn rotates the connecting shaft 110, causing the mounting housing 200 to rotate horizontally around the axis of the connecting shaft 110. The hollow cavity 101 protects the cable from rotational friction, and the first oil seal 40a prevents liquid from seeping into the receiving cavity 201 from the gap between the connecting shaft 110 and the mounting housing 200, thus improving the life of the dynamic seal.

[0091] It should be noted that the mounting housing 200 can rotate clockwise and counterclockwise around the axis of the connecting shaft 110, with a specific angle ranging from -90° to 90°, in order to achieve a wide range of video recording.

[0092] like Figure 7 As shown, in some embodiments, the mounting housing 200 is connected to the support frame 300 via a docking shaft 800; the docking shaft 800 passes through the side wall of the mounting housing 200, and a second oil seal 40b is provided between the docking shaft 800 and the mounting housing 200; a second bearing 30b is provided between the docking shaft 800 and the mounting housing 200; the docking shaft 800 includes a first end and a second end opposite to each other, the first end is located inside the receiving cavity 201 and is connected to the output end of the second drive assembly 700; the second end is located outside the mounting housing 200 and is fixedly connected to the support frame 300.

[0093] Specifically, a horizontal through hole is formed in the side wall of the mounting housing 200, and a mating shaft 800 is built in. A second bearing 30b is installed in the middle of the shaft. The outer ring of the bearing is interference-fitted with the through hole of the mounting housing 200, and the inner ring is interference-fitted with the mating shaft 800, bearing the radial and axial loads of the support frame 300. The inner end of the mating shaft 800 (corresponding to the first end) is located in the receiving cavity 201 and is fixed to the output end of the second drive assembly 700 by a key connection; the outer end (corresponding to the second end) extends out of the mounting housing 200 and is fixed to the support frame 300 by welding with a flange or by bolt connection.

[0094] A second oil seal 40b, such as a single-lip fluororubber oil seal, is provided between the mating shaft 800 and the through hole of the mounting housing 200. It is located on the outside of the bearing, with the lip facing the outside of the housing, to prevent liquid from seeping into the receiving cavity 201.

[0095] The main function of the docking shaft 800 is to connect the second drive assembly 700 and the support frame 300. When the second drive assembly 700 drives the docking shaft 800 to rotate, the docking shaft 800 drives the support frame 300 to pitch and rotate around the horizontal axis. Through the combined design of the second bearing 30b and the second oil seal 40b, a balance between dynamic sealing and high-precision rotation is achieved.

[0096] like Figure 4 As shown, in some embodiments, the second drive assembly 700 may include a second drive motor 710, a gear set 720, and a second driven gear 730. The second drive motor 710 is disposed on the mounting housing 200; the gear set 720 is connected to the output end of the second drive motor 710; the second driven gear 730 is disposed on the docking shaft 800, and the second driven gear 730 is connected to the gear set 720. The second driven gear 730 is configured to rotate under the drive of the gear set 720, so that the support frame 300 rotates clockwise or counterclockwise around the axis of the docking shaft 800.

[0097] Understandably, the second drive motor 710 is fixed inside the mounting housing 200 and connected to a second PCB board 50b, also located inside the mounting housing 200. This second PCB board 50b can be connected to the aforementioned first cable to receive external control commands, thereby controlling the operation of the second drive motor 710. The output shaft of the second drive motor 710 can be connected to a gear set 720 via a torque coupling. In this example, the gear set 720 is primarily used to change the direction of force transmission, thus saving space inside the mounting housing 200.

[0098] like Figure 4As shown, in some embodiments, the gear set 720 includes a first bevel gear 721, a second bevel gear 722, and a threaded rod 723 connected in sequence. The first bevel gear 721 is connected to the output end of the second drive motor 710, and the axis of the first bevel gear 721 is parallel to the axis of the docking shaft 800. The second bevel gear 722 is disposed on one side of the first bevel gear 721 and extends in a direction perpendicular to the axis of the docking shaft 800. The second bevel gear 722 meshes with the first bevel gear 721. The threaded rod 723 meshes with the second driven gear 730, and the second bevel gear 722 is coaxially sleeved on the threaded rod 723.

[0099] Specifically, the engagement of the first bevel gear 721 and the second bevel gear 722 can change the direction of force transmission, and the engagement of the threaded rod 723 and the second driven gear 730 can achieve speed reduction transmission, ensuring that the support frame 300 rotates smoothly.

[0100] In some embodiments, the support frame 300 rotates forward about the axis of the docking shaft 800 by an angle between 0° and 90°; the support frame 300 rotates backward about the axis of the docking shaft 800 by an angle between 0° and 70°.

[0101] Specifically, the pitch angle range is 0° to 90° (forward rotation) and 0° to 70° (reverse rotation), meeting the monitoring view requirements of the bottom and sides of the nuclear facility. In addition, mechanical limit blocks can be installed inside the mounting housing 200 to limit the forward and reverse rotation angles of the support frame 300 to a reasonable range, thereby avoiding problems such as excessive cable entanglement and ensuring equipment safety.

[0102] like Figure 1 and Figure 2 As shown, in some embodiments, the underwater radiation-resistant camera further includes at least one supplementary lighting unit 500, and the support frame 300 further includes at least one sub-cavity 332 located on one side of the mounting cavity 331, wherein the supplementary lighting unit 500 is detachably disposed within the sub-cavity 332. The mounting housing 200 is also provided with a fourth aviation connector 10c, which is connected to the first aviation connector 10a via a third cable located within the receiving cavity 201; the supplementary lighting unit 500 includes a fifth aviation connector 10e, which is connected to the fourth aviation connector 10c via a fourth cable 20b located outside the mounting housing 200.

[0103] Specifically, the supplementary lighting unit 500 can be designed as a cylinder with a lead alloy shell, built-in LED beads, and a fifth aviation connector 10e integrated at the rear, corresponding to the fourth aviation connector 10c at the mounting housing 200. The fifth aviation connector 10e and the fourth aviation connector 10c are connected through the fourth cable 20b to realize the transmission of power and dimming signals.

[0104] Because the supplementary lighting unit 500 in this embodiment is detachably mounted within the sub-cavity 332, and can be fixedly connected via clips or bolts, it can be applied to various scenarios. For example, in low-light underwater environments, a high-power supplementary lighting module can be quickly replaced; in high-radiation scenarios, a supplementary lighting unit 500 with a higher radiation tolerance can be replaced to work in conjunction with the camera unit 400, ensuring the clarity of the monitoring image. The independent cavity design of the supplementary lighting unit 500 ensures that even if a single module fails, it does not affect the camera and pan-tilt-zoom (PTZ) functions.

[0105] This embodiment employs a combination of static and dynamic sealing in an aero-mounted structure, completely isolating the transmission module from the core functional module cavity and reducing the risk of water leakage. Furthermore, by detachably mounting the camera unit 400 and the supplementary lighting unit 500 onto the support frame 300, replacement time is significantly reduced, replacement efficiency is improved, and maintenance costs are lowered.

[0106] It should be noted that the base 100, mounting housing 200, support frame 300 and other components provided in this embodiment also include many small parts, which will not be described in detail here. However, it should be noted that O-rings should be used to seal the various parts to prevent liquid from flowing into the mounting housing 200.

[0107] Based on the same concept, this application also provides a monitoring system, which includes at least one underwater radiation-resistant camera as described in the above embodiments, and a central controller. The central controller is communicatively connected to at least one underwater radiation-resistant camera.

[0108] It is understood that the monitoring system in this embodiment can adopt a distributed control architecture, consisting of an underwater radiation-resistant camera cluster and a surface central controller, and achieve bidirectional communication through radiation-resistant composite cables or optical fibers to monitor the underwater area of ​​nuclear facilities in multiple dimensions.

[0109] This can be achieved using a single composite cable, which integrates multiple power lines, multiple signal control lines, optical fibers, etc. The cable can be designed in two sections; for example, the underwater section can have a sheath made of radiation-resistant neoprene rubber, while the surface section can have a sheath made of flame-retardant polyurethane, with quick-connect aviation connectors at both ends.

[0110] In this embodiment, the central controller can achieve unified configuration, real-time monitoring, and remote diagnostics of multiple cameras, thereby improving operation and maintenance efficiency and reducing the frequency of personnel entering the radiation area.

[0111] 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.

[0112] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent 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 all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An underwater radiation-resistant camera, characterized in that, The underwater radiation-resistant camera includes: Base (100); A mounting housing (200) is rotatably disposed on the base (100) and dynamically sealed to the base (100). The mounting housing (200) has a receiving cavity (201) therein, and a first drive assembly (600) and a second drive assembly (700) are installed in the receiving cavity (201). The first drive assembly (600) connects the mounting housing (200) and the base (100), and the first drive assembly (600) is configured to drive the mounting housing (200) to rotate relative to the base (100) in a first plane. A support frame (300) is rotatably disposed on the mounting housing (200) and dynamically sealed to the mounting housing (200). A second drive assembly (700) connects the support frame (300) and the mounting housing (200). The second drive assembly (700) is configured to drive the support frame (300) to rotate relative to the mounting housing (200) in a second plane that intersects with the first plane. The support frame (300) includes at least one mounting cavity (331). The camera unit (400) is detachably disposed within the mounting cavity (331).

2. The underwater radiation-resistant camera according to claim 1, characterized in that, The base (100) is provided with a first aviation connector (10a); the mounting housing (200) is provided with a second aviation connector (10b), the first aviation connector (10a) and the second aviation connector (10b) are connected by a first cable, the first cable being located inside the receiving cavity (201); The camera unit (400) includes a third aviation connector (10d), which is connected to the second aviation connector (10b) via a second cable (20a), which is located outside the mounting housing (200).

3. The underwater radiation-resistant camera according to claim 1, characterized in that, The support frame (300) includes a first connecting arm (310), a second connecting arm (320) and a frame (330). The frame (330) is disposed between the first connecting arm (310) and the second connecting arm (320), and the mounting cavity (331) is provided on the frame (330). The first connecting arm (310) and the second connecting arm (320) are respectively disposed on opposite side walls of the mounting housing (200) and are rotatably connected to the mounting housing (200); At least one of the first connecting arm (310) and the second connecting arm (320) is connected to the output end of the second drive assembly (700) so that the second drive assembly (700) can drive the first connecting arm (310) and the second connecting arm (320) to rotate relative to the mounting housing (200).

4. The underwater radiation-resistant camera according to claim 2, characterized in that, The base (100) includes a connecting shaft (110) having a hollow cavity (101) that communicates with the receiving cavity (201) of the mounting housing (200), and the first cable is placed inside the hollow cavity (101). The mounting housing (200) has an opening that is adapted to be inserted into the connecting shaft (110). A first bearing (30a) is provided between the outer wall of the connecting shaft (110) and the mounting housing (200). A first oil seal (40a) is provided between the outer wall of the connecting shaft (110) and the mounting housing (200).

5. The underwater radiation-resistant camera according to claim 4, characterized in that, The first driving component (600) includes: The first drive motor (610) is located in the mounting housing (200). The first drive gear (620) is connected to the output end of the first drive motor (610); A first driven gear (630) is disposed on the connecting shaft (110). The first driven gear (630) meshes with the first driving gear (620). The first driven gear (630) is configured to rotate under the drive of the first driving gear (620) so that the mounting housing (200) rotates clockwise or counterclockwise around the axis of the connecting shaft (110).

6. The underwater radiation-resistant camera according to any one of claims 1-5, characterized in that, The mounting housing (200) is connected to the support frame (300) via a docking shaft (800); The docking shaft (800) passes through the side wall of the mounting housing (200), and a second oil seal (40b) is provided between the docking shaft (800) and the mounting housing (200); a second bearing (30b) is provided between the docking shaft (800) and the mounting housing (200). The docking shaft (800) includes a first end and a second end opposite to each other. The first end is located inside the receiving cavity (201) and is connected to the output end of the second drive assembly (700). The second end is located outside the mounting housing (200) and is fixedly connected to the support frame (300).

7. The underwater radiation-resistant camera according to claim 6, characterized in that, The second drive component (700) includes: The second drive motor (710) is located in the mounting housing (200). The gear set (720) is connected to the output end of the second drive motor (710); The second driven gear (730) is disposed on the docking shaft (800). The second driven gear (730) is connected to the gear set (720). The second driven gear (730) is configured to rotate under the drive of the gear set (720) so that the support frame (300) rotates forward or backward about the axis of the docking shaft (800).

8. The underwater radiation-resistant camera according to claim 7, characterized in that, The gear set (720) includes a first bevel gear (721), a second bevel gear (722), and a threaded rod (723) connected in sequence. The first bevel gear (721) is connected to the output end of the second drive motor (710), and the axis of the first bevel gear (721) is parallel to the axis of the docking shaft (800). The second bevel gear (722) is disposed on one side of the first bevel gear (721) and extends in a direction perpendicular to the axis of the docking shaft (800). The second bevel gear (722) meshes with the first bevel gear (721). The threaded rod (723) meshes with the second driven gear (730), and the second bevel gear (722) is coaxially sleeved on the threaded rod (723). The support frame (300) rotates about the axis of the docking shaft (800) at an angle between 0° and 90°. The angle at which the support frame (300) reverses about the axis of the docking shaft (800) is between 0° and 70°.

9. The underwater radiation-resistant camera according to claim 2, characterized in that, The underwater radiation-resistant camera also includes at least one supplementary lighting unit (500), and the support frame (300) also includes at least one sub-cavity (332) located on one side of the mounting cavity (331). The supplementary lighting unit (500) is detachably disposed in the sub-cavity (332). The mounting housing (200) is also provided with a fourth aviation connector (10c), which is connected to the first aviation connector (10a) via a third cable, which is located inside the receiving cavity (201); The supplementary lighting unit (500) includes a fifth aviation connector (10e), and the fifth aviation connector (10e) and the fourth aviation connector (10c) are connected by a fourth cable (20b), which is located outside the mounting housing (200).

10. A monitoring system, characterized in that, The monitoring system includes at least one underwater radiation-resistant camera as described in any one of claims 1-9; and A central controller, which is communicatively connected to at least one of the underwater radiation-resistant cameras.

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