Inspection robot for liquid leakage of underground pipe gallery of nuclear power station

Abstract

The invention discloses a nuclear power station underground pipe gallery liquid leakage inspection robot which comprises a mounting strip mounted at the top of a nuclear power station pipe gallery, a rail strip arranged at the bottom of the mounting strip and an operation driving mechanism arranged on the lower portion of the rail strip, a movable power supply mechanism is arranged at the top of the operation driving mechanism, and ultrasonic probes are arranged on the two sides of a supporting plate. An infrared camera is arranged on the supporting plate and located between the ultrasonic probes. A protection box is arranged on one side of the operation driving mechanism, a development board is arranged in the protection box, and a motion control module and a signal analysis module are arranged on the development board. The ultrasonic array feed point signal obtained by the ultrasonic probe and the thermal infrared image of the nuclear power station pipe gallery area captured by the infrared camera are synthesized and analyzed to judge whether liquid leakage exists in the nuclear power station pipe gallery area or not and analyze the liquid leakage position, so that the leakage can be detected and positioned at the initial stage of the leakage of the pipeline; and the pipeline can be conveniently overhauled in advance.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a liquid leakage inspection robot for underground pipe galleries in nuclear power plants. Background Art

[0002] The underground pipeline gallery of a nuclear power plant is mainly used to lay the sewage and water supply pipes of the nuclear power plant. Its purpose is to isolate the operating area from the pipeline and improve operational safety.

[0003] Due to long-term use, the connection points of sewage and water supply pipes are prone to leakage risks. If not handled in time, especially when the sewage in the sewage pipe contains radioactive elements, the amount of sewage leaking in the underground pipe gallery of the nuclear power plant is large, which is very detrimental to the personal safety of the later maintenance personnel. Therefore, it is necessary to set up a robot that can inspect liquid leakage in the pipe gallery area to meet actual needs. Summary of the invention

[0004] The purpose of the present invention is to provide a liquid leakage inspection robot for underground pipe gallery of a nuclear power plant to solve the problems existing in the prior art.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a liquid leakage inspection robot for an underground pipe gallery of a nuclear power plant, comprising a mounting bar mounted on the top of the pipe gallery of the nuclear power plant, a track bar arranged at the bottom of the mounting bar, and a running drive mechanism arranged at the lower part of the track bar, wherein a mobile power supply mechanism is arranged on the top of the running drive mechanism, and the mobile power supply mechanism is used to supply power to the running drive mechanism;

[0006] A support plate is provided at the bottom of the operation drive mechanism, ultrasonic probes are provided on both sides of the support plate, and an infrared camera is provided on the support plate and between the ultrasonic probes. The operation drive mechanism is used to drive the ultrasonic probe and the infrared camera to move along the extension direction of the track bar, and can also drive the ultrasonic probe and the infrared camera to rotate in various directions. The ultrasonic probe is used to emit ultrasonic waves to the pipe gallery area of ​​the nuclear power plant and receive ultrasonic array feed point signals, and the infrared camera is used to capture thermal infrared images of the pipe gallery area of ​​the nuclear power plant;

[0007] A protection box is provided on one side of the operation drive mechanism, and a development board is provided in the protection box. A motion control module and a signal analysis module are provided on the development board. The motion control module is used to control the automatic operation of the operation drive mechanism. The signal analysis module receives the ultrasonic array feed point signal obtained by the ultrasonic probe and the thermal infrared image of the nuclear power plant corridor area captured by the infrared camera, and performs synthetic simulation analysis to determine whether there is liquid leakage in the nuclear power plant corridor area.

[0008] Preferably, the mobile power supply mechanism comprises a support frame arranged at the bottom of the track bar, vertical shafts are connected to the top and bottom sides of the support frame, rollers are rotatably arranged on the vertical shafts, wheel grooves are arranged on both sides of the track bar and the rollers are slidably inserted into the wheel grooves;

[0009] Vertical plates are connected to the two sides of the top of the support frame and near the rollers, sleeves are connected to the vertical plates and plug rods are inserted into the sleeves, springs are arranged in the sleeves and both ends of the springs are elastically supported on the vertical plates and the plug rods, one end of the plug rod is connected to a sleeve cover, a conductive frame is inserted in the sleeve cover and a contact block is arranged in the conductive frame, a joint is connected to the bottom of the conductive frame and the joint is connected to the lead wire;

[0010] Sleeve strips are arranged on both sides of the track strip, and conductive strips are arranged inside the sleeve strips, and the contact blocks are pressed and contacted with the conductive strips.

[0011] Preferably, the operation driving mechanism comprises a motor 1 arranged on one side of the support frame, the rotor shaft of the motor 1 passes through the support frame and is connected to a running wheel, a damping tube is installed on the running wheel and the damping tube is pressed against the bottom of the track bar;

[0012] A driver group is arranged on one side of the support frame, a connecting frame is connected to the bottom of the support frame, a motor 2 is arranged on the bottom of the connecting frame, a rotor shaft of the motor 2 passes through the connecting frame and is connected to the support frame, a motor 3 is arranged on one side of the support frame, a rotor shaft of the motor 3 passes through the support frame and is connected to one side of the support plate.

[0013] Preferably, an antenna is provided on one side of the protection box, and the antenna is used for sending and receiving signals.

[0014] Preferably, the motion control module includes a control signal receiving module, the control signal receiving module is used to store the operation control signal and receive the temporary operation control signal, the control signal receiving module is connected to the cruise control module, the cruise control module is connected to the steering to numerical control input module 1, the steering to numerical control input module 2 and the steering to numerical control input module 3, the cruise control module is used to classify the control signal and input it to the steering to numerical control input module 1, the steering to numerical control input module 2 and the steering to numerical control input module 3 respectively;

[0015] The steering digital control input module one is used to control the operation of motor one, the steering digital control input module two is used to control the operation of motor two, and the steering digital control input module three is used to control the operation of motor three.

[0016] Preferably, the signal analysis module includes an infrared image receiving module and an ultrasonic array signal receiving module, the infrared image receiving module is used to receive in real time the thermal infrared image captured by the infrared camera, and the ultrasonic array signal receiving module is used to receive in real time the ultrasonic array feed point signal obtained by the ultrasonic probe, and perform model arrangement; the infrared image receiving module and the ultrasonic array signal receiving module are connected to a pseudo-analysis module, which is used to stack the thermal infrared image of the area and the ultrasonic array feed point signal after model arrangement based on the BIM model of the nuclear power plant corridor, and analyze the liquid leakage; the pseudo-analysis module is connected to a target point analysis module, which is used to calibrate the area when it is determined to have liquid leakage, combined with its position in the BIM model of the nuclear power plant corridor; the target point analysis module is connected to a signal output module, which is used to send out analysis information.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] In the present invention, the mobile power supply mechanism provides real-time power for the driving operation of the operation drive mechanism, and under the drive of the operation drive mechanism, the ultrasonic probe and the infrared camera are driven to move along the extension direction of the track bar, and the ultrasonic probe and the infrared camera can also be driven to rotate in various directions, so as to capture the ultrasonic array feed point signals and thermal infrared images of various areas of the nuclear power plant corridor;

[0019] Under the control of the motion control module, the operating drive mechanism can drive the liquid leakage inspection robot to move automatically according to the set cruise mode. Under the action of the signal analysis module, based on the BIM model of the nuclear power plant corridor, the ultrasonic array feed point signal obtained by the ultrasonic probe and the thermal infrared image of the nuclear power plant corridor area captured by the infrared camera are synthesized and analyzed to determine whether there is liquid leakage in the nuclear power plant corridor area and the location of the liquid leakage. The analysis results are input into the computer. Therefore, the leakage can be detected and located in the early stage of the pipeline, which is conducive to early maintenance of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view schematic diagram of the present invention;

[0021] Figure 2 for Figure 1 A partial cutaway diagram of

[0022] Figure 3 for Figure 1 A partial side view of a schematic diagram;

[0023] Figure 4 for Figure 2 A schematic diagram of the structure at a is enlarged;

[0024] Figure 5 It is a schematic diagram of the connection of each module in the motion control module of the present invention;

[0025] Figure 6 It is a schematic diagram of the connection of each module in the signal analysis module of the present invention.

[0026] In the figure: 1 mounting bar, 2 track bar, 3 support frame, 4 vertical shaft, 5 roller, 6 vertical plate, 7 sleeve, 8 spring, 9 plug rod, 10 cover, 11 conductive frame, 12 contact block, 13 connector, 14 lead, 15 sleeve, 16 conductive strip, 17 damping tube, 18 driver group, 19 connecting frame, 20 motor two, 21 protection box, 22 development board, 23 antenna, 24 support frame, 25 motor three, 26 support plate, 27 ultrasonic probe, 28 infrared camera, 170 motor one, 171 walking wheel. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The liquid leakage inspection robot for the underground pipe gallery of a nuclear power plant comprises a mounting bar 1 fixed to the top of the pipe gallery 1 of the nuclear power plant by expansion bolts, a track bar 2 integrally arranged at the bottom of the mounting bar 1, and a running drive mechanism arranged at the bottom of the track bar 2. The lengths of the mounting bar 1 and the track bar 2 can be set according to the extension length of the pipe gallery of the nuclear power plant. The end connections of the adjacent mounting bars 1 and the track bar 2 are connected by fusion welding and polishing. A mobile power supply mechanism is arranged on the top of the running drive mechanism, and the mobile power supply mechanism is used to supply power to the running drive mechanism;

[0029] A support plate 26 is installed at the bottom of the operation drive mechanism, and ultrasonic probes 27 are embedded and fixed on the left and right sides of the support plate 26. An infrared camera 28 is screwed on the support plate 26 and located between the ultrasonic probes 27. The operation drive mechanism is used to drive the ultrasonic probe 27 and the infrared camera 28 to move along the extension direction of the track bar 2, and can also drive the ultrasonic probe 27 and the infrared camera 28 to rotate in all directions. The ultrasonic probe 27 is used to send ultrasonic waves to the pipe gallery area of ​​the nuclear power plant and receive ultrasonic array feed point signals. The infrared camera 28 is used to capture thermal infrared images of the pipe gallery area of ​​the nuclear power plant;

[0030] A protection box 21 is installed on the right side of the operating drive mechanism. The development board 22 is fixed in the protection box 21 with insulating pad screws. A motion control module and a signal analysis module are set on the development board 22. The motion control module is used to control the automatic operation of the operating drive mechanism. The signal analysis module receives the ultrasonic array feed point signal obtained by the ultrasonic probe 27 and the thermal infrared image of the nuclear power plant corridor area captured by the infrared camera 28, and performs synthetic simulation analysis to determine whether there is liquid leakage in the nuclear power plant corridor area.

[0031] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The mobile power supply mechanism includes a support frame 3 installed at the bottom of the track bar 2, and vertical shafts 4 are bolted on the left and right sides of the top of the support frame 3. The vertical shaft 4 is inserted into the bearing with interference fit, and the bearing is inserted into the bearing groove at the center of the roller 5 with interference fit. The left and right sides of the track bar 2 are provided with wheel grooves, and the roller 5 is slidably inserted into the wheel grooves;

[0032] With such a configuration, the support frame 3 and its upper connecting member can move smoothly and stably along the extension direction of the track bar 2 .

[0033] A vertical plate 6 is fixed with bolts on both sides of the top of the support frame 3 and close to the roller 5. A sleeve 7 is integrally provided on the vertical plate 6 and a plug rod 9 is slidably inserted in the sleeve 7. The matching cross-section of the sleeve 7 and the plug rod 9 is square. The sleeve 7 cannot rotate in the plug rod 9. A spring 8 is inserted in the sleeve 7. The spring 8 is a compression-rebound type. In the natural state, the spring 8 is in a compressed state. Both ends of the spring 8 are elastically supported on the vertical plate 6 and the plug rod 9. A cover 10 is integrally provided at one end of the plug rod 9. The vertical plate 6, the sleeve 7, the plug rod 9 and the cover 10 are made of ABS plastic injection molding. A conductive frame 11 is slidably inserted in the cover 10, and the conductive frame 11 is fixed to the cover 10 with screws. The conductive frame 11 is made of copper. A contact block 12 is embedded in the conductive frame 11. The contact block 12 is a composite impregnated carbon slider with good wear resistance, lubricity and conductivity. A connector 13 is integrally connected to the bottom of the conductive frame 11 , and the connector 13 is crimped to a lead wire 14 , while the other end of the lead wire 14 is connected to a main power supply access terminal of the driver group 18 .

[0034] The left and right sides of the track bar 2 are fixed with sleeve strips 15 made of ABS plastic. The sleeve strips 15 are fixed with lateral screws with conductive strips 16 made of conductive wear-resistant fiberboard. The contact block 12 presses and contacts the conductive strips 16 .

[0035] The contact block 12 is kept in contact with the conductive strip 16 by the elastic support of the spring 8, so that when the moving conditions are met, power is provided for the operation of the driving mechanism. Secondly, under such a setting, it is also convenient to replace the conductive frame 11, the contact block 12 and the conductive strip 16 under long-term operation consumption.

[0036] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The operation driving mechanism includes a motor 170 fixed by bolts on the right side of the support frame 3. The motor 170 is a stepping motor. The rotor shaft of the motor 170 passes through the support frame 3 and is connected to the right end center position of the running wheel 171 by an interference key. The running wheel 171 is bonded with a damping tube 17 by resin glue. The material of the damping tube 17 is chloroprene rubber. The damping tube 17 is pressed and contacted with the bottom of the track bar 2.

[0037] When the motor 170 is running, it drives the running wheel 171 to rotate, thereby driving the support frame 3 and its upper connecting member to move along the extension direction of the track bar 2.

[0038] A driver group 18 is fixed to the left side of the support frame 3 by bolts. The driver group 18 consists of three drivers, and the power control output ends of the three drivers are respectively connected to the power controlled ends of motor one 170, motor two 20 and motor three 25 through cables. A connecting frame 19 is fixed to the bottom of the support frame 3 by bolts. Motor two 20 is fixed to the bottom of the connecting frame 19 by bolts. Motor two 20 is a stepping motor. The rotor shaft of motor two 20 passes through the connecting frame 19 and is flange-connected to the support frame 24. Motor three 25 is fixed to the right side of the support frame 24 by bolts. The rotor shaft of motor three 25 passes through the support frame 24 and is flange-connected to the right side of the support plate 26.

[0039] Under such a setting, motor 2 20 can drive the infrared camera 28 and the ultrasonic probe 27 to turn laterally, while motor 3 25 can drive the infrared camera 28 and the ultrasonic probe 27 to turn longitudinally, thereby realizing the capture of infrared images and ultrasonic array feed points at various sides of the nuclear power plant corridor.

[0040] See also Figure 1 , Figure 2 and Figure 3 The right side of the protection box 21 is bolted with an antenna 23, which is a transceiver antenna. It is interconnected with an antenna installed outside the monitoring room. The transceiver access end of the antenna in the monitoring room is connected to the computer in the monitoring room through a signal line to achieve wireless interconnection. The antenna 23 is used to send and receive signals.

[0041] See also Figure 5The motion control module includes a control signal receiving module, which is used to store the operation control signal and receive the temporary operation control signal. The signal access pin of the control signal receiving module is connected to the signal output end of the antenna 23 through a signal line, and is used to receive the steering speed control signal input by the external computer, and keep sending the original steering speed control signal to the cruise control module without changing the steering speed control signal. The control signal receiving module is connected to the cruise control module, and the cruise control module is connected to the steering speed control input module 1, the steering speed control input module 2 and the steering speed control input module 3. The cruise control module is used to classify the control signal and input it to the steering speed control input module 1, the steering speed control input module 2 and the steering speed control input module 3 respectively;

[0042] The signal output pins of the steering to numerical control input module 1, the steering to numerical control input module 2 and the steering to numerical control input module 3 are respectively connected to the signal access terminals of each driver in the driver group 18 through signal lines.

[0043] The steering CNC input module 1 is used to control the operation of the motor 1 170 , the steering CNC input module 2 is used to control the operation of the motor 2 20 , and the steering CNC input module 3 is used to control the operation of the motor 3 25 .

[0044] Therefore, by programming different control methods into the computer, the liquid leakage robot can perform inspection actions in different ways, and the control method must be able to effectively cover the pipelines in the nuclear power plant corridor.

[0045] See also Figure 6 The signal analysis module includes an infrared image receiving module and an ultrasonic array signal receiving module. The infrared image receiving module is used to receive the thermal infrared image captured by the infrared camera 28 in real time; the ultrasonic array signal receiving module is used to receive the ultrasonic array feed point signal obtained by the ultrasonic probe 27 in real time and arrange the model. Under such a setting, it is more conducive to spreading on the BIM model of the nuclear power plant corridor; the infrared image receiving module and the ultrasonic array signal receiving module are connected to the quasi-analysis module, which is used to stack the thermal infrared image of the area and the ultrasonic array feed point signal after the model arrangement based on the BIM model of the nuclear power plant corridor to analyze the liquid leakage; the quasi-analysis module is connected to the target point analysis module, which is used to calibrate the area when it is determined to have liquid leakage, combined with its position in the BIM model of the nuclear power plant corridor; the target point analysis module is connected to the signal output module, the signal output pin of the signal output module is connected to the signal input end of the antenna 23 through a signal line, and the signal output module is used to send analysis information.

[0046] It is worth noting that during the analysis of the thermal infrared image by the quasi-analysis module, the original regional thermal infrared image will be compared with the currently collected regional thermal infrared image in memory, and the pixel difference value will be extracted, which is conducive to the calculation of the regional change temperature of the pixel corresponding temperature map. The calculation is performed at intervals of 0.1S, and the interval change temperature threshold is 6°C. If the threshold is exceeded, it is determined that there is a liquid leakage. At this time, the ultrasonic array feed point signal superimposed on the regional model arrangement where the pixel difference occurs is identified as a focus. Since the water covering the leakage point will weaken the ultrasonic feed point signal, the strength change of the key ultrasonic feed point signal is analyzed, and the area where the strength change occurs is marked.

[0047] The working principle of this embodiment is as follows: the mobile power supply mechanism provides real-time power supply for the driving operation of the operation drive mechanism, and under the drive of the operation drive mechanism, the ultrasonic probe 27 and the infrared camera 28 are driven to move along the extension direction of the track bar 2, and the ultrasonic probe 27 and the infrared camera 28 can also be driven to rotate in various directions, so as to capture the ultrasonic array feed point signals and thermal infrared images of various areas of the nuclear power plant corridor;

[0048] Under the control of the motion control module, the operating drive mechanism can drive the liquid leakage inspection robot to move automatically according to the set cruise mode. Under the action of the signal analysis module, based on the BIM model of the nuclear power plant corridor, the ultrasonic array feed point signal obtained by the ultrasonic probe 27 and the thermal infrared image of the nuclear power plant corridor area captured by the infrared camera 28 are synthesized and analyzed to determine whether there is liquid leakage in the nuclear power plant corridor area and the location of the liquid leakage, and the analysis results are input into the computer. Therefore, it can be detected and located in the early stage of pipeline leakage, which is conducive to early maintenance of the pipeline.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A liquid leakage inspection robot for underground pipe gallery in a nuclear power plant, characterized by: It comprises a mounting bar (1) mounted on the top of a nuclear power plant pipe gallery (1), a track bar (2) arranged at the bottom of the mounting bar (1), and a running drive mechanism arranged at the bottom of the track bar (2), wherein a mobile power supply mechanism is arranged on the top of the running drive mechanism, and the mobile power supply mechanism is used to supply power to the running drive mechanism; A support plate (26) is provided at the bottom of the operation drive mechanism, ultrasonic probes (27) are provided on both sides of the support plate (26), and an infrared camera (28) is provided on the support plate (26) and between the ultrasonic probes (27). The operation drive mechanism is used to drive the ultrasonic probe (27) and the infrared camera (28) to move along the extension direction of the track bar (2), and can also drive the ultrasonic probe (27) and the infrared camera (28) to rotate in various directions. The ultrasonic probe (27) is used to emit ultrasonic waves to the pipe gallery area of ​​the nuclear power plant and receive ultrasonic array feed point signals, and the infrared camera (28) is used to capture thermal infrared images of the pipe gallery area of ​​the nuclear power plant; A protection box (21) is provided on one side of the operation drive mechanism, a development board (22) is provided in the protection box (21), and a motion control module and a signal analysis module are provided on the development board (22), the motion control module is used to control the automatic operation of the operation drive mechanism, and the signal analysis module receives the ultrasonic array feed point signal obtained by the ultrasonic probe (27) and the thermal infrared image of the nuclear power plant pipe gallery area captured by the infrared camera (28), and performs synthetic simulation analysis to determine whether there is liquid leakage in the nuclear power plant pipe gallery area.

2. The nuclear power plant underground pipe gallery liquid leakage inspection robot according to claim 1, characterized in that: The mobile power supply mechanism comprises a support frame (3) arranged at the bottom of the track bar (2), vertical shafts (4) are connected to the top and bottom sides of the support frame (3), rollers (5) are rotatably arranged on the vertical shafts (4), wheel grooves are arranged on the two sides of the track bar (2) and the rollers (5) are slidably inserted into the wheel grooves; Vertical plates (6) are connected to both sides of the top of the support frame (3) and near the roller (5); sleeves (7) are connected to the vertical plates (6) and a plug rod (9) is inserted into the sleeve (7); a spring (8) is arranged in the sleeve (7) and both ends of the spring (8) are elastically supported on the vertical plate (6) and the plug rod (9); one end of the plug rod (9) is connected to a sleeve cover (10); a conductive frame (11) is inserted into the sleeve cover (10) and a contact block (12) is arranged in the conductive frame (11); a connector (13) is connected to the bottom of the conductive frame (11) and the connector (13) is connected to a lead wire (14); Cover strips (15) are arranged on both sides of the track strip (2), and conductive strips (16) are arranged inside the cover strips (15), and the contact block (12) is pressed against and contacts the conductive strips (16).

3. The nuclear power plant underground pipe gallery liquid leakage inspection robot according to claim 2, characterized in that: The operation drive mechanism comprises a motor 1 (170) arranged on one side of the support frame (3); a rotor shaft of the motor 1 (170) passes through the support frame (3) and is connected to a running wheel (171); a damping tube (17) is installed on the running wheel (171), and the damping tube (17) is pressed against the bottom of the track bar (2); A driver group (18) is arranged on one side of the support frame (3); a connecting frame (19) is connected to the bottom of the support frame (3); a second motor (20) is arranged on the bottom of the connecting frame (19); a rotor shaft of the second motor (20) passes through the connecting frame (19) and is connected to a support frame (24); a third motor (25) is arranged on one side of the support frame (24); a rotor shaft of the third motor (25) passes through the support frame (24) and is connected to one side of a support plate (26).

4. The liquid leakage inspection robot for underground pipe gallery of a nuclear power plant according to claim 3 is characterized by: An antenna (23) is provided on one side of the protection box (21), and the antenna (23) is used for sending and receiving signals.

5. The liquid leakage inspection robot for underground pipe gallery of a nuclear power plant according to claim 4 is characterized by: The motion control module includes a control signal receiving module, the control signal receiving module is used to store the operation control signal and receive the temporary operation control signal, the control signal receiving module is connected to the cruise control module, the cruise control module is connected to the steering to numerical control input module 1, the steering to numerical control input module 2 and the steering to numerical control input module 3, the cruise control module is used to classify the control signal and input it to the steering to numerical control input module 1, the steering to numerical control input module 2 and the steering to numerical control input module 3 respectively; The steering digital control input module one is used to control the operation of motor one (170), the steering digital control input module two is used to control the operation of motor two (20), and the steering digital control input module three is used to control the operation of motor three (25).

6. The liquid leakage inspection robot for underground pipe gallery of a nuclear power plant according to claim 5, characterized in that: The signal analysis module comprises an infrared image receiving module and an ultrasonic array signal receiving module, wherein the infrared image receiving module is used to receive in real time a thermal infrared image captured in real time by an infrared camera (28), and the ultrasonic array signal receiving module is used to receive in real time an ultrasonic array feed point signal obtained by an ultrasonic probe (27) and perform model arrangement; the infrared image receiving module and the ultrasonic array signal receiving module are connected to a pseudo-analysis module, wherein the pseudo-analysis module is used to stack the thermal infrared image of the region and the ultrasonic array feed point signal after model arrangement based on the BIM model of the nuclear power plant corridor, and analyze the liquid leakage situation; the pseudo-analysis module is connected to a target point analysis module, wherein the target point analysis module is used to calibrate the region when it is determined that there is a liquid leakage situation, in combination with the position where the region appears in the BIM model of the nuclear power plant corridor; The target point analysis module is connected to a signal output module, and the signal output module is used to send out analysis information.

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