Reactor pressure vessel internal component removal / reinstallation auxiliary monitoring system and method

Abstract

The present invention discloses an auxiliary monitoring system and method for the removal / reinstallation of reactor pressure vessel internal components. The present invention includes a front monitoring device, a control box and a monitoring tablet terminal, which can provide ground command personnel with a 3-way bird's-eye view video of the entire process of centering, inserting and disengaging the guide rod and the sling support ring positioning sleeve; an electronic graticule image is superimposed on the video screen as a centering reference coordinate, so that the centering judgment of the guide rod and the sling support ring positioning sleeve is simplified to the electronic graticule image of the guide rod centering; through the laser rangefinder module and the MCU module on the control box, the distance between the top of the guide rod of the component removal / reinstallation operation and the sling support ring positioning sleeve is accurately calculated, and the data information and prompt information are superimposed on the video screen for the ground command personnel to judge and use. Improve the auxiliary judgment ability of the ground command personnel, and avoid collision and scratch accidents between the upper and lower components in the pile and the container, the container guide column or the storage bracket during the process of removing / replacing the internal components.

Description

Technical Field

[0001] The invention belongs to the field of nuclear power super-large machinery maintenance and disassembly monitoring systems, and in particular relates to a reactor pressure vessel internal component removal / reassembly auxiliary monitoring system and method. Background Art

[0002] When the pressure vessel is undergoing special operations such as refueling or in-service inspection, it is necessary to use a ring crane (a ring-type bridge crane for nuclear power plants) and a pile internal component lifting device to remove the internal components of the pressure vessel from the vessel and temporarily store them on the storage rack; after the refueling or inspection special operation is completed, the ring crane and the lifting device are used again to reinstall the components on the storage rack into the pressure vessel in sequence. An electronic scale device is installed at the connection between the ring crane and the lifting device. When the lifting device is transporting equipment, no one is allowed to stay on the lifting device operating platform.

[0003] The upper and lower components in the pressure vessel are already in a radiation activated state. In order to reduce the radiation dose to the nuclear island environment and operators, the core water pool for the removal / reinstallation of the components is filled with boric acid water, and the removal / reinstallation of the components is carried out immersed in water. The operation and maintenance regulations stipulate that the container guide rods (3) and the storage rack guide rods (3 for the upper components and 2 for the lower components) cooperate with the positioning sleeves (C1, C2, C3, C4, C5) on the hoist support ring as the rough guide device for the hoist removal / reinstallation of the components.

[0004] During each operation of removing / reinstalling the internal components of the pressure vessel, there are two changes in the position relationship between the guide rod and the sling support ring positioning sleeve, namely, centering, insertion, and removal.

[0005] When the upper component is removed / reinstalled, three 5-meter-long guide rods are installed on the pressure vessel flange at the 58#, 29#, and 44# holes on the pressure vessel flange, and the horizontal reference height of the top of the guide rods is about 15 meters; the relative height of the three guide rods on the upper component storage rack is 2.04 meters, and the installation positions follow the 58#, 29#, and 44# holes on the container flange, and the horizontal reference height of the top of the guide rods is about 9.5 meters;

[0006] Among them, when the lower component is removed / reinstalled, the pressure vessel flange is equipped with three 10-meter-long guide rods, which are installed in the 58#, 29#, and 44# holes on the pressure vessel flange, and the horizontal reference height of the top of the guide rods is about 20.5 meters; the relative height of the guide rod A of the lower component storage rack is 1.898 meters, and the relative height of the guide rod B is 1.998 meters. They are installed and fixed on the pool wall, and the horizontal reference height of the top of the guide rods is about 20.5 meters.

[0007] Among them, there are 5 positioning sleeves marked as C1, C2, C3, C4, and C5 on the lower support ring of the sling ( Figure 6). Among them, the C1, C2, and C3 positioning sleeves cooperate with the 58#, 29#, and 44# guide rods at the pressure vessel installation position and the 58#, 29#, and 44# guide rods at the upper component storage position, and the C4 and C5 positioning sleeves cooperate with the guide columns at the lower component storage position.

[0008] Technical deficiencies in the current operation and maintenance procedures:

[0009] 1) During the removal / reinstallation of the internal components of the pile, several ground command personnel observed from different points such as the 20-meter platform, the loading and unloading machine channel, and the spreader operating platform to determine the positional relationship between the guide rod and the spreader support ring positioning sleeve, such as centering, insertion, and disengagement. The following defects exist:

[0010] A) When the spreader is lowered and the guide rod of the container or storage rack gradually approaches the positioning sleeve of the spreader support ring, there is a lack of quantitative data support and judgment basis for the centering and insertion of the guide rod and the positioning sleeve of the spreader support ring;

[0011] B) When the spreader is lifted, the guide rod of the container or storage rack gradually disengages from the positioning sleeve of the spreader support ring, and there is a lack of quantitative data support and judgment basis for the disengagement of the guide rod and the positioning sleeve of the spreader support ring;

[0012] 2) The centering, insertion and disengagement process between the guide rod and the positioning sleeve takes place in boric acid water. The commander must look down vertically (when the incident angle is zero and the reflection angle is zero, the real image of the monitored object can be obtained) to observe the relationship between the guide rod and the positioning sleeve and then make operational judgments. Slightly oblique observation will cause certain visual judgment deviations due to the refraction of water, which will bring safety risks to the lifting operation. Summary of the invention

[0013] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide a reactor pressure vessel internal component removal / reinstallation auxiliary monitoring system and method, so as to improve the auxiliary judgment ability of ground command personnel, avoid collision and scratch accidents between the upper and lower components in the reactor and the container, the container guide column or the storage bracket during the removal / reinstallation of the internal components, and ensure that the lifting operation of the internal components is safer and more reliable.

[0014] In order to achieve the above-mentioned purpose, a reactor pressure vessel internals adjustment / reinstallation auxiliary monitoring system includes a front monitoring device, a control box and a monitoring tablet terminal;

[0015] The front-end monitoring equipment includes a double-axis horizontal cantilever pole, the top of the double-axis horizontal cantilever pole is hinged with a first horizontal cantilever, the far end of the first horizontal cantilever is hinged with a second horizontal cantilever, and the far end of the second horizontal cantilever is fixed with a camera;

[0016] The control box includes a control box body, on which a wireless antenna is arranged, and inside which a battery power supply module, a power management module, a 5-port switch module, a WiFi module, a laser ranging module and an MCU data calculation unit are arranged;

[0017] The laser distance measurement module is used to dynamically measure the distance between the control box and the bottom plate of the ring crane trolley bracket, and send the measured real-time data to the MCU data calculation unit;

[0018] The MCU data calculation unit calculates the distance data between the top of the guide rod and the positioning sleeve of the hoist support ring according to the received distance data from the top of the control box to the bottom plate of the ring crane trolley and the preset data parameters, and then compares the distance data with the preset threshold value to generate corresponding prompt information of centering, insertion and disengagement, which is superimposed on the video image;

[0019] The WiFi module is used to establish a wireless transmission channel for data transmission between the control box and multiple monitoring tablet terminals.

[0020] The first section of the horizontal cantilever is driven to rotate by the first section of the horizontal cantilever stepping motor, and the second section of the horizontal cantilever is driven to rotate by the second section of the horizontal cantilever stepping motor to adjust the monitoring position of the camera.

[0021] The first-section horizontal cantilever stepper motor, the second-section horizontal cantilever stepper motor and the camera are all powered by the control box through wired cables.

[0022] The control box body is provided with an armrest.

[0023] The control box body is provided with a control box power switch and a power and voltage display screen, and the power and voltage display screen is used to display the power and voltage of the built-in battery.

[0024] A method for using a reactor pressure vessel internals removal / reinstallation auxiliary monitoring system comprises the following steps:

[0025] S1, when installing the front-end monitoring equipment and the control box, make the vertical upward ranging laser beam emitted by the laser ranging module of the control box shine on the bottom plate plane of the ring crane hoisting trolley bracket;

[0026] S2, adjust the two horizontal cantilevers of the front-end monitoring equipment, extend the horizontal arms out of the fence of the spreader operating platform, move the monitoring camera to the monitoring position, and transmit the video image to the monitoring tablet terminal so that the center point of the reticle in the image coincides with the center point of the monitoring spreader support ring positioning sleeve;

[0027] S3, after the hoist lifts the component, the hoist will deform, and the position of the camera needs to be adjusted again. The position of the two horizontal cantilevers is adjusted through the monitoring tablet terminal so that the center point of the electronic graticule in the image coincides with the center point of the hoist support ring positioning sleeve to be monitored.

[0028] When the laser ranging module collects dynamic data on the distance from the control box to the bottom plate of the ring crane trolley bracket and sends it to the MCU for data calculation, when it is obtained that the distance between the top of the guide rod and the sling support ring positioning sleeve is less than or greater than a certain threshold, prompt information is superimposed on the video image, so that the ground command personnel can observe the corresponding prompt information through the monitoring screen of the monitoring tablet terminal.

[0029] The calculation method of the distance from the top of the guide rod to the locating sleeve of the hanger support ring is as follows:

[0030] d=malbc

[0031] Among them, d is the distance from the top of the guide rod (19) to the sling support ring positioning sleeve, m is the horizontal reference height of the bottom plate of the ring crane lifting trolley, a is the distance from the top of the equipment box on the sling operating platform to the bottom plate of the ring crane lifting trolley bracket, l is the height of the equipment box, b is the length from the sling operating platform to the sling support ring positioning sleeve, and c is the top of the guide rod to the horizontal reference height.

[0032] Compared with the prior art, the present invention includes a front monitoring device, a control box and a monitoring tablet terminal, which provide ground commanders with a long-distance multi-channel bird's-eye view of the entire process of centering, inserting and disengaging the guide rod and the sling support ring positioning sleeve; the electronic graticule image is superimposed on the video screen as the centering reference coordinate, so that the centering judgment of the guide rod and the sling support ring positioning sleeve is simplified to the electronic graticule image of the guide rod centering; through the laser ranging module and MCU module on the control box, the distance between the top of the guide rod and the sling support ring positioning sleeve in the component removal / reinstallation operation is accurately calculated, and the data information and prompt information are superimposed on the video screen. Improve the auxiliary judgment ability of ground commanders, avoid collisions and scratches between the upper and lower components in the pile and the container, container guide column or storage bracket during the process of transferring / playing back the components in the pile, and make the lifting operation of the components in the pile safer and more reliable.

[0033] The method of the present invention provides a video and quantitative parameters of the centering, insertion and disengagement status of the guide rod of the pressure vessel and the sling support ring positioning sleeve, through video, superimposed electronic graticule images in the video and a special distance measurement method, without changing the current nuclear power industry reactor pressure vessel internal component removal / reinstallation operation and maintenance regulations, so as to assist on-site operators in completing the operation of removing / reinstalling the internal components more safely and reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1It is a structural schematic diagram of the front monitoring device in the present invention;

[0035] Figure 2 It is a schematic diagram of the telescopic range of the monitoring device in the present invention;

[0036] Figure 3 This is a schematic diagram of a video superimposed with a pixel image in the present invention;

[0037] Figure 4 is a schematic diagram of a control box in the present invention;

[0038] Figure 5 It is a top view of the front monitoring device of the spreader operating platform in the embodiment;

[0039] Figure 6 A top view of the spreader in the embodiment;

[0040] Figure 7 A schematic diagram of a communication network of the present invention;

[0041] Figure 8 This is a schematic diagram of the vertical distance calculation principle of the top of the guide column of the sling support ring in the present invention.

[0042] Among them, 1. double-axis horizontal cantilever upright, 2. first section horizontal cantilever stepper motor, 3. first section horizontal cantilever, 4. second section horizontal cantilever stepper motor, 5. second section horizontal cantilever, 6. camera, 8. wired cable, 9. handrail, 10. control box power switch, 11. wired interface, 12. power and voltage display screen, 13. control box, 14. wireless antenna, 15. laser ranging module, 16. ring suspension bridge arm lifting trolley bracket bottom plate, 17. sling, 18. sling support ring positioning sleeve, 19. guide rod, 20. pressure vessel, 21. horizontal reference, 22. sling operating platform fence. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] A reactor pressure vessel internals removal / reinstallation auxiliary monitoring system, comprising a front monitoring device, a control box and a monitoring tablet terminal;

[0045] See also Figure 1 and Figure 2The front-end monitoring device includes a double-axis horizontal cantilever pole 1, a first-section horizontal cantilever 3 is hinged at the top of the double-axis horizontal cantilever pole 1, a second-section horizontal cantilever 5 is hinged at the far end of the first-section horizontal cantilever 3, and a camera 6 is fixed at the far end of the second-section horizontal cantilever 5; the first-section horizontal cantilever 3 is driven to rotate by a first-section horizontal cantilever stepper motor 2, and the second-section horizontal cantilever 5 is driven to rotate by a second-section horizontal cantilever stepper motor 4. The first-section horizontal cantilever stepper motor 2, the second-section horizontal cantilever stepper motor 4 and the camera 6 are all powered by a wired cable 8.

[0046] See also Figure 4 The control box includes a control box body 13, a wireless antenna 14 is arranged on the control box body 13, a WiFi module, a 5-port switch module, a laser ranging module 15 and an MCU data calculation unit are arranged in the control box body 13; an armrest 9 is arranged on the control box body 14. A control box switch 10 and a power supply display screen 12 are arranged on the control box body 13, and the display screen 12 is used to display the power voltage.

[0047] The laser distance measurement module is used to measure the distance from the top of the control box to the bottom plate 16 of the ring crane trolley bracket and send it to the MCU data calculation unit;

[0048] The MCU data calculation unit is used to calculate the distance data between the guide rod 19 and the sling support ring positioning sleeve 18 according to the received data, and then compare the distance data with the preset threshold value to generate corresponding prompt information;

[0049] The WiFi module is used to establish a wireless data transmission channel between the monitoring tablet terminal and the control box.

[0050] A method for using a reactor pressure vessel internals transfer / reinstallation auxiliary monitoring system comprises the following steps:

[0051] S1, when installing the front-end monitoring equipment and the control box, the vertical upward ranging laser beam emitted by the laser ranging module of the control box is irradiated on the plane of the bottom plate 16 of the ring crane hoisting trolley bracket;

[0052] S2, use the pan / tilt control function of the monitoring tablet terminal software to adjust the two horizontal cantilevers of the front-end monitoring equipment, extend the horizontal arms out of the fence of the spreader operating platform, move the monitoring camera to a suitable monitoring position, and transmit the video image to the monitoring tablet terminal so that the center point of the graticule in the image coincides with the center point of the monitored spreader support ring positioning sleeve 18;

[0053] S3, after the sling 17 lifts the component, the sling will deform, and the position of the camera 6 needs to be adjusted again. The positions of the two horizontal cantilevers are adjusted through the monitoring tablet terminal so that the center point of the electronic graticule in the image coincides with the center point of the sling support ring positioning sleeve 18 to be monitored.

[0054] When the MCU data calculates that the distance between the top of the guide rod 19 and the positioning sleeve of the sling support ring is less than or greater than a certain threshold, a prompt message is superimposed on the video image, so that the ground command personnel can observe the corresponding prompt message through the monitoring screen of the monitoring tablet terminal. Figure 8 The calculation method of the distance between the top of the guide rod 19 and the positioning sleeve of the hanger support ring is as follows:

[0055] d=malbc

[0056] Among them, d is the distance from the top of the guide rod (19) to the sling support ring positioning sleeve, m is the horizontal reference height of the bottom plate of the ring crane lifting trolley (known parameter), a is the distance from the top of the equipment box on the sling operating platform to the bottom plate 16 of the ring crane lifting trolley bracket (dynamic collection), l is the height of the equipment box (known parameter), b is the length from the sling operating platform to the sling support ring positioning sleeve 18 (known parameter), and c is the top of the guide rod 19 to the horizontal reference height (known parameter).

[0057] See also Figure 5 and Figure 6 , Example:

[0058] 1. Equipment installation preparation;

[0059] 1.1 Before the lifting work begins, three sets of front monitoring equipment and control boxes are installed on the lifting platform. Among them, the double-axis horizontal cantilever upright pole 1 of the first front monitoring equipment is connected to the C1 position of the lifting support ring positioning sleeve 18 on the inner side of the lifting platform fence, the double-axis horizontal cantilever upright pole 1 of the second front monitoring equipment is connected to the C2 position of the lifting support ring positioning sleeve 18 on the inner side of the lifting platform fence, and the double-axis horizontal cantilever upright pole 1 of the third front monitoring equipment is connected to the C3 position of the lifting support ring positioning sleeve 18 on the inner side of the lifting platform fence. The front monitoring equipment is connected to the lifting platform fence and fastened with a structural connector and a safety rope to prevent accidental falling. According to the operating and maintenance regulations, the guide rod of the component storage rack needs to be roughly positioned and guided with the C4 and C5 positions of the lifting support ring positioning sleeve 18, but no camera monitoring device is arranged at the C4 and C5 positions. Since the centering, insertion and disengagement are completed in the air, the existing operation and maintenance procedures are used when the lower component is placed on the storage rack and when the lower component is lifted from the storage rack.

[0060] 1.2 Place the control box near the first front monitoring device on the spreader operating platform, and use a safety rope to fix it relative to the operating platform fence to prevent it from falling accidentally. Connect the wired cables 8 of the three front monitoring devices, connect the WiFi antenna, and turn on the device power.

[0061] 1.3 Fine-tune the position of the control box so that the vertical upward ranging laser beam emitted by the laser ranging module hits the plane 16 of the bottom plate of the ring crane trolley bracket.

[0062] 1.4 Power on the monitoring tablet terminal and select the SSID interface of the 2.4GHz frequency band of the control box WiFi module for wireless data connection. Open the monitoring tablet terminal APP software:

[0063] A) Switch the monitoring mode of the hoisting object (upper component, lower component) and specify the MUC calculation mode of the front-end control box;

[0064] B) Select a video surveillance screen, use the APP software pan / tilt control function, adjust the two horizontal cantilevers to adjust the horizontal range of the cantilever, so that the horizontal arms extend out of the fence of the sling operating platform until the image of the sling support ring positioning sleeve 18 appears on the surveillance camera screen. Use the APP software to control the camera lens to change the focal length and obtain an image of the positioning sleeve of a suitable size for easy observation. The video image is superimposed with an electronic graticule image (such as Figure 3 As shown in the figure, use the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's reticle coincides with the center point of the monitored sling support ring positioning sleeve 18, that is, the image of the sling support ring positioning sleeve 18 is symmetrical with the dot of the electronic reticle image and the axis. The video image is superimposed with the distance information and prompt information between the guide rod 19 and the sling support ring positioning sleeve 18.

[0065] (2) The upper component is moved away from the pressure vessel 20 for operation;

[0066] 2.1 Move the hoist 17 to the top of the pressure vessel 20, use the monitoring tablet terminal to observe the position relationship and distance between the 5-meter guide rod 19 and the positioning sleeve on the pressure vessel 20, adjust the ring hoist position so that the images of the three guide rods 19 on the pressure vessel 20 and the electronic graticule graphic are symmetrical about the dot and the axis. After the guide rod 19 is inserted into the positioning sleeve, slowly lower the height of the hoist 17 until the hoist leg sleeve is inserted into the quick connection nut of the upper internal component, and the electronic scale reading is 0;

[0067] 2.2 The operator climbs onto the sling operation platform, locks the three telescopic rods connecting the sling to the upper component in sequence, and then leaves. The ring crane lifts the sling 17 vertically upwards, and uses the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's reticle coincides with the center point of the monitored sling support ring positioning sleeve 18. After the sling support ring positioning sleeve 18 is completely detached from the height of the container guide rod 19 and maintains a certain safety distance, keep the upper component immersed in boric acid water, and move the sling 17 horizontally to above the upper component storage rack;

[0068] According to the law of refraction n = sinα / sinβ, where α is the angle of incidence and β is the angle of refraction. When light is incident vertically into calm water along the normal direction, the angle of incidence is zero, and the angle of refraction is also zero. It can be inferred that when the camera is placed vertically downward, the camera can obtain a real image of the monitored object in boric acid water (turbidity is 0).

[0069] By consulting the data and conducting experimental tests, it is found that the detection instrument in the air cannot correctly measure the distance of the monitored object in the water after separating the two media of air and water. How to measure the position relationship and accurate distance between the guide column head and the sling support ring positioning sleeve in the water in the air. By consulting the nuclear island technical drawings and on-site field surveys, it is found that by measuring the distance between the bottom plate of the hoisting trolley to the sling working platform in real time, the accurate distance between the guide column head and the sling support ring positioning sleeve can be calculated, thereby calculating the position relationship between the two (centering, insertion, and disengagement).

[0070] 2.3 Adjust the ring hoist position so that the images of the three guide rods 19 of the upper component storage rack are symmetrical with the electronic graticule pattern in terms of dots and axes. After the guide rods 19 are inserted into the positioning sleeves, the height of the sling 17 is slowly lowered until the electronic scale reading is 0. Then, a person goes up to the sling operating platform and unlocks the three telescopic rods connecting the sling 17 to the upper component in turn and leaves.

[0071] 2.4 The ring crane lifts the sling 17 vertically upwards, and uses the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's reticle coincides with the center point of the monitored sling support ring positioning sleeve 18, and after the sling support ring positioning sleeve 18 is completely disengaged from the height of the storage rack guide rod 19, the upper component adjustment operation is completed.

[0072] (3) Reinstallation of the upper component into the pressure vessel 20;

[0073] 3.1 Move the hoist 17 to the top of the upper component storage rack, adjust the ring hoist position, make the images of the three guide rods 19 of the storage rack and the electronic reticle graphic present a dot and axis symmetry, put the guide rods 19 into the positioning sleeve, and slowly lower the height of the hoist 17 until the support leg sleeve is put into the quick connection nut of the upper pile internal component, and the electronic scale value is 0;

[0074] 3.2 The operator climbs onto the sling operation platform and locks the three telescopic rods connecting the sling 17 to the upper member in turn. The ring hoist lifts the sling 17 vertically upwards, and uses the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's reticle coincides with the center point of the monitored sling support ring positioning sleeve 18, so that the sling support ring positioning sleeve 18 is completely detached from the height of the storage rack guide rod 19, and after maintaining a certain safety distance, the upper member is kept immersed in boric acid water, and the sling 17 is moved horizontally to above the pressure vessel 20 container;

[0075] 3.3 Adjust the ring hoist position so that the images of the three guide rods 19 of the container and the electronic graticule are symmetrical in terms of dots and axes. After the guide rods 19 are inserted into the positioning sleeves, the sling 17 is slowly lowered until the electronic scale reading is 0. A person goes to the sling operation platform to unlock the three telescopic rods connecting the sling 17 to the upper member in turn and then leaves.

[0076] 3.4 Lift the hoist 17 vertically upwards with a ring hoist, and use the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's graticule coincides with the center point of the monitored hoist support ring positioning sleeve 18. After the hoist support ring positioning sleeve 18 is completely detached from the height of the guide rod 19 of the pressure vessel 20, the upper component reinstallation operation is completed.

[0077] (4) The lower member is moved away from the pressure vessel 20;

[0078] 4.1 Move the hoist 17 to the top of the pressure vessel 20, adjust the hoist position, make the images of the three guide rods 19 of the vessel and the electronic graticule graphic present dot and axis symmetry, put the guide rods 19 into the positioning sleeve, and slowly lower the height of the hoist 17 until the three support sleeves of the hoist 17 fall on the three connecting nuts on the flange of the lower internal component, and the electronic scale reading is 0;

[0079] 4.2 The operator climbs onto the sling operation platform, locks the three telescopic rods connecting the sling 17 to the upper component in sequence, and then leaves. The hoist lifts the sling 17 vertically upwards, and uses the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's reticle coincides with the center point of the monitored sling support ring positioning sleeve 18. After the sling support ring positioning sleeve 18 is completely detached from the height of the container guide rod 19 and maintains a certain safety distance, keep the upper flange surface of the lower component 1.4 to 1.6 meters above the 20-meter platform, and the rest of the part is immersed in boric acid water. Move the sling 17 horizontally to the top of the rack storing the lower component;

[0080] 4.3 Adjust the position of the ring hoist. The ground command personnel visually observe and align the two guide rods of the storage rack with the positioning sleeves C4 and C5 of the hoist support ring. After inserting the positioning sleeves, slowly lower the height of the hoist 17 until the electronic scale reads 0. Then, the personnel go up to the hoist operation platform and unlock the three telescopic rods connecting the hoist 17 with the upper member in turn and leave.

[0081] 4.4 The hoist lifts the sling 17 vertically upwards, and uses the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's reticle coincides with the center point of the monitored sling support ring positioning sleeve 18. The ground commander visually observes that the sling support ring positioning sleeve 18 is completely disengaged from the height of the storage rack guide rod 19, and then completes the adjustment of the lower component away from the pressure vessel 20.

[0082] (5) Reinstallation of the lower component into the pressure vessel 20;

[0083] 5.1 Move the hoist 17 to the top of the lower component storage rack, adjust the ring hoist position, and the ground commander visually observes that the two guide rods of the storage rack are centered and inserted into the positioning sleeve, and then slowly lowers the height of the hoist 17 until the value of the electronic scale is 0;

[0084] 5.2 The operator climbs onto the sling operation platform, locks the three telescopic rods connecting the sling 17 to the upper component in sequence, and then leaves. The ring crane lifts the sling 17 vertically upwards, and uses the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's reticle coincides with the center point of the monitored sling support ring positioning sleeve 18. The ground commander visually observes that the sling support ring positioning sleeve 18 is completely disengaged from the height of the guide rod 19 of the lower component storage rack, and keeps the upper flange surface of the lower component 1.4 to 1.6 meters above the 20-meter platform. The rest of the lower component is immersed in boric acid water, and the sling 17 is horizontally moved to the top of the pressure vessel 20 container;

[0085] 5.3 Adjust the ring hoist position so that the images of the three guide rods 19 of the pressure vessel 20 are symmetrical with the electronic graticule pattern in terms of dots and axes. Slowly lower the height of the hoist 17 until the electronic scale reading is 0. Then, a person goes to the hoist operation platform to unlock the three telescopic rods connecting the hoist 17 to the upper member in turn and then leaves.

[0086] 5.4 Lift the hoist 17 vertically upwards with a ring hoist, and use the APP software pan / tilt control function to finely adjust the horizontal position of the horizontal cantilever in the front device, so that the center point of the camera's graticule coincides with the center point of the monitored hoist support ring positioning sleeve 18. After the hoist support ring positioning sleeve 18 is completely disengaged from the height of the container guide rod 19, complete the operation of reinstalling the lower component into the pressure vessel 20.

Claims

1. A reactor pressure vessel internals removal / reinstallation auxiliary monitoring system, characterized in that: Including front-end monitoring equipment, control box and monitoring tablet terminal; The front-end monitoring device comprises a double-axis horizontal cantilever pole (1), a first-section horizontal cantilever (3) is hingedly connected to the top end of the double-axis horizontal cantilever pole (1), a second-section horizontal cantilever (5) is hingedly connected to the far end of the first-section horizontal cantilever (3), and a camera (6) is fixed to the far end of the second-section horizontal cantilever (5); the first-section horizontal cantilever (3) is driven to rotate by a first-section horizontal cantilever stepping motor (2), and the second-section horizontal cantilever (5) is driven to rotate by a second-section horizontal cantilever stepping motor (4); The first-section horizontal cantilever stepper motor (2), the second-section horizontal cantilever stepper motor (4) and the camera (6) are all powered and communicate with each other via a wired cable (8); The control box comprises a control box body (13), a wireless antenna (14) is arranged on the control box body (13), and the control box body (13) is built with a WiFi module, a 5-port switching module, a laser ranging module (15) and an MCU data calculation unit; The laser distance measuring module is used to measure the distance from the control box to the bottom plate (16) of the ring crane trolley support, and send the measured real-time data to the MCU data calculation unit; The MCU data calculation unit is used to calculate the distance data between the top of the guide rod (19) and the sling support ring positioning sleeve (18) according to the received data and the preset data parameters, and then compare the distance data with the preset threshold value to generate corresponding prompt information and send it to the monitoring tablet terminal to be superimposed on the video image; The WiFi module is used to establish a wireless transmission channel for data transmission between the control box and multiple monitoring tablet terminals; The control box body (13) is provided with a control box power switch (10) and a power supply voltage display screen (12), and the power supply voltage display screen (12) is used to display the power supply voltage of the self-contained battery.

2. A reactor pressure vessel internals removal / reinstallation auxiliary monitoring system according to claim 1, characterized in that: The control box body (13) is provided with an armrest (9).

3. The method for using the reactor pressure vessel internals removal / reinstallation auxiliary monitoring system according to claim 1, characterized in that: The following steps are involved: S1, when installing the front-end monitoring equipment and the control box, the laser ranging module of the control box emits a vertical upward ranging laser beam to illuminate the plane of the bottom plate (16) of the ring crane trolley support; The laser distance measurement module collects dynamic data of the distance from the control box to the bottom plate (16) of the ring crane trolley support, and calculates the distance from the top of the guide rod (19) to the sling support ring positioning sleeve after MCU data calculation, and superimposes prompt information on the video image, so that the ground command personnel can observe the corresponding prompt information through the monitoring screen of the monitoring tablet terminal; The distance from the top of the guide rod (19) to the locating sleeve of the sling support ring is calculated as follows: d=malbc Wherein, d is the distance from the top of the guide rod (19) to the sling support ring positioning sleeve, m is the horizontal reference height of the bottom plate of the ring crane hoisting trolley, a is the distance from the top of the equipment box on the sling operating platform to the bottom plate of the ring crane hoisting trolley bracket (16), l is the height of the equipment box, b is the length from the sling operating platform to the sling support ring positioning sleeve (18), and c is the height from the top of the guide rod (19) to the horizontal reference height; S2, adjust the two horizontal cantilevers of the front-end monitoring equipment, extend the horizontal arms to the outside of the fence of the spreader operating platform, move the monitoring camera to the monitoring position, and transmit the video image to the monitoring tablet terminal so that the center point of the graticule in the image coincides with the center point of the monitored spreader support ring positioning sleeve (18); S3, after the sling (17) lifts the component, the sling will deform, and the position of the camera (6) needs to be adjusted again. The positions of the two horizontal cantilevers are adjusted through the monitoring tablet terminal so that the center point of the electronic graticule in the image coincides with the center point of the sling support ring positioning sleeve (18) to be monitored.

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