Method for treating foreign matter of lower internals of reactor

Abstract

The application discloses a kind of processing methods of reactor lower internals foreign matter, and the whole video inspection of reactor lower internals is completed by video inspection mechanism and it is determined whether there is foreign matter, according to the whole image of reactor lower internals obtained by video inspection mechanism to determine the position of foreign matter, the size of foreign matter and the type of foreign matter, the corresponding flow hole area number of target foreign matter is determined by the data processing module of position navigation mechanism, the type of mechanical arm body of mechanical arm mechanism, the type of gripper of grabbing mechanism and the initial motion posture of mechanical arm mechanism, and the movement of mechanical arm mechanism is also operated by remote control operation mechanism and the accurate grabbing of target foreign matter is operated by grabbing mechanism.Form a kind of method that can cover the whole area inspection and foreign matter grabbing of reactor lower internals efficiently, change the traditional way of first lifting reactor lower internals out of pressure vessel and then grabbing foreign matter, reduce the risk of damage to internals and pressure vessel body.

Description

Technical Field

[0001] The present 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 reactor lower internal components. Background Art

[0002] As the only non-replaceable component during the life of a nuclear power plant, the lower core components within the pressure vessel are the lowest point in the entire primary circuit system. Inspection for foreign matter in this area is essential, both during operation and during outages. During operation, single or combined operating conditions such as high temperature, radiation, and fluid vibration can occasionally cause small primary circuit components to loosen or break, potentially entering the core components with the primary circuit medium and generating various foreign matter. During outages, maintenance activities within the pressure vessel can also introduce foreign matter into the core components due to inadequate foreign matter prevention measures or improper operation. If these foreign matter are not promptly detected and removed, they can flow with the medium during operation, potentially damaging fuel assemblies and primary circuit system equipment, and thus compromising the safe operation of the nuclear power unit.

[0003] like Figure 1 As shown, the lower internals consist 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 mounted above the core support plate 12 via core support columns. The large grid plate 13, the small grid plate 14, and the bottom plate 15 are connected by secondary support columns. When inspecting and removing foreign objects, tools must pass through the water holes 111 in the lower grid plate 11. Each water hole has a diameter of 69 mm, and most of the water hole channels cannot reach the bottom of the pressure vessel. The internals are located 20-25 meters underwater, requiring personnel to remotely operate inspection tools for a full-area inspection.

[0004] In summary, when the lower internals are in situ inside the pressure vessel, inspecting and removing foreign objects throughout the entire area presents significant challenges. Currently, there is no method for inspecting and removing foreign objects within the in-situ components. The existing method involves first hoisting the components out to the component pool, then conducting the appropriate foreign object inspection and removal. Hoisting components is a high-risk operation that can damage the components and the pressure vessel itself if not handled with care, and it also inefficient. 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: constructing a method for handling foreign matter in the lower reactor internals, wherein the foreign matter in the lower reactor internals is handled by a foreign matter handling device, the foreign matter handling device including a robotic arm mechanism, a video inspection mechanism, a position navigation mechanism, a grasping mechanism, and a remote control mechanism, and the method for handling foreign matter in the lower reactor internals comprises the following steps:

[0007] S1. Using a three-dimensional construction module of a position navigation mechanism to construct a three-dimensional digital model of the reactor's lower internals, numbering multiple water hole regions of the reactor's lower internals based on the three-dimensional digital model, constructing a model coordinate system for the three-dimensional digital model, and determining the coordinates of the center positions of the water hole regions;

[0008] S2. Performing a full-area inspection of the reactor lower internals using the video inspection mechanism and acquiring a full-area image of the reactor lower internals;

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

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

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

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

[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, the foreign object size, the foreign object type, and the 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 or below a core support plate of a lower internal component of the reactor; if the target foreign object position is above the core support plate, the robot arm body type of the robot arm mechanism is determined to be a first robot arm structure; if the target foreign object position is below the core support plate, the robot arm body type of the robot arm mechanism is determined to be a second robot arm structure;

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

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

[0020] S44. The data processing module determines the initial motion posture of the robotic arm mechanism according to the position, size and 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 robotic arm mechanism and the grasping mechanism as a whole at the corresponding water flow hole area of ​​the target foreign object by a crane, and acquiring a real-time working image by a video acquisition module carried by the robotic 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 approaches the target foreign object;

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

[0027] S55. After the target foreign object is successfully captured, 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 hole area of ​​the target foreign object, steps S51 to S55 are repeated until there are no foreign objects in the corresponding water hole area of ​​the target foreign object, and then step S6 is executed.

[0029] In some embodiments, the types of foreign matter include point, block, line and flake;

[0030] The gripper types include clamping claws, negative pressure adsorption tools or magnetic adsorption 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 completes a full-area video inspection of the reactor lower internals through a 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 multiple water hole areas of the reactor lower internals are numbered according to the principle of facilitating identification and judgment. The location, size, and type of the foreign matter are determined based on the full-area image of the reactor lower internals obtained by the video inspection mechanism. The corresponding water hole area number of the target foreign matter, the type of the robotic arm body of the robotic arm mechanism, the type of the gripper of the grasping mechanism, and the initial motion posture of the robotic arm mechanism are determined through the data processing module of the position navigation mechanism. The method for handling foreign matter in the reactor lower internals also uses a remote control mechanism to operate the robotic arm mechanism to move and the grasping mechanism to accurately grasp the target foreign matter. The invention forms a highly efficient method for inspecting the entire area of ​​the reactor's lower internals and grabbing foreign objects, without having to lift the reactor's lower internals out of the pressure vessel body, thus 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 with reference to the accompanying drawings and embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can derive other relevant drawings based on these drawings without inventive effort. 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 The present invention is a flowchart 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 and are constructed and operated in specific directions. They are only for the convenience of describing the technical solution and do not indicate that the devices or components referred to must have specific directions. Therefore, they should not be understood as limiting the present invention.

[0037] It should also be noted that, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected", "fixed", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and 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 intervening 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 the indicated technical features. Therefore, the features defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of such 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 2In some embodiments of the present invention, a method for handling foreign matter in a reactor lower internals component is provided. The foreign matter in the reactor lower internals component is handled by a foreign matter handling device. The foreign matter handling device includes a robotic arm mechanism 2, a video inspection mechanism, a position navigation mechanism, a gripping mechanism, and a remote control mechanism. The method for handling foreign matter in a reactor lower internals component includes the following steps:

[0039] S1. Using a three-dimensional construction module of a position navigation mechanism to construct a three-dimensional digital model of the reactor's lower internals, numbering multiple water hole regions of the reactor's lower internals based on the three-dimensional digital model, constructing a model coordinate system for the three-dimensional digital model, and determining the coordinates of the center positions of the water hole regions;

[0040] S2. Using a video inspection mechanism, 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. Determine the location, size, and type of the foreign object based on the full-area image of the reactor's lower internals and the model coordinate system;

[0042] S4. Based on the three-dimensional digital model and according to the location, 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 in the manipulator mechanism 2, the type of the manipulator body of the manipulator mechanism 2, the gripper type of the gripping mechanism, and the initial motion posture of the manipulator mechanism 2 when grasping the target foreign object;

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

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

[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 component. 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 hole areas of the lower reactor internal component can be numbered according to certain rules and the data drive of the model can be realized. Numbering the multiple water hole areas of the lower reactor internal component can facilitate the positioning of the manipulator mechanism 2 on the lower reactor internal component. The water 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, and obtain a full-area image of the lower reactor internal components to detect whether there are foreign objects in the lower reactor internal components. 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. If there are no foreign objects, the work is terminated; if there are foreign objects, 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, based on the full-area image of the reactor's lower internals and the model coordinate system, the foreign object's location, size, and type can be determined by an artificial or visual intelligence system. The determined foreign object location, size, type, and three-dimensional digital model are then simultaneously mapped to the remote control mechanism's data twin system. This data twin system digitally creates highly realistic virtual models of real-world objects. By modeling the state of a physical entity or system, it enables mapping and interaction between virtual and real space, thereby reflecting the entire lifecycle of the physical equipment. More specifically, the data twin system fully utilizes data from physical models, sensor updates, and operational history, integrating multidisciplinary, multi-physics, multi-scale, and multi-probability simulation processes to complete the mapping in virtual space, thereby reflecting the corresponding physical equipment's motion process. Its essence is information modeling, aiming to construct a completely consistent digital model of a physical object in the digital virtual world, giving the remote operator a realistic sense of presence and improving the efficiency of foreign object capture.

[0048] More specifically, the data twin system uses a twin-interaction dual-manipulator system, and through CoppeliaSim, motion simulation can simulate and monitor the operating status of the manipulator mechanism 2 in real time. CoppeliaSim is a robotics simulation software based on a distributed control architecture. It features an integrated development environment and is suitable for robot dynamics simulation. It is primarily used for system modeling and simulation of sensors, mechanics, robots, and environments. It is suitable for scenarios such as rapid prototyping and verification, algorithm development, and hybrid hardware and software 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. 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 polar coordinate and rectangular coordinate formula 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, based on the foreign object position, whether the target foreign object position is above the core support plate 12 or below the core support plate 12; if the target foreign object position is above the core support plate 12, the manipulator body type of the manipulator mechanism 2 is determined to be the first manipulator structure; if the target foreign object position is below the core support plate 12, the manipulator body type of the manipulator mechanism 2 is determined to be the second manipulator structure;

[0051] S42, the data processing module determines the corresponding water flow hole area number of the target foreign object according to the location 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 approximately 700 mm. Therefore, if the target foreign object is located above the core support plate 12, the robot arm body type of the robot arm mechanism 2 is determined to be a first robot arm structure. Due to its short range of action, the first robot arm structure can be a fully flexible robot arm to grasp foreign objects in the area above the core support plate 12. If the target foreign object is located below the core support plate 12, due to the longer distance between the lower grid plate 11 and the core support plate 12, the robot arm body type of the robot arm mechanism 2 is determined to be a second robot arm structure. The second robot arm structure can be a rigid robot arm plus a flexible robot arm structure to grasp foreign objects in the area below the core support plate 12. The rigid robot arm can first drive the flexible robot arm to the area below the core support plate 12, and then the flexible robot arm can grasp the foreign object in the area below the core support plate 12. Understandably, based on the control characteristics of the robotic arm mechanism 2 and the required height coverage of the reactor internals, the area of ​​the foreign matter handling device for the lower reactor internals is divided into two major regions: the area above and below the core support plate 12. The structures and inspection strategies of the robotic arm mechanism 2 are designed separately for these two regions. The approximate location of foreign matter is determined by inspecting the entire area of ​​the reactor internals using video inspection. Different robotic arm mechanisms 2 are used to capture foreign matter above and below the core support plate 12.

[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 gripper type of the corresponding gripping mechanism is determined according to the type of the foreign matter, which is in the shape of a piece, 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 an inverse kinematics solution based on the FABRIK algorithm to determine the initial motion pose of the robot mechanism 2. The FABRIK algorithm is a fast and simple iterative method for solving inverse kinematic problems. The core concept of the FABRIK algorithm is to calculate the joint positions through forward and backward iterations to reach the target position. First, the algorithm calculates the distances between the joints of the robot mechanism 2, then iterates forward and backward to gradually adjust the joint positions until the target position is reached.

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

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

[0060] S53, using the posture control motor of the manipulator mechanism 2 to drive the main body of the manipulator mechanism 2 at the target height to adjust the posture at the target height, so that the gripper of the manipulator 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 grasp 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 gripping 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 hole area of ​​the target foreign object through a crane. The number of the corresponding water 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 operation 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. The posture of the main body of the robotic arm mechanism 2 can be adjusted at the target height, so that the grasping mechanism is close to the target foreign object, completing the initial positioning of the grasping mechanism.

[0066] In step S54, under the on-site guidance of the data twin system and in conjunction 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 robotic arm mechanism 2 can be restored to its initial state by pressing a one-key recovery command key of the control system, and then the target foreign object is placed in a collection tray.

[0068] In step S5, if multiple foreign objects are available for capture in the corresponding water flow hole region of the target foreign object, steps S51 through S55 are repeated until no foreign objects are found in the corresponding water flow hole region of the target foreign object, and then step S6 is executed. It is understood that due to the limited range of capture that the capture mechanism can capture at one time, if multiple foreign objects are available for capture in the corresponding water flow hole region of the target foreign object, steps S51 through S55 are repeated until no foreign objects are found in the corresponding water flow hole region of the target foreign object, and then the capture mechanism is moved to other water flow hole regions to capture foreign objects.

[0069] Understandably, this method for handling foreign objects in the reactor's lower internals utilizes a video inspection mechanism to conduct a full-scale video inspection of the reactor's lower internals and determine whether any foreign objects are present. The position navigation mechanism's three-dimensional construction module is developed based on a realistic three-dimensional model and endowed with positional data information. Multiple water hole areas of the reactor's lower internals are numbered for ease of identification and judgment. The foreign object's location, size, and type are determined based on the full-scale image of the reactor's lower internals obtained by the video inspection mechanism. The position navigation mechanism's data processing module then determines the corresponding water hole area number for the target foreign object, the type of the robotic arm mechanism 2's body, the gripper type of the grasping mechanism, and the initial motion posture of the robotic arm mechanism 2. This method for handling foreign objects in the reactor's lower internals also utilizes a remote control mechanism to move the robotic arm mechanism 2 and to precisely grasp the target foreign object using the grasping mechanism. The invention forms a highly efficient method for inspecting the entire area of ​​the reactor's lower internals and grabbing foreign objects, without having to lift the reactor's lower internals out of the pressure vessel body, thus 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 methods 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, all of which fall within the scope of protection of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of coverage of 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, the foreign matter handling device comprising a robotic arm mechanism, a video inspection mechanism, a position navigation mechanism, a gripping mechanism, and a remote control mechanism, characterized in that: The method for processing foreign matter in the lower internal components of a reactor comprises the following steps: S1. Using a three-dimensional construction module of a position navigation mechanism to construct a three-dimensional digital model of a lower reactor internal component, numbering multiple water hole regions of the lower reactor internal component according to the three-dimensional digital model, constructing a model coordinate system for the three-dimensional digital model, and determining the coordinates of the center position of the water hole region; S2. Performing a full-area inspection of the reactor lower internals using the video inspection mechanism and acquiring a full-area image of the reactor lower internals; S3. Determining the location, size, and type of the foreign matter based on the global image of the reactor lower internals and the model coordinate system; S4. Based on the three-dimensional digital model, according to the location, size, and type of the foreign object, using the data processing module of the position navigation mechanism, determine the corresponding water hole area number installed in the robotic arm mechanism when grasping the target foreign object, the type of the robotic arm mechanism, the gripper type of the grasping mechanism, and the initial motion posture of the robotic arm mechanism; S5, positioning the robotic arm mechanism in the corresponding water flow hole area of ​​the target foreign object, and using the control system of the remote control mechanism to control the movements of the robotic arm mechanism and the grasping mechanism to grasp the target foreign object; S6. After all foreign objects in the corresponding numbered water hole regions are captured, the control system is used to control the robotic arm mechanism and the capture mechanism to capture foreign objects in other numbered water hole regions.

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 is any foreign matter based on the full-area image of the lower reactor internal components. If no foreign matter is present, the operation is terminated; if foreign matter is present, 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 into 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 or below a core support plate of a lower internal component of the reactor; if the target foreign object position is above the core support plate, the robot arm body type of the robot arm mechanism is determined to be a first robot arm structure; if the target foreign object position is below the core support plate, the robot arm body type of the robot arm mechanism is determined to be a second robot arm structure; S42, the data processing module determines the corresponding water flow hole area number of the target foreign object according to the foreign object position; S43, the data processing module determines the gripper type of the gripping mechanism according to the position, size and type of the foreign object; S44. The data processing module determines the initial motion posture of the robotic arm mechanism according to the position, size and 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 robotic arm mechanism and the grasping mechanism as a whole at the corresponding water flow hole area of ​​the target foreign object by a crane, and acquiring a real-time working image by a video acquisition module carried by the robotic 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 approaches the target foreign object; S54: In cooperation with the real-time working image acquired by the video acquisition module and the data twin system of the remote control mechanism, the control system controls the gripper of the gripping mechanism to grip the target foreign object; S55. After the target foreign object is successfully captured, 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 adsorption tools or magnetic adsorption 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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