9912 results about "Foreign matter" patented technology

The invention discloses a substation autonomous inspection and foreign matter cleaning cooperative control system and method, and belongs to the technical field of intelligent inspection and foreign matter cleaning. The system comprises a multi-modal detection module used for acquiring images, point clouds and multi-source sensing data and identifying foreign matter coordinates and visual features; the space positioning module is used for executing space registration to obtain a three-dimensional coordinate of the foreign body; the risk decision module fuses the multi-dimensional information and evaluates the foreign matter risk level; the cleaning execution module generates a cleaning path and execution parameters and issues the cleaning path and the execution parameters; and the inspection execution module plans inspection paths and actions based on the state and constraint conditions, and completes subsequent equipment inspection tasks. According to the scheme, the system realizes clear division of labor and accurate control in multiple stages of foreign matter identification, space positioning, risk assessment, cleaning instruction generation, polling after cleaning and the like, and the expansibility and the overall response efficiency of the system are improved, so that efficient, safe and stable execution of autonomous polling and foreign matter cleaning tasks of the transformer substation is guaranteed.

A snakelike robot for internal inspection of small pipelines comprises a head machine body and a tail machine body which are connected through a cross universal joint. Three groups of crawling driving mechanisms are uniformly distributed and fixedly mounted on each of the head machine body and the tail machine body; a supporting shaft is fixedly installed at the front end of the head machine body, a rolling brush mechanism is rotationally installed on the supporting shaft, and a rolling brush driving mechanism is fixedly installed on one side of the supporting shaft. A sealed cabin is fixedly installed at the top end of a supporting shaft on the head machine body, and a camera assembly is fixedly installed in the sealed cabin. A cleaning mechanism for the sealed cabin is detachably and fixedly mounted on the rolling brush mechanism of the head machine body, and the cleaning mechanism is in rotating contact with the sealed cabin; according to the utility model, the problem that the camera assembly is blocked by foreign matters such as chippings in the pipeline is effectively avoided, and the shooting detection sight of the camera assembly is ensured; meanwhile, through the arrangement of the rolling brush mechanism, cleaning of the inner wall of the pipeline in the advancing process is achieved, and smooth crawling of the robot is guaranteed.

The invention relates to the technical field of filling automation control, in particular to a full-automatic essential balm filling control system based on PLC online monitoring, which comprises a filling parameter real-time acquisition module, a dynamic coupling analysis module, a multi-axis cooperative execution module, a foreign matter real-time detection module, an interlocking control module and a filling quality feedback module. Wherein the filling parameter real-time acquisition module is used for acquiring temperature data of a filling head, a liquid viscosity value and the flow velocity of a filling pipeline in real time; and the dynamic coupling analysis module is used for establishing a correlation model of the temperature gradient and the viscosity change rate and generating a dynamic compensation parameter set. According to the method, the nonlinear correlation model of the temperature and the viscosity change rate is constructed, and the dynamic compensation parameter set is generated, so that self-adaptive precise control in the filling process and automatic response linkage of abnormal working conditions are realized, and the stability and the intelligent level of a filling system are remarkably improved.

The utility model provides a cleaning device. The cleaning equipment comprises a machine body, an arm bin is formed in the machine body, and a bin opening is formed in the arm bin; the mechanical arm is connected with the machine main body through the connecting structure and can extend out of or be stored in the arm bin through the bin opening; the touch assembly is arranged on the machine body and located on the peripheral side of the bin opening, and the touch assembly is configured to receive mechanical stress to send signals. Therefore, a human hand or a foreign matter near the bin opening makes contact with or collides with the touch assembly, the touch assembly is subjected to mechanical stress to send a signal, the mechanical arm makes corresponding actions according to the signal, for example, the mechanical arm stops moving, the problem that the human hand or the foreign matter is clamped at the bin opening in the moving process of the mechanical arm can be solved, and the use safety of the mechanical arm can be improved. And the use satisfaction degree of the user is improved.

The invention relates to the technical field of industrial robot control, and particularly discloses an intelligent foreign matter sorting robot control system based on AI recognition, which comprises a dynamic spatial feature extraction module, a manipulator motion state coding module, a collaborative conflict detection module, a dynamic trajectory optimization module and an execution control adjustment module, constructing a three-dimensional dynamic space model through multi-sensor fusion, and extracting spatial topological features by utilizing continuous coherence analysis; manipulator motion parameters are converted into topological space representation, and a track feature coding matrix is established; detecting interaction conflicts among the manipulators in real time by adopting a multi-scale coherence analysis method, and generating graded early warning signals; a collision avoidance track is optimized based on topological constraints and a virtual rejection field technology; precise execution is achieved through inverse kinematics of the Lie group theory and self-adaptive control.

According to the floating slab ballast bed sealing strip defect detection method and system based on the multi-modal data, efficient and accurate detection of floating slab ballast bed sealing strip defects is achieved through a multi-modal data fusion technology. The system integrates a linear array camera, an acceleration sensor, a pressure sensor and a controllable vibration source, a multi-dimensional data acquisition system is constructed, and the limitation of a single detection means is effectively overcome. Through collaborative analysis of image data and vibration and pressure data, the accuracy and robustness of defect recognition are remarkably improved. According to the defect evaluation model based on the CNN-LSTM hybrid architecture, implicit features in multi-modal data can be deeply mined, and the defect confidence is accurately quantified. Meanwhile, by combining the preset characteristic parameter threshold value and the classification model, intelligent classification of the deformation defect and the foreign matter defect is realized, and a clear basis is provided for subsequent maintenance.

A refrigerator may include a main body forming a storeroom; a thermoelectric element including a heater and a cooler, the cooler configured to cool air inside the storeroom; a fan configured to operate to bring air from outside the main body to the heater to be heated by the heater and exhaust the heated air to outside the main body; a filter configured to filter foreign materials from the air brought from outside the main body to the heater by operation of the fan; and a controller configured to notify that the filter is clogged in response to a rotation speed of the fan being higher than a reference rotation speed.

The invention relates to the technical field of track foreign matter real-time detection, and particularly discloses a track foreign matter real-time detection method based on YOLOv5 improvement. Comprising the steps of video vibration synchronous acquisition, space offset compensation parameter generation, dynamic feature enhancement processing, feature weight thermodynamic diagram generation, hierarchical perception feature aggregation, cross-scale target verification, foreign matter positioning instruction packaging and multistage early warning execution control. Image distortion caused by mechanical vibration and illumination fluctuation is effectively overcome by synchronously acquiring track video and vibration time sequence signals, constructing a spatial offset compensation parameter set and combining with a dynamic feature enhancement template to correct video frames, a feature weight thermodynamic diagram is generated through visual saliency detection, features are aggregated through a layered perception model, and the visual saliency detection accuracy is improved. Early warning levels are dynamically matched according to the sizes and the positions of the foreign matters, and a sound-light alarm and braking system is linked; according to the invention, the reliability of data transmission is ensured, the operation and maintenance cost is greatly reduced, and the safety requirement of millisecond response of modern rail transit is met.

The utility model discloses a bridge pile foundation protection device which comprises a protection pile foundation clamping plate, a buffering protection plate, a flow guide plate, a flow guide plate driving structure, an anti-collision buffering assembly and an anti-collision buffering balance assembly. The protective pile foundation clamping plate is detachably arranged on the side wall of a pile foundation and fixed to the pile foundation through a fastening assembly. Buffering protection plates are circumferentially distributed on the outer sides of the protection pile foundation clamping plates and used for bearing impact force of foreign objects. An anti-collision buffering assembly is arranged between the buffering protection plate and the protection pile foundation clamping plate and used for buffering and absorbing force generated when foreign matters collide with the buffering protection plate. An anti-collision buffering balance assembly is arranged on the periphery of the anti-collision buffering assembly and used for balancing the buffering protection plate; and a flow guide plate is movably arranged on the buffer protection plate, is unfolded under the action of a flow guide plate driving structure and is used for guiding and dividing flood flow. The river-crossing bridge pile foundation structure solves the problem that a river-crossing bridge pile foundation can be damaged under the impact effect of flood flow.

The invention relates to the technical field of wireless charging, and provides a foreign matter detection method and system for a wireless charging system and a storage medium. The method comprises the following steps: firstly, calibrating at multiple temperature points and establishing a temperature-parameter comparison table under the condition of no foreign matters; in a no-load standby state, the inversion module sends out detection drive and collects voltage, current and temperature; calculating a real-time quality factor and resonant frequency according to sampling, obtaining a compensation reference according to a temperature look-up table, and solving the variation of the quality factor and the resonant frequency; and performing fusion judgment by adopting dual-condition locking or weighted scoring, and triggering fault protection when a foreign matter is confirmed. Due to the fact that equivalent inductance and resistance changes are caused by metal foreign matters, quality factors are remarkably reduced along with resonant frequency deviation, temperature excursion and foreign matter effects are distinguished through temperature compensation, and dual-condition locking or weighted scoring fusion judgment is combined, the interference immunity and accuracy of detection are improved, false alarms and missing alarms are remarkably reduced, and the detection accuracy is improved. The method is suitable for high-power wireless charging scenes.

The present disclosure provides an inspection device including a conveyance mechanism; a radiation source; a detector; a movement mechanism; and a determination means. The present disclosure also proposes using the device to inspect foreign matter in the sample.

Disclosed is an air cleaner. The air cleaner includes a case including a suction port disposed on a peripheral surface of the case, an air cleaning module including a blower fan disposed in the case and a filter configured to remove foreign matter from air introduced through the suction port, and a booster module disposed above the air cleaning module. The booster module including a head cover, a discharge port disposed inside the head cover, the discharge port including a ring-shaped inner grille having a central cavity, a display panel disposed in front of the inner grille, a front drive part connected to the display panel through the central cavity of the inner grille, and a first motor configured to move the display panel in a first direction.

The invention discloses a forming method of a large-size special-shaped glass bottle, and relates to the technical field of glass bottle production, and the forming method comprises the following steps: S1, dropping a molten glass bottle dropping material into an initial mold, introducing compressed air into the initial mold by a choke plug, and filling the initial mold with the dropping material to form a bottle body prototype and a bottleneck prototype; through the designed blowing mechanism, the inner wall is blown through a blowing and suction nozzle in a first arc-shaped pipe on an arc-shaped plate in use, so that impurities and dust on the inner walls of a fixed mold and a rotating mold in a forming mold can be blown and cleaned; and meanwhile, blowing and suction nozzles on a second arc-shaped pipe suck and discharge impurities and dust drifting away after blowing to complete purification, so that different suction and suction nozzles can achieve the air suction function to suck away the impurities and can also conduct air blowing operation to blow out foreign matter in the forming mold, and the forming mold is more convenient to use. And the forming mold and a glass bottle finished product in the forming mold can be cooled.

This washing machine comprises: a housing; a tub within the housing; a detergent supplier connected to the tub; and a water supply guide to guide water to the detergent supplier. The detergent supplier comprises: a drawer to accommodate a detergent; a filter detachably installed to the drawer; and a drawer case to accommodate the drawer. The drawer case comprises a washing hole through which a part of water supplied to the drawer case is guided to the filter and which is to supply the water to the outer side of the filter opposite to the inner side of the filter where foreign matter is collected.

The invention provides an all-steel tire tread pattern, and relates to the technical field of tire production. The tire tread is sequentially divided into a first tire shoulder, a first pattern block, a central pattern block, a second pattern block and a second tire shoulder by the four longitudinally formed pattern grooves along a first direction; a plurality of transverse grooves are longitudinally distributed in the surfaces of the first pattern blocks, the central pattern blocks and the second pattern blocks, and frosted lines are further arranged on the sides, tightly attached to the transverse grooves, of the first pattern blocks and the second pattern blocks; the pattern grooves extend to the groove bottoms in a wavy shape, the groove wall angles alpha of the tops of the pattern grooves range from 10 degrees to 15 degrees, and the groove wall angles beta of the groove bottoms of the pattern grooves range from 20 degrees to 25 degrees. The problems that in the prior art, an all-steel tire pattern cannot enhance the road holding force, and foreign matter such as pebbles is often clamped into a tire tread are solved, and the technical effects that the performance of an all-steel tire under various road surface conditions is improved, and the stability and safety of a vehicle during high-speed running are improved are achieved.

The invention belongs to the technical field of metal stamping, and particularly relates to light-weight new energy automobile part stamping forming equipment which comprises a base and supporting plates arranged on the left side and the right side of the upper side wall of the base, the upper ends of the two supporting plates are fixedly connected with the same top plate, and the right side wall of the supporting plate located on the right side is fixedly connected with a PLC. And the upper side wall of the top plate is fixedly connected with a hydraulic cylinder. After the punch forming equipment punches the light-weight new energy automobile parts, when it is found that indentations, protrusions or scratches are formed on the surfaces of the formed parts due to the fact that foreign matter is attached to the inner wall of the lower die base, the inner wall of the lower die base can be automatically cleaned, the foreign matter is made to be separated from the lower die base, and the problem that the foreign matter affects the forming quality of the automobile parts is solved.

The invention discloses an automatic braised chicken packaging and detecting method based on machine vision, and belongs to the field of food processing automation and quality detection. The method comprises the steps of obtaining packaging environment parameters to generate compensation parameters; adjusting the imaging unit based on the compensation parameter to generate optimized imaging data; performing multispectral feature extraction on the optimized imaging data to generate a defect map; analyzing product forms and foreign matters based on the atlas and a preset database, and generating a judgment result and a confirmation mark; and fusing the judgment result and the confirmation mark to generate a comprehensive diagnosis instruction. According to the method, technologies such as environmental parameter compensation imaging, multispectral characteristic analysis, biomechanical form matching and thermophysical foreign matter confirmation are adopted, the quality problems in multiple aspects such as package sealing, content form and tiny foreign matter can be comprehensively detected, and the accuracy, reliability and anti-jamming capability of automatic package detection in a complex production environment are remarkably improved.

A fermentation device, comprising a fermentation device body (1) and a blower (2), wherein the blower (2) is embedded in the top of the front face of the fermentation device body; a filter box (3) is fixedly connected to the top of the front face of the fermentation device body (1); a filter plate (4) is provided on the front face of the filter box (3); the surface of the filter plate (4) has a sealing assembly (5) sleeved thereon; and a pressing plate (6) is provided on the front face of the filter box (3). By means of the provision of the filter box (3) and the filter plate (4), when a user uses the blower (2) to draw oxygen from the outside air into the fermentation device body (1), the filter plate (4) can be used to filter out foreign matter such as dust present in the air, preventing the foreign matter such as dust from entering inside the fermentation device body (1), thereby solving the problem of dust and the other impurities in the air easily entering inside the fermentation device and subsequently affecting fermentation quality due to the lack of a filter structure for intake air when using the blower (2) to draw oxygen from the air into the fermentation device, achieving the effect of facilitating filtration.

The invention relates to the technical field of water level monitoring of water conservancy, and discloses water level monitoring equipment for surveying and mapping of water conservancy, which comprises a vertical rod, a control box, a solar panel, a camera and a mounting frame are detachably mounted on the vertical rod, and an equipment box is arranged at the top of the mounting frame. During use, the water level can be monitored in real time through cooperation of the water level sensor and the floater, after long-time use, the lifting frame is driven by the lifting mechanism to move downwards, and the inner wall of the measuring cylinder is cleaned through the inner wall cleaning mechanism in the downward movement process of the lifting frame; and when the lifting frame descends to a set position, the balance hole can be dredged through the hole cleaning mechanism, and when the lifting frame moves downwards to the bottom end of the measuring cylinder, the foreign matter is discharged through the action of water flow, so that the foreign matter is prevented from being left in the measuring cylinder.

A wireless power transmitting device according to an embodiment of the present specification transmits wireless power to a wireless power receiving device, and includes a power conversion circuit including a primary coil for transmitting the wireless power to the wireless power receiving device and a communication / control circuit for communicating with the wireless power receiving device and controlling the power conversion circuit, wherein, to detect foreign substances between the wireless power receiving device and the wireless power transmitting device, the communication / control circuit stops the transmission of the wireless power for a slot time, detects the foreign substances on the basis of a change in the voltage or current of the primary coil within the slot time, and sets the slot time to start from a point in time when the current of the primary coil is 0.

The invention relates to a belt foreign matter detection and sorting method based on deep learning. The method comprises the steps that a belt detection image is acquired; inputting the belt detection image into a pre-training model, and obtaining a foreign matter detection result output by the pre-training model; the foreign matter detection result is transmitted to mechanical arm control equipment, the control equipment plans and solves according to the real-time position and state of the mechanical arm, and the optimal track path of the mechanical arm is obtained; and the mechanical arm is driven to sort the foreign matter along the optimal track path, and a grabbing tool is selected based on the foreign matter category. According to the method, a deep learning target detection model is adopted, the reliability of foreign matter recognition is remarkably improved, and particularly, the method has better performance in light change and high-dust environments. Through intelligent path planning and priority scheduling strategies of the mechanical arm, the sorting speed can reach 60 pieces per minute, the sorting efficiency is improved by about three times, and meanwhile stability and consistency are guaranteed. According to the system, full-automatic detection and sorting are achieved, only one person is needed to monitor system operation, and the labor cost is effectively reduced.

The invention discloses an automatic foreign matter selecting system based on cooperation of vision and a manipulator, and belongs to the technical field of automatic control. Pickled vegetable products are conveyed to the unfolding platform through the lifting buckets, and a plurality of non-overlapped pickled vegetable product areas are formed; preliminary image acquisition is carried out in the primary visual area, grid division is carried out, and foreign matter confidence is calculated; a foreign matter confidence coefficient threshold value is preset to recognize a risky foreign matter pickled vegetable product area grid, and the risky foreign matter pickled vegetable product area grid is transmitted to a primary removal area; after primary foreign matter removal is completed, the pickled vegetable products are turned over and conveyed to a secondary visual area, and the secondary visual area is used for secondarily judging whether foreign matter exists in the turned pickled vegetable products or not. An intelligent judgment mechanism of visual recognition and an accurate physical execution mechanism of the mechanical arm are fused, the stability and the automation degree of system operation are improved, and the quality safety guarantee level in the food processing process is remarkably improved.

Provided is a bathing assistance device for an infant, wherein the infant's resistance due to the strong impact noise generated when using a conventional bathing aid can be eliminated, armrests can operate smoothly, the skin of the infant can be prevented from being caught or compressed in a gap between the upper body and the armrests, by making a play means removable, the infant can replace the play means with his / her preferred safe play means or purchase only the bathing assistance device separately, foreign substances such as washing water and feces which flow into the inside of a tread can be quickly discharged, the bathing assistance device can be easily stored and dried in a bathroom, a falling accident in which the infant slips and falls on an upper portion of a lower body part can be prevented.

The invention belongs to the technical field of hydropower station monitoring and early warning, and particularly relates to a hydropower station intelligent inspection and fault early warning linkage method, which comprises the following steps: arranging a redundant sensor network at key equipment parts, synchronously acquiring pressure, flow, vibration and water turbidity data, establishing a flow-pressure loss reference relationship, and calculating real-time pressure-flow ratio deviation; performing spectral analysis on the vibration signals, extracting characteristic frequency band energy, performing collaborative study and judgment in combination with a turbidity change trend, and ensuring data credibility through data cross validation of main and auxiliary sensors; performing time sequence difference operation on the pressure-flow ratio deviation to obtain a change rate, fusing vibration-turbidity abnormal performance, and comprehensively diagnosing water diversion blockage or foreign matter invasion; early warning levels are divided according to the deviation and the change rate, corresponding response measures are triggered, response actions are executed according to a preset risk priority sequence, and linkage control of the whole process from state sensing, anomaly recognition, fault diagnosis to intelligent response is achieved.

A cleaner includes a main body and a suction head connected to the main body to suck foreign objects into the main body therethrough, the suction head including a housing including a suction port, and a drum module disposed in the housing, and to be rotated to scatter the foreign objects to be sucked through the suction port so that the scattered foreign objects are drawn into the housing through the suction port, and the drum module including a drum body, a first blade coupled to outer circumference of the drum body, a second blade separated from the first blade in a circumferential direction of the drum body and having a mass greater than a mass of the first blade, and a mass compensation member arranged on the outer circumference of the drum body to compensate for a difference in mass between the first blade and the second blade.

The invention provides a combined debridement nursing device for an operating room, and belongs to the technical field of debridement devices. Comprising a flushing handle, one end of the flushing handle is fixedly connected with a flushing assembly, the flushing assembly is used for assisting in wound cleaning, and the flushing assembly is connected with the flushing handle; and the suction assembly is used for extracting liquid and foreign matters in the wound, and the suction assembly is connected with the flushing assembly. By arranging the flushing assembly and the suction assembly, the flushing assembly and the suction assembly are arranged on the flushing gun and the suction pipe correspondingly, the flushing assembly can avoid direct contact between a flushing head and a wound surface and improve the debridement efficiency, necrotic tissue can be conveniently removed in the debridement process, and therefore the flushing head can treat the wound surface more conveniently; the suction assembly can be used in combination with the flushing gun and can be independently used, blockage can be effectively prevented, and the debridement efficiency is improved.

The invention relates to the technical field of sandwich composite materials, and particularly discloses a co-curing preparation method of a honeycomb sandwich composite material for an airplane, which comprises a lower mold, a prepreg laying layer, a honeycomb core body, an upper mold, an annular glue suction felt, a vacuum nozzle, a sealant and a vacuum bag, and further comprises the following steps: cleaning the molds by using a cleaning agent, wiping the contact surface of the mold and the sandwich plate to be dry to ensure that no obvious foreign matters exist on the surface; compared with traditional gluing forming, the upper die and the lower die are adopted for controlling the surface quality of the upper panel and the lower panel of the honeycomb sandwich composite material respectively, the technological process is simple, the production period is short, the gluing performance is better, compared with a traditional co-curing forming technology, the quality of the panel is higher, and the mechanical property of a formed component is better; the prepreg fibers can be prevented from buckling, so that the honeycomb sandwich composite material is more stable in quality and lower in rejection rate, and the preparation cost can be effectively reduced.

The invention relates to the technical field of textile finished product production, in particular to a surface detection machine for textile finished product production, which mainly comprises a workbench, a detection bin fixedly mounted on the top surface of the workbench, a color detector fixedly mounted on the top surface of the detection bin in a penetrating manner, a straightening mechanism arranged above the workbench, and a cleaning mechanism, the sweeping mechanism is arranged on one side of the detection bin and comprises a T-shaped plate located on one side of the detection bin and a blowing mechanism, and the blowing mechanism is arranged on one side of the T-shaped plate. When an arranged T-shaped plate reciprocates, an air bag is extruded through a second fixing block, air in the air bag is sprayed out of a spray head through a communicating pipe, and therefore foreign matter on the surfaces of cloth and a soft brush is blown away, so that the foreign matter is not prone to passing through the soft brush, and it is guaranteed that the foreign matter cannot shield and cover the surface of the cloth; the detection machine which directly irradiates the cloth to evaluate the color accuracy of the cloth can obtain clear and interference-free data, so that the detection accuracy is improved.

The utility model discloses a foreign matter blocking device for a water intake pump opening of a water conservancy irrigation facility, and relates to the technical field of water conservancy irrigation equipment, the foreign matter blocking device comprises a support assembly composed of a top ring plate, a plurality of outer protection rods and a bottom plate, the outer protection rods are annularly distributed, and the top ring plate and the bottom plate are symmetrically fixed at the upper ends and the lower ends of the outer protection rods; a filtering and blocking assembly is arranged between the top ring plate and the outer protection rod. Large foreign matters and small impurities in water can be intercepted by arranging the support assembly and the filtering and blocking assembly, and meanwhile, water flow flowing out of the top end of the spiral guide pipe through the through hole and the spiral guide pipe can impact the blades, so that the blades deflect and drive the rotating shaft and the filtering cylinder to rotate; when the filter cartridge rotates, relative friction is generated between the filter cartridge and the brush, and the brush can clean the surface of the filter cartridge, so that impurities adhered to the filter cartridge fall off, and the condition that the surface of the filter cartridge is blocked due to excessive impurities adhered to the surface of the filter cartridge is avoided.

The invention discloses an in-situ global foreign matter checking and grabbing system for reactor internals on the lower portion of a reactor. The in-situ global foreign matter checking and grabbing system for the reactor internals on the lower portion of the reactor comprises a base device, an adjusting device and a foreign matter grabbing device. The foreign matter grabbing device is arranged on the base device through the adjusting device. The foreign matter grabbing device comprises a flexible arm assembly, a flexible arm driving assembly, a quick change assembly, at least one clamping jaw used for grabbing foreign matter and a video tracking and checking assembly used for searching the foreign matter and monitoring the grabbing condition. The flexible arm assembly is arranged on the adjusting device; the at least one clamping jaw is detachably arranged on the flexible arm assembly through the quick-change assembly; the video tracking and checking assembly is arranged on the adjusting device; according to the invention, the flexible arm assembly carries various types of clamping jaws to carry out automatic grabbing operation, so that the in-service nuclear power plant reactor internals can accurately, efficiently and safely grab and clean foreign matters in the in-situ interior of a pressure vessel in a whole region.