Method for treating foreign matters in reactor internals at lower part of reactor

Abstract

The invention discloses a method for processing foreign matters in the lower reactor internals of a reactor, which comprises the following steps of: completing global video inspection of the lower reactor internals of the reactor through a video inspection mechanism, determining whether foreign matters exist or not, and determining the positions, the sizes and the types of the foreign matters according to global images of the lower reactor internals of the reactor acquired by the video inspection mechanism. A data processing module of the position navigation mechanism is used for determining a corresponding drain hole area number of the target foreign body, a mechanical arm body type of the mechanical arm mechanism, a gripping apparatus type of the gripping mechanism and an initial movement posture of the mechanical arm mechanism; and the remote control operation mechanism is used for operating the mechanical arm mechanism to move and operating the grabbing mechanism to accurately grab the target foreign matter. According to the method, a high-efficiency full-area inspection and foreign matter grabbing method capable of covering the reactor internals at the lower part of the reactor is formed, the traditional mode that the reactor internals at the lower part of the reactor are firstly hoisted out of the pressure vessel and then the foreign matter is grabbed is changed, and the risk of damage to the reactor internals and the pressure vessel body is reduced.

Description

Technical Field

[0001] The invention relates to the field of cleaning foreign matter in nuclear power pressure vessels, and in particular to a method for processing foreign matter in a reactor lower internal component. Background Art

[0002] The nuclear power pressure vessel is the only non-replaceable component during the life of the unit, and the lower internal components inside it are the lowest point of the entire primary circuit system. Whether during operation or during shutdown and maintenance, foreign matter inspection in this area is an essential task. During operation, due to the influence of single or combined operating conditions such as high temperature, irradiation, and fluid vibration, small components of the primary circuit may occasionally become loose or damaged, which may enter the internal components of the core with the primary circuit medium and produce various foreign matter. During the shutdown and maintenance period, maintenance activities inside the pressure vessel may also introduce foreign matter into the internal components of the core due to inadequate foreign matter prevention or improper operation by personnel. If these foreign matter are not discovered and handled in time, they will flow with the medium during operation, causing potential damage to the fuel assemblies and primary circuit system equipment, thereby affecting the safe operation of the nuclear power unit.

[0003] like Figure 1 As shown, the lower internal components are composed of a lower grid plate 11, a core support plate 12, a large grid plate 13, a small grid plate 14 and a bottom plate 15. The lower grid plate is installed above the core support plate 12 through a core support column, and the large grid plate 13, the small grid plate 14 and the bottom plate 15 are connected by secondary support columns. When inspecting and grabbing foreign objects, the tool needs to pass through the water holes 111 on the lower grid plate 11. The diameter of each water hole is 69mm, and most of the water hole channels cannot be connected to the bottom of the pressure vessel. The internal components are located 20-25 meters underwater, and personnel need to remotely operate the inspection tool to conduct a full-area inspection.

[0004] In summary, when the lower internals are in situ inside the pressure vessel, there are great challenges in the inspection and capture of foreign objects in the entire area. At present, there is no method for in-situ inspection and capture of foreign objects in the internals. The existing method is to first lift the internals to the component pool, and then carry out the corresponding foreign object inspection and capture work; the lifting of internal components is a high-risk operation, and the slightest carelessness will cause damage to the components and the pressure vessel body, and the work efficiency is not high. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a method for processing foreign matter in the lower internal components of a reactor.

[0006] The technical solution adopted by the present invention to solve the technical problem is: construct a method for processing foreign matter in the lower reactor internals of the reactor, the foreign matter in the lower reactor internals is processed by a foreign matter processing device, the foreign matter processing device includes a mechanical arm mechanism, a video inspection mechanism, a position navigation mechanism, a grasping mechanism and a remote control operation mechanism, and the method for processing foreign matter in the lower reactor internals of the reactor includes the steps of:

[0007] S1. constructing a three-dimensional digital model of the reactor lower internals using a three-dimensional construction module of a position navigation mechanism, and numbering a plurality of water flow hole regions of the reactor lower internals according to the three-dimensional digital model, constructing a model coordinate system of the three-dimensional digital model and determining the coordinates of the center position of the water flow hole region;

[0008] S2, using the video inspection mechanism to perform a full-area inspection on the reactor lower internals, and obtain a full-area image of the reactor lower internals;

[0009] S3, determining the location, size and type of foreign matter according to the global image of the reactor lower internals and based on the model coordinate system;

[0010] S4, based on the three-dimensional digital model, according to the position of the foreign object, the size of the foreign object and the type of the foreign object, using the data processing module of the position navigation mechanism to determine the corresponding water flow hole area number installed by the mechanical arm mechanism when grasping the target foreign object, the mechanical arm body type of the mechanical arm mechanism, the gripper type of the grasping mechanism and the initial motion posture of the mechanical arm mechanism;

[0011] S5, positioning the mechanical arm mechanism in the corresponding water flow hole area of ​​the target foreign object, and using the control system of the remote control operation mechanism to control the actions of the mechanical arm mechanism and the grasping mechanism to grasp the target foreign object;

[0012] S6. After all foreign objects in the water flow hole regions with corresponding numbers are captured, the control system is used to control the robotic arm mechanism and the capture mechanism to capture foreign objects in the water flow hole regions with other numbers.

[0013] In some embodiments, in step S2, it is determined whether there are foreign objects based on the full-area image of the lower internal components of the reactor. If there are no foreign objects, the work is terminated; if there are foreign objects, step S3 is executed.

[0014] In some embodiments, the foreign object position is calculated based on the coordinates of the center position of the corresponding water flow hole area of ​​the target foreign object and the polar coordinate position of the target foreign object relative to the center of the water flow hole area.

[0015] In some embodiments, in step S3, the determined foreign object position, foreign object size, foreign object type and three-dimensional digital model are synchronously mapped to the data twin system of the remote control operation mechanism.

[0016] In some embodiments, step S4 includes:

[0017] S41, the data processing module determines, based on the foreign object position, whether the target foreign object position is above the core support plate of the lower internals of the reactor or below the core support plate; if the target foreign object position is above the core support plate, the type of the mechanical arm body of the mechanical arm mechanism is determined to be the first mechanical arm structure; if the target foreign object position is below the core support plate, the type of the mechanical arm body of the mechanical arm mechanism is determined to be the second mechanical arm structure;

[0018] S42, the data processing module determines the corresponding water flow hole area number of the target foreign object according to the position of the foreign object;

[0019] S43, the data processing module determines the gripper type of the gripping mechanism according to the position of the foreign object, the size of the foreign object and the type of the foreign object;

[0020] S44. The data processing module determines an initial motion posture of the robotic arm mechanism according to the position of the foreign object, the size of the foreign object and the type of the foreign object.

[0021] In some embodiments, in step S44, the data processing module performs inverse kinematics solution based on the FABRIK algorithm to determine the initial motion posture of the robotic arm mechanism.

[0022] In some embodiments, step S5 includes:

[0023] S51, positioning and installing the mechanical arm mechanism and the grasping mechanism as a whole at the corresponding water flow hole area of ​​the target foreign object through a crane, and acquiring a real-time working image through a video acquisition module carried by the mechanical arm mechanism;

[0024] S52, using the height adjustment drive motor of the robotic arm mechanism to drive the main body of the robotic arm mechanism to reach a target height in a vertical state;

[0025] S53, using the posture control motor of the robotic arm mechanism to drive the main body of the robotic arm mechanism at the target height to adjust the posture at the target height, so that the gripper of the robotic arm mechanism is close to the target foreign object;

[0026] S54, the control system controls the gripper of the gripping mechanism to grip the target foreign object in cooperation with the real-time working image acquired by the video acquisition module and the data twin system of the remote control operation mechanism;

[0027] S55. After the target foreign object is captured successfully, the control system controls the height adjustment drive motor to drive the main body of the robotic arm mechanism to leave the lower internal components of the reactor in a vertical state, and process the target foreign object.

[0028] In some embodiments, in step S5, if there are multiple foreign objects that can be grasped in the corresponding water flow hole area of ​​the target foreign object, steps S51 to S55 are repeated until there are no foreign objects in the corresponding water flow hole area of ​​the target foreign object, and then step S6 is executed.

[0029] In some embodiments, the types of foreign matter include dots, blocks, lines, and flakes;

[0030] The gripper types include clamping claws, negative pressure suction tools or magnetic suction tools.

[0031] In some embodiments, the data twin system performs motion simulation through CoppeliaSim.

[0032] The implementation of the present invention has the following beneficial effects: the method for handling foreign matter in the lower reactor internals of the reactor completes the full-area video inspection of the lower reactor internals through the video inspection mechanism and determines whether there are foreign matter. The three-dimensional construction module of the position navigation mechanism is developed based on a real three-dimensional model and endowed with position data information. The numbering of multiple water flow hole areas of the lower reactor internals of the reactor is carried out according to the principle of easy identification and judgment. The position, size and type of foreign matter are determined based on the full-area image of the lower reactor internals of the reactor obtained by the video inspection mechanism. The corresponding water flow hole area number of the target foreign matter, the type of the mechanical arm body of the mechanical arm mechanism, the gripper type of the grasping mechanism and the initial motion posture of the mechanical arm mechanism are determined through the data processing module of the position navigation mechanism. The method for handling foreign matter in the lower reactor internals of the reactor also operates the mechanical arm mechanism to move and the grasping mechanism to accurately grasp the target foreign matter through the remote control operation mechanism. The invention forms a highly efficient method for inspecting the entire area of ​​the reactor's lower internals and grabbing foreign objects, without the need to lift the reactor's lower internals out of the pressure vessel body, thereby reducing the workload and radiation dose of on-site operators and the risk of equipment damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0034] Figure 1 is a schematic structural diagram of the reactor lower internals in some embodiments of the present invention;

[0035] Figure 2 It is a schematic flow chart of a method for handling foreign matter in a lower reactor internal component in some embodiments of the present invention. DETAILED DESCRIPTION

[0036] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0037] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0038] See also Figure 2, is a method for handling foreign matter in the reactor lower internals in some embodiments of the present invention, the foreign matter in the reactor lower internals is handled by a foreign matter handling device, the foreign matter handling device includes a mechanical arm mechanism 2, a video inspection mechanism, a position navigation mechanism, a grasping mechanism and a remote control operation mechanism. The method for handling foreign matter in the reactor lower internals includes the steps of:

[0039] S1. Using the three-dimensional construction module of the position navigation mechanism to construct a three-dimensional digital model of the reactor lower internals, and numbering multiple water flow hole areas of the reactor lower internals according to the three-dimensional digital model, constructing a model coordinate system of the three-dimensional digital model and determining the coordinates of the center position of the water flow hole area;

[0040] S2. Use a video inspection mechanism to conduct a full-area inspection of the reactor's lower internals and obtain a full-area image of the reactor's lower internals;

[0041] S3, determining the location, size and type of foreign matter based on the global image of the reactor lower internal components and the model coordinate system;

[0042] S4, based on the three-dimensional digital model, according to the position, size and type of the foreign object, the data processing module of the position navigation mechanism is used to determine the corresponding water flow hole area number installed on the mechanical arm mechanism 2 when grasping the target foreign object, the mechanical arm body type of the mechanical arm mechanism 2, the gripper type of the grasping mechanism and the initial motion posture of the mechanical arm mechanism 2;

[0043] S5, positioning the robot arm mechanism 2 in the corresponding water flow hole area of ​​the target foreign object, and using the control system of the remote control operation mechanism to control the movements of the robot arm mechanism 2 and the grasping mechanism to grasp the target foreign object;

[0044] S6. After all foreign objects in the water flow hole regions with corresponding numbers are captured, the control system is used to control the robot arm mechanism 2 and the capture mechanism to capture foreign objects in the water flow hole regions with other numbers.

[0045] Specifically, in step S1, the three-dimensional construction module of the position navigation mechanism can construct a three-dimensional digital model based on the actual model of the lower reactor internal components. The three-dimensional digital model is the basis of the entire position navigation system. It is established based on the real model. The positions of multiple water flow hole areas of the lower reactor internal components can be numbered according to certain rules and the data drive of the model can be realized. The numbering of multiple water flow hole areas of the lower reactor internal components can facilitate the positioning of the manipulator mechanism 2 on the lower reactor internal components. The water flow hole area is Figure 1 In the area marked 111, in specific operation, 29 areas with a size of 650×650 mm are divided on the lower grid plate 11.

[0046] In step S2, the video inspection mechanism is specifically a micro pan-tilt video inspection device. In actual operation, the operator can lift the video inspection mechanism through the traction device to conduct a full-area inspection of the lower reactor internal components of the reactor, and obtain a full-area image of the lower reactor internal components of the reactor to detect whether there are foreign objects in the lower reactor internal components of the reactor. It can be understood that in step S2, it is judged whether there are foreign objects based on the full-area image of the lower reactor internal components of the reactor. If no foreign objects are present, the work is terminated; if foreign objects are present, step S3 is executed. If there are foreign objects, the video inspection mechanism can obtain the polar coordinate position of the target foreign object relative to the center of the water flow hole area.

[0047] In step S3, according to the global image of the reactor's lower internal components, based on the model coordinate system, the position, size and type of foreign matter can be determined by an artificial or visual intelligent system, and the determined position, size, type and three-dimensional digital model of the foreign matter are synchronously mapped to the data twin system of the remote control operation mechanism. The data twin system is a system that creates a highly simulated virtual model for real objects in a digital way. It realizes the mapping and interaction between virtual space and real space by modeling the state of physical entities or systems, thereby reflecting the full life cycle process of physical equipment. More specifically, the data twin system makes full use of data such as physical models, sensor updates, and operation history, integrates multi-disciplinary, multi-physical quantity, multi-scale, and multi-probability simulation processes, completes mapping in virtual space, and thus reflects the action process of the corresponding physical equipment. Its essence is information modeling, which aims to build a completely consistent digital model for physical objects in the real world in the digital virtual world, so that remote operators have a real sense of presence and improve the efficiency of foreign object capture.

[0048] More specifically, the data twin system uses a dual-manipulator system based on twin interaction, and through CoppeliaSim motion simulation, it can simulate and monitor the operating status of the manipulator mechanism 2 in real time. CoppeliaSim is a robot simulation software based on a distributed control architecture with an integrated development environment. It is suitable for robot dynamics simulation and is mainly used for system modeling and simulation of sensors, machinery, robots and environments. It is suitable for scenarios such as rapid prototyping and verification, algorithm development, and software and hardware hybrid simulation.

[0049] Among them, the types of foreign matter include point-shaped, block-shaped, linear-shaped and sheet-shaped, and the gripper types may include clamps, negative pressure adsorption tools, magnetic suction tools or other gripper types. In addition, the position of the foreign matter can be calculated based on the coordinates of the center position of the corresponding water flow hole area of ​​the target foreign matter and the polar coordinate position relative to the center of the water flow hole area. In step S1, a model coordinate system for the three-dimensional digital model has been constructed, and the model coordinate system is a rectangular coordinate system, so as to obtain the center coordinate position of each water flow hole area, and in step S2, the video inspection mechanism can obtain the polar coordinate position of the target foreign matter relative to the center of the water flow hole area, and convert the formula of polar coordinates and rectangular coordinates to obtain the coordinates of the target foreign matter in the model coordinate system, and also determine the position of the target foreign matter in the model coordinate system.

[0050] The step S4 includes S41, the data processing module determines whether the target foreign object position is above the core support plate 12 or below the core support plate 12 according to the foreign object position, if the target foreign object position is above the core support plate 12, then the type of the mechanical arm body of the mechanical arm mechanism 2 is determined to be the first mechanical arm structure, if the target foreign object position is below the core support plate 12, then the type of the mechanical arm body of the mechanical arm mechanism 2 is determined to be the second mechanical arm structure;

[0051] S42, the data processing module determines the corresponding water flow hole area number of the target foreign object according to the position of the foreign object;

[0052] S43, the data processing module determines the gripper type of the gripping mechanism according to the position, size and type of the foreign object;

[0053] S44, the data processing module determines the initial motion posture of the robot arm mechanism 2 according to the position, size and type of the foreign object.

[0054] Specifically, in step S41, the distance between the lower grid plate 11 and the core support plate 12 is about 700 mm, so if the target foreign body is located above the core support plate 12, the type of the mechanical arm body of the mechanical arm mechanism 2 is determined to be the first mechanical arm structure. Due to the short action distance, the first mechanical arm structure can be in the form of a full-section flexible mechanical arm to grab the foreign body in the area above the core support plate 12. If the target foreign body is located below the core support plate 12, due to the long distance between the lower grid plate 11 and the core support plate 12, the type of the mechanical arm body of the mechanical arm mechanism 2 is determined to be the second mechanical arm structure. The second mechanical arm structure can be in the form of a rigid mechanical arm plus a flexible mechanical arm to grab the foreign body in the area below the core support plate 12. The rigid mechanical arm can first drive the flexible mechanical arm to the area below the core support plate 12, and then the flexible mechanical arm can grab the foreign body in the area below the core support plate 12. It can be understood that based on the control characteristics of the manipulator mechanism 2 and the requirements for the coverage of the internal components in the height direction, the area of ​​the foreign matter handling device of the lower internal components of the reactor is divided into two major parts: the area above the core support plate 12 and the area below the core support plate 12, and the structure and inspection strategy of the manipulator mechanism 2 used in these two types of areas are designed respectively. The approximate location of the foreign matter is determined based on the inspection of the entire area of ​​the lower internal components of the reactor by the video inspection mechanism, and different manipulator mechanisms 2 are used for the areas above and below the core support plate 12 to grab the foreign matter.

[0055] In step S42, the data processing module determines the corresponding water flow hole area number of the target foreign object according to the position of the foreign object, so as to facilitate the positioning of the robot arm mechanism 2 on the lower internals of the reactor.

[0056] In step S43, the type of gripper of the corresponding grasping mechanism is determined according to the type of the foreign matter, which is in the shape of a shape, a block, a line or a sheet, and according to the size of the foreign matter and the specific location of the foreign matter. The gripper type may include a clamp, a negative pressure adsorption tool, a magnetic suction tool or other gripper types.

[0057] In step S44, the data processing module performs inverse kinematics solution based on the FABRIK algorithm to determine the initial motion posture of the robot mechanism 2. The FABRIK algorithm is a fast and simple iterative method for solving inverse kinematics problems. The core idea of ​​the FABRIK algorithm is to calculate the position of the joints through forward and backward iterations to reach the target position. First, the algorithm calculates the distance between the joints of the robot mechanism 2, and then performs forward and backward iterations to gradually adjust the position of the joints to finally reach the target position.

[0058] Step S5 includes S51, positioning and installing the robot arm mechanism 2 and the grasping mechanism as a whole at the corresponding water flow hole area of ​​the target foreign object through a crane, and acquiring a real-time working image through a video acquisition module carried by the robot arm mechanism 2;

[0059] S52, using the height adjustment drive motor of the robot arm mechanism 2 to drive the main body of the robot arm mechanism 2 to reach the target height in a vertical state;

[0060] S53, using the posture control motor of the robot arm mechanism 2 to drive the main body of the robot arm mechanism 2 to adjust its posture at the target height, so that the gripper of the robot arm mechanism 2 is close to the target foreign object;

[0061] S54, cooperating with the real-time working image acquired by the video acquisition module and the data twin system of the remote control operation mechanism, the control system controls the gripper of the gripping mechanism to grab the target foreign object;

[0062] S55. After the target foreign object is captured successfully, the control system controls the height adjustment drive motor to drive the main body of the manipulator mechanism 2 to leave the lower reactor internals in a vertical state, and process the target foreign object.

[0063] Specifically, in step S51, the grasping mechanism and the video acquisition module can be installed on the main body of the robotic arm mechanism 2, and the robotic arm mechanism 2 can be installed as a whole at the corresponding water flow hole area of ​​the target foreign object through a crane. The number of the corresponding water flow hole area can be given by the data processing module of the position navigation mechanism.

[0064] In step S52, the specific operation is: the number of rotations of the height adjustment drive motor can be given according to the position of the foreign matter through the data processing module. The height adjustment drive motor is used to drive the grasping mechanism to perform lifting and lowering movements. The number of rotations of the height adjustment drive motor can be input into the control system of the remote control operating mechanism, and the work is started to move the main body of the robotic arm mechanism 2 through the water flow hole in a vertical state to the target height.

[0065] In step S53, the posture control motor can control the movement posture of the main body of the robotic arm mechanism 2. The rotation parameters of the posture control motor can be input into the control system of the remote control operation mechanism and the operation can be started to adjust the posture of the main body of the robotic arm mechanism 2 at the target height, so that the grasping mechanism is close to the target foreign object and the initial positioning of the grasping mechanism is completed.

[0066] In step S54, under the on-site guidance of the data twin system and in cooperation with the real-time working images obtained by the video acquisition module, the target foreign object is captured. The data twin system can synchronously display the movement posture of the main body of the robotic arm mechanism 2 in the three-dimensional digital model and its relative position relationship with the target foreign object in real time.

[0067] In step S55, when the target foreign object is captured successfully, the main body of the robot arm mechanism 2 can be restored to the initial state through the one-key recovery command key of the control system, and then the target foreign object is placed in the collection tray.

[0068] In step S5, if there are multiple foreign objects that can be grasped in the corresponding water flow hole area of ​​the target foreign object, steps S51 to S55 are repeated until there is no foreign object in the corresponding water flow hole area of ​​the target foreign object, and then step S6 is executed. It can be understood that since the grasping mechanism has a limited range of grasping at one time, if there are multiple foreign objects that can be grasped in the corresponding water flow hole area of ​​the target foreign object, steps S51 to S55 are repeated until there is no foreign object in the corresponding water flow hole area of ​​the target foreign object, and then the grasping mechanism is moved to other water flow hole areas to grasp foreign objects.

[0069] It can be understood that the method for handling foreign matter in the lower reactor internals completes the full-area video inspection of the lower reactor internals through the video inspection mechanism and determines whether there are foreign matter. The three-dimensional construction module of the position navigation mechanism is developed based on a real three-dimensional model and endowed with position data information. The numbering of multiple water flow hole areas of the lower reactor internals is carried out according to the principle of easy identification and judgment. The position, size and type of foreign matter are determined based on the full-area image of the lower reactor internals obtained by the video inspection mechanism. The corresponding water flow hole area number of the target foreign matter, the type of the mechanical arm body of the mechanical arm mechanism 2, the gripper type of the grasping mechanism and the initial motion posture of the mechanical arm mechanism 2 are determined through the data processing module of the position navigation mechanism. The method for handling foreign matter in the lower reactor internals of the reactor also operates the mechanical arm mechanism 2 to move and the grasping mechanism to accurately grasp the target foreign matter through the remote control operation mechanism. The invention forms a highly efficient method for inspecting the entire area of ​​the reactor's lower internals and grabbing foreign objects, without the need to lift the reactor's lower internals out of the pressure vessel body, thereby reducing the workload and radiation dose of on-site operators and the risk of equipment damage.

[0070] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A method for handling foreign matter in the lower internals of a reactor, wherein the foreign matter in the lower internals of the reactor is handled by a foreign matter handling device, wherein the foreign matter handling device comprises a mechanical arm mechanism, a video inspection mechanism, a position navigation mechanism, a grasping mechanism, and a remote control operation mechanism, wherein: The method for processing foreign matter in the lower internal components of a reactor comprises the following steps: S1. Using the three-dimensional construction module of the position navigation mechanism to construct a three-dimensional digital model of the reactor lower internals, and numbering multiple water flow hole areas of the reactor lower internals according to the three-dimensional digital model, constructing a model coordinate system of the three-dimensional digital model and determining the coordinates of the center position of the water flow hole area; S2, using the video inspection mechanism to perform a full-area inspection on the reactor lower internals, and obtain a full-area image of the reactor lower internals; S3, determining the location, size and type of foreign matter according to the global image of the reactor lower internals and based on the model coordinate system; S4, based on the three-dimensional digital model, according to the position of the foreign object, the size of the foreign object and the type of the foreign object, using the data processing module of the position navigation mechanism to determine the corresponding water flow hole area number installed by the mechanical arm mechanism when grasping the target foreign object, the mechanical arm body type of the mechanical arm mechanism, the gripper type of the grasping mechanism and the initial motion posture of the mechanical arm mechanism; S5, positioning the mechanical arm mechanism in the corresponding water flow hole area of ​​the target foreign object, and using the control system of the remote control operation mechanism to control the actions of the mechanical arm mechanism and the grasping mechanism to grasp the target foreign object; S6. After all foreign objects in the water flow hole regions with corresponding numbers are captured, the control system is used to control the robotic arm mechanism and the capture mechanism to capture foreign objects in the water flow hole regions with other numbers.

2. The method for handling foreign matter in the lower internal components of a reactor according to claim 1, characterized in that: In step S2, it is determined whether there are foreign objects based on the full-area image of the lower internal components of the reactor. If there are no foreign objects, the work is terminated; if there are foreign objects, step S3 is executed.

3. The method for handling foreign matter in the lower internal components of a reactor according to claim 1, characterized in that: The foreign body position is calculated based on the coordinates of the center position of the corresponding water flow hole area of ​​the target foreign body and the polar coordinate position of the target foreign body relative to the center of the water flow hole area.

4. The method for handling foreign matter in the lower internal components of a reactor according to claim 1, characterized in that: In step S3, the determined foreign object position, foreign object size, foreign object type and three-dimensional digital model are synchronously mapped to the data twin system of the remote control operation mechanism.

5. The method for handling foreign matter in the lower internal components of a reactor according to claim 1, characterized in that: The step S4 comprises: S41, the data processing module determines, based on the foreign object position, whether the target foreign object position is above the core support plate of the lower internals of the reactor or below the core support plate; if the target foreign object position is above the core support plate, the type of the mechanical arm body of the mechanical arm mechanism is determined to be the first mechanical arm structure; if the target foreign object position is below the core support plate, the type of the mechanical arm body of the mechanical arm mechanism is determined to be the second mechanical arm structure; S42, the data processing module determines the corresponding water flow hole area number of the target foreign object according to the position of the foreign object; S43, the data processing module determines the gripper type of the gripping mechanism according to the position of the foreign object, the size of the foreign object and the type of the foreign object; S44. The data processing module determines an initial motion posture of the robotic arm mechanism according to the position of the foreign object, the size of the foreign object and the type of the foreign object.

6. The method for handling foreign matter in the lower internal components of a reactor according to claim 5, characterized in that: In step S44, the data processing module performs inverse kinematics solution based on the FABRIK algorithm to determine the initial motion posture of the robotic arm mechanism.

7. The method for handling foreign matter in the lower internal components of a reactor according to claim 1, characterized in that: The step S5 comprises: S51, positioning and installing the mechanical arm mechanism and the grasping mechanism as a whole at the corresponding water flow hole area of ​​the target foreign object by means of a crane, and acquiring a real-time working image by means of a video acquisition module carried by the mechanical arm mechanism; S52, using the height adjustment drive motor of the robotic arm mechanism to drive the main body of the robotic arm mechanism to reach a target height in a vertical state; S53, using the posture control motor of the robotic arm mechanism to drive the main body of the robotic arm mechanism at the target height to adjust the posture at the target height, so that the gripper of the robotic arm mechanism is close to the target foreign object; S54, the control system controls the gripper of the gripping mechanism to grip the target foreign object in cooperation with the real-time working image acquired by the video acquisition module and the data twin system of the remote control operation mechanism; S55. After the target foreign object is captured successfully, the control system controls the height adjustment drive motor to drive the main body of the robotic arm mechanism to leave the lower internal components of the reactor in a vertical state, and process the target foreign object.

8. The method for handling foreign matter in the lower internal components of a reactor according to claim 1, characterized in that: In step S5, if there are multiple foreign objects that can be grasped in the corresponding water flow hole area of ​​the target foreign object, steps S51 to S55 are repeated until there are no foreign objects in the corresponding water flow hole area of ​​the target foreign object, and then step S6 is executed.

9. The method for handling foreign matter in the lower internal components of a reactor according to claim 1, characterized in that: The types of foreign matter include point, block, line and flake; The gripper types include clamping claws, negative pressure suction tools or magnetic suction tools.

10. The method for handling foreign matter in the lower internal components of a reactor according to claim 4, characterized in that: The data twin system is simulated by motion simulation through CoppeliaSim.

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