Equipment and method for remote detection of fusion reactor leakage

Abstract

The invention belongs to the technical field of nuclear fusion device leakage detection, and particularly discloses fusion reactor leakage remote detection equipment which comprises a controllable mobile platform and a leakage detection assembly. A power supply system, a wireless communication module and a navigation positioning module are arranged on the controllable mobile platform; the leak detection assembly comprises a multi-dimensional controllable mechanical arm and an equipment base arranged at the free end of the multi-dimensional controllable mechanical arm, a mounting seat is arranged at the end, away from the equipment base, of the multi-dimensional controllable mechanical arm, the bottom of the mounting seat is arranged on the controllable moving platform, an infrared data acquisition assembly is arranged at the center of the equipment base, and the infrared data acquisition assembly is connected with the equipment base through a wireless communication module. A plurality of cantilevers are uniformly distributed on the outer circumferential surface of the equipment base, and a plurality of excitation light sources are arranged on the cantilevers. The fusion reactor leakage remote detection equipment provided by the invention has the advantages of non-contact, large detection area, fast response and fast positioning. And the radiation damage of a fusion reactor operation radiation environment and tritium radiation fuel to detection personnel can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of leakage detection of nuclear fusion devices, and particularly relates to an equipment and method for remote detection of leakage of a fusion reactor. BACKGROUND

[0002] Nuclear fusion energy has the advantages of abundant resources and nearly no pollution, and the research in the field of nuclear fusion is a basic and frontier field related to long-term development. To ensure the long-term and safe operation of the Tokamak device, which is a key device for realizing the application of nuclear fusion energy, the chamber containing the plasma must be in an ultra-high vacuum environment.

[0003] However, during the manufacturing of the vacuum chamber, the installation of the window connector, and the experimental process, the vacuum chamber / connector assembly may leak due to material defects, installation deviations, or the influence of electromagnetic forces or plasma breakage during the experiment. The entry of external impurities will destroy the vacuum condition and cause the plasma quality to decrease or even break, and in severe cases, the pump set and other system components will be damaged. Therefore, it is crucial to regularly detect and maintain the vacuum chamber.

[0004] The traditional method is to use the helium mass spectrometry leak detection method. This method requires spraying helium to detect suspected leakage points when there is no discharge. This method has obvious limitations: first, the operator is exposed to radiation; second, in the complex pipeline structure environment of the fusion reactor vacuum chamber, manual positioning of the leakage point is inefficient; third, this method cannot meet the comprehensive detection needs of complex pipelines.

[0005] Looking to the future fusion reactor (especially the one using deuterium-tritium fuel), the challenge is even more severe: for future fusion reactors, deuterium-tritium operation will produce ultra-high radiation, and once a leak occurs, workers cannot enter the site immediately. If deuterium-tritium fuel leaks, not only will the environment be polluted, but also the economic loss will be immeasurable. Therefore, it is of great significance to develop online real-time remote vacuum leak detection technology for the safety problems caused by the ultra-high vacuum environment and possible vacuum leakage of future fusion reactors operating under deuterium-tritium conditions.

[0006] In summary, the existing leak detection technology has the problems of radiation exposure risk and low efficiency in finding the leakage point. SUMMARY

[0007] The present application provides an equipment for remote detection of leakage of a fusion reactor, which can solve the problems of radiation exposure risk and low efficiency in finding the leakage point in the existing leak detection technology.

[0008] In a first aspect, the present application provides an equipment for remote detection of leakage of a fusion reactor, comprising:

[0009] A controllable mobile platform is provided with a power supply system, a wireless communication module and a navigation positioning module.

[0010] A leak detection assembly includes a multi-dimensional controllable mechanical arm and a device base provided at the free end of the multi-dimensional controllable mechanical arm, an installation seat is provided at the end of the multi-dimensional controllable mechanical arm away from the device base, the bottom of the installation seat is provided on the controllable mobile platform, an infrared data acquisition assembly is provided at the central position of the device base, and a plurality of cantilevers are uniformly distributed on the outer circumferential surface of the device base, and a plurality of excitation light sources are provided on the cantilevers.

[0011] Further, the multi-dimensional controllable mechanical arm has not less than 3 rotational degrees of freedom.

[0012] Further, the infrared data acquisition assembly includes a filter and an infrared sensing camera.

[0013] Further, the bottom of the installation seat is fixed on the controllable mobile platform by screws.

[0014] Further, a driving member is further provided at the position of the cantilever on the device base, and the driving member is used to drive the rotation of the cantilever.

[0015] Further, the plurality of excitation light sources are distributed along the length direction of the cantilever.

[0016] Further, the number of the cantilevers is 6-16.

[0017] Further, the number of the cantilevers is 8.

[0018] Further, the power supply system is used to supply power for the controllable mobile platform, the wireless communication module, the navigation positioning module, the multi-dimensional controllable mechanical arm, the device base, the infrared data acquisition assembly and the excitation light source.

[0019] Further, the device for remote detection of leakage of a fusion reactor further includes a control system and a display system.

[0020] The excitation light source, the infrared data acquisition assembly, the controllable mobile platform, the multi-dimensional controllable mechanical arm, the navigation positioning module and the wireless communication module are in communication connection with the control system, the control system is used to control the switching of the excitation light source and the infrared data acquisition assembly, and control the movement of the controllable mobile platform and the multi-dimensional controllable mechanical arm.

[0021] The display system is in communication connection with the control system.

[0022] In a second aspect, the application provides a working method of the device for remote detection of leakage of a fusion reactor, which includes the following steps:

[0023] Step 1, demarcate a fan-shaped to-be-detected area in the fusion reactor device;

[0024] Step 2, position navigation through a navigation positioning module, and a control system controls a controllable moving platform to approach the to-be-detected area, so that a multi-dimensional controllable mechanical arm reaches the to-be-detected area;

[0025] Step 3, collect temperature field data and spectral feature data of the to-be-detected area through an infrared data acquisition assembly;

[0026] perform thermal imaging processing on the temperature field data, simultaneously perform spectral decoupling analysis on the spectral feature data, and optimize the processed data by using a dynamic noise elimination algorithm;

[0027] construct a neural network model based on the optimized data, and store neural network model data to a leakage database;

[0028] Step 4, transmit the constructed neural network model to the control system for leakage determination;

[0029] if it is determined that no leakage occurs, return to Step 1 to re-determine the to-be-detected area;

[0030] if it is determined that leakage occurs, execute:

[0031] output a three-dimensional coordinate of a leakage point and estimate a leakage flow rate through the control system;

[0032] synchronously display the three-dimensional coordinate of the leakage point, the leakage flow rate and a reconstructed to-be-detected area image through a visual interface of a display system;

[0033] Step 5, repeat Steps 1 to 4 until detection of all areas of the fusion reactor device is completed.

[0034] Compared with the prior art, the present application has the following advantages:

[0035] 1. The present application provides an equipment for remote detection of fusion reactor leakage, which has the advantages of non-contact, large detection area, fast response and rapid positioning.

[0036] 2、The device for fusion reactor leakage remote detection comprises a controllable moving platform and a leakage detection assembly, the leakage detection assembly comprises a multidimensional controllable mechanical arm and a device base arranged at a free end of the multidimensional controllable mechanical arm, and in addition, a plurality of cantilevers are uniformly distributed on the outer circumferential surface of the device base, and a plurality of excitation light sources are arranged on the cantilevers. The multidimensional controllable mechanical arm itself provides a high spatial degree of freedom, and can accurately position the terminal device to any position and angle of the target area; the plurality of cantilevers are uniformly distributed on the outer circumferential surface of the device base, compared with the traditional point-shaped or simple array light source, the arrangement has a significant advantage in layout, that is, the light can be more naturally and effectively distributed to the target surface, local hot spots or dark areas are reduced, and a more uniform illumination field is provided, which is crucial for obtaining reliable and consistent spectral signals. The present application optimizes the excitation light field through the innovative annular excitation light source layout, improves the signal-to-noise ratio by using the infrared data acquisition assembly, guarantees the efficiency and stability by means of the highly integrated terminal design, and most importantly, introduces the cantilever, and finally realizes the significant leap in flexible, efficient and high-quality acquisition capability of spectral signals (especially in the infrared band) in extremely wide spatial environment and target scale. This provides a powerful technical means for complex industrial online detection, precise material analysis, narrow space exploration and other application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0037] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0038] Figure 1 A structural schematic diagram of a device for fusion reactor leakage remote detection provided by the present application is shown in the figure;

[0039] Figure 2 A partial structural schematic diagram of a leakage detection assembly of a device for fusion reactor leakage remote detection provided by the present application is shown in the figure;

[0040] Figure 3 A flow chart of a working method of a device for fusion reactor leakage remote detection provided by the present application is shown in the figure.

[0041] Marked explanation: 1, filter and infrared sensing camera; 2, device base; 3, excitation light source; 4, multidimensional controllable mechanical arm; 5, wireless communication module; 6, navigation positioning module; 7, power supply system; 8, controllable moving platform; 9, leakage detection assembly; 10, control system; 11, display system; 21, cantilever; 41, mounting seat. DETAILED DESCRIPTION

[0042] The specific embodiments of the present application are described in detail below, but it should be understood that the protection scope of the present application is not limited by the specific embodiments.

[0043] As Figures 1 to 2 The application provides a device for remote detection of leakage of a fusion reactor, which comprises a controllable moving platform 8, a leakage detection assembly 9, a control system 10 and a display system 11.

[0044] The controllable moving platform 8 is provided with a power supply system 7, a wireless communication module 5 and a navigation positioning module 6.

[0045] The leakage detection assembly 9 comprises a multi-dimensional controllable mechanical arm 4 and a device base 2 arranged at a free end of the multi-dimensional controllable mechanical arm 4. An installation seat 41 is arranged at an end of the multi-dimensional controllable mechanical arm 4 away from the device base 2, and the installation seat 41 is arranged at the controllable moving platform 8. An infrared data acquisition assembly 1 is arranged at a central position of the device base 2. A plurality of cantilevers 21 are uniformly arranged on an outer circumferential surface of the device base 2, and a plurality of excitation light sources 3 are arranged on the cantilevers 21.

[0046] The device for remote detection of leakage of a fusion reactor is used for leakage detection of a fusion reactor device. In actual use, the leakage detection of the fusion reactor device can be completed by means of detection of a plurality of regions divided on the fusion reactor device one by one. Specifically, in actual detection, a region to be detected is divided on the fusion reactor device. The controllable moving platform 8 is used to move the device to a position to be detected. The multi-dimensional controllable mechanical arm 4 is used to make the device base 2 on the multi-dimensional controllable mechanical arm 4 reach the position to be detected. The plurality of cantilevers 21 on the device base 2 are unfolded, and leakage detection operation at different angles and positions of the region to be detected is realized.

[0047] The infrared data acquisition assembly 1 is arranged, and the infrared data acquisition assembly 1 comprises a filter and an infrared sensing camera. The temperature field data and the spectral characteristic data of the region to be detected can be acquired, and the data can be subjected to thermal imaging processing and spectral decoupling analysis. In cooperation with a dynamic noise elimination algorithm, a neural network model of leakage characteristics is constructed and is summarized in a database to assist subsequent comparative analysis of acquisition.

[0048] After the data acquisition of the region to be detected is completed, the data is transmitted to the control system 10 for leakage discrimination. If it is determined that no leakage occurs, the navigation positioning module 6 of the controllable moving platform 8 is controlled to move the controllable moving platform 8 to a next region to be detected. If it is determined that leakage occurs, three-dimensional coordinates of a leakage point are output, and a leakage flow is estimated. The reconstructed image of the position to be detected is displayed in a visual interface of the display system 11.

[0049] In the device for remote detection of leakage of a fusion reactor, the control system 10 can divide a region to be detected and transmit relevant instructions to the wireless communication module 5. The wireless communication module 5 transmits the instructions to the controllable moving platform 8. Meanwhile, the control system 10 can control the navigation positioning module 6 to move the controllable moving platform 8 to a specified position.

[0050] The multi-dimensional controllable mechanical arm 4 can be controlled by the control system 10 to control each joint to extend the top end of the multi-dimensional controllable mechanical arm 4 (i.e. the end on which the device base 2 is mounted) to a specified position; the infrared data acquisition assembly 1 is mounted on the device base 2, and the excitation light source 3 is mounted on the cantilever 21, and the control system 10 is used to issue instructions to expand or contract the cantilever 21 of the device base 2 to a specified state;

[0051] The excitation light source 3 cooperates with the infrared data acquisition assembly 1 to obtain real-time light-heat signals of a to-be-detected region on the fusion reactor device to construct a temperature field and spectral characteristic data, uses an algorithm to dynamically eliminate noise and construct a neural network model to analyze the temperature field or spectral data of the detection region, realizes discrimination and calculation on a leakage event. If the temperature difference does not reach a leakage threshold and no fuel gas spectrum is identified, the event is not established, at which time the navigation positioning module 6 is controlled to move the controllable moving platform 8, and the motion pose of the multi-dimensional controllable mechanical arm 4 is adjusted in real time to detect the next suspected point; if the temperature difference reaches the threshold or the fuel gas spectrum is identified, the event is established, the leakage rate is calculated, the three-dimensional coordinates of the detected leakage point are identified, and the results are sent to the display system 11 through the wireless communication module 5 to be displayed in real time on the visual interface. Through this method, dynamic visual monitoring of fuel leakage during operation of the fusion reactor is realized; the above detection steps are repeated to finally realize leakage detection on all regions of the fusion reactor device.

[0052] As shown in Figures 1 to 2 In some embodiments of the present application, the multi-dimensional controllable mechanical arm 4 has not less than 3 rotational degrees of freedom;

[0053] Based on this, the multi-dimensional controllable mechanical arm 4 can conveniently and flexibly adjust the multi-dimensional spatial pose of the device base 2 mounted on the execution end thereof. This high flexibility and controllability significantly improves the reachable range and adaptability of the end device, thereby ensuring full-coverage detection of the target region without dead angles.

[0054] As shown in Figures 1 to 2 In some embodiments of the present application, the mounting seat 41 is fixed to the controllable moving platform 8 at the bottom by screws;

[0055] The mounting seat 41 is fixed to the controllable moving platform 8 by screws, which not only provides reliable rigidity connection and connection stability, but also provides accurate positioning. In addition, this connection mode has good dismounting property and maintenance convenience.

[0056] As shown in Figures 1 to 2 In some embodiments of the present application, a driving member is further arranged on the device base 2 at a position corresponding to the cantilever 21, and the driving member is used to drive the cantilever 21 to rotate;

[0057] The outer circumferential surface of the device base 2 is uniformly distributed with a plurality of cantilevers 21, and a plurality of excitation light sources 3 are arranged on the cantilevers 21. The rotation of the cantilevers 21 is controlled by a driving member, which can flexibly and accurately adjust the spatial position and irradiation angle of the excitation light sources 3 installed on the cantilevers 21. This enables the device to adapt to different working requirements or target objects, optimizing the light coverage and efficiency, i.e., achieving dynamic adjustment of light source position and angle.

[0058] A plurality of cantilevers 21 are uniformly distributed along the outer circumferential surface of the device base 2, and a plurality of excitation light sources 3 are arranged on each cantilever 21. This distributed design, combined with the rotatability of the cantilevers 21, enables the excitation light sources 3 to form a uniform, extensive, and dynamically adjustable light irradiation area around the center of the device base 2. Users can configure the distribution density and irradiation direction of the light sources as needed to achieve a highly customized lighting scheme, i.e., providing uniform and customizable light coverage for the infrared data acquisition component 1 during data acquisition.

[0059] Through the design of the driving member, the cantilevers 21 can be controlled independently or cooperatively, greatly improving the device's ability to cope with complex scenarios. Whether it is necessary to change the irradiation mode, track moving targets, or adapt to different shapes or sizes of irradiated objects, this design provides strong flexibility and environmental adaptability, enhancing the flexibility and adaptability of the device for fusion reactor leakage remote detection.

[0060] The driving member is directly integrated into the device base 2 at the position corresponding to the cantilever 21, with a compact structure. This integrated design reduces the need for external driving mechanisms, optimizes the use of internal space, and helps to achieve miniaturization and modularization of the device, i.e., achieving space utilization and integration.

[0061] This arrangement can improve processing efficiency and effectiveness. Specifically, since the arrangement can dynamically adjust the distribution and angle of the light sources, it can ensure that the excitation light sources 3 act more efficiently and uniformly on the target area, thereby significantly improving detection efficiency, uniformity, and final results.

[0062] As shown in Figures 1 to 2 in some embodiments of the present application, a plurality of excitation light sources 3 are spaced along the length direction of the cantilever 21;

[0063] The excitation light sources 3 are equally spaced along the length direction of the cantilever 21, forming a continuous and uniform light irradiation strip on the rotation radius of the cantilever 21, eliminating the irradiation blind area. In addition, by adjusting the light source spacing or the rotation angle of the cantilever, the light irradiation density and accuracy of the target area can be flexibly controlled to adapt to different resolution requirements.

[0064] As shown in Figures 1 to 2 in some embodiments of the present application, the number of cantilevers 21 is 6-16; preferably, the number of cantilevers 21 is 8.

[0065] like Figures 1 to 2 As shown, in some embodiments of the present invention, the power supply system 7 is used to supply power to the controllable mobile platform 8, the wireless communication module 5, the navigation and positioning module 6, the multi-dimensional controllable robotic arm 4, the equipment base 2, the infrared data acquisition component 1, and the excitation light source 3.

[0066] That is, the power system 7 can be used to power the above-mentioned components as the energy source for the device used for remote detection of fusion reactor leaks.

[0067] like Figures 1 to 2 As shown, in some embodiments of the present invention, the excitation light source 3, the infrared data acquisition component 1, the controllable mobile platform 8, the multi-dimensional controllable robotic arm 4, the navigation and positioning module 6, and the wireless communication module 5 are all connected to the control system 10. The control system 10 is used to control the switching of the excitation light source 3 and the infrared data acquisition component 1, and to control the movement of the controllable mobile platform 8 and the multi-dimensional controllable robotic arm 4.

[0068] The display system 11 is communicatively connected to the control system 10;

[0069] That is, the control system 10 is the command center of the device for remote detection of fusion reactor leaks. It receives information from the infrared data acquisition component 1, the navigation and positioning module 6 and the wireless communication module 5, and sends instructions to the controllable mobile platform 8 and the multi-dimensional controllable robotic arm 4. In addition, the control system 10 can also directly control the on / off state of the excitation light source 3 and the infrared data acquisition component 1.

[0070] The display system, as a human-machine interface, communicates with the control system 10 to display system status, data, or receive operator instructions.

[0071] like Figure 3 As shown, the present invention also provides a method for operating a device for remote detection of fusion reactor leaks. This method uses a device for remote detection of fusion reactor leaks provided in an embodiment of the first aspect of the present invention, and includes the following steps:

[0072] Step 1: Define a sector-shaped area to be tested within the fusion reactor device;

[0073] Step 2: Navigate and position the robot using the navigation module 6, and control the control system 10 to control the controllable mobile platform 8 to approach the area to be tested, so that the multi-dimensional controllable robotic arm 4 can reach the area to be tested.

[0074] Step 3: Collect temperature field data and spectral characteristic data of the area to be measured using infrared data acquisition component 1;

[0075] The temperature field data is processed by thermal imaging, the spectral characteristic data is analyzed by spectral decoupling, and the processed data is optimized by a dynamic noise elimination algorithm;

[0076] A neural network model is constructed based on the optimized data, and the neural network model data is stored in a leakage database;

[0077] Step 4: The constructed neural network model is transmitted to the control system 10 for leakage determination;

[0078] If it is determined that no leakage occurs, return to step 1 to re-determine the to-be-measured region;

[0079] If it is determined that leakage occurs, the following is performed:

[0080] The three-dimensional coordinates of the leakage point are output by the control system 10, and the leakage flow is estimated;

[0081] The three-dimensional coordinates of the leakage point, the leakage flow, and the reconstructed to-be-measured region image are synchronously displayed through the visualization interface of the display system 11, and a report is generated;

[0082] Step 5: Steps 1 to 4 are repeated until the detection of all regions of the fusion reactor device is completed.

[0083] The above disclosure is only a few specific embodiments of the present application, but the embodiments of the present application are not limited thereto, and any changes that can be thought of by those skilled in the art shall fall within the protection scope of the present application.

[0084] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product is used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation and cannot be understood as indicating or implying relative importance. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0085] In the description of the application, unless otherwise clearly specified and limited, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Under", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0086] In the description of the application, it also needs to be explained that, unless otherwise clearly specified and limited, the terms "provided", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

Claims

1. A device for remote detection of leaks in fusion reactors, characterized in that, include: A controllable mobile platform (8) is provided with a power system (7), a wireless communication module (5) and a navigation and positioning module (6); Leak detection component (9), the leak detection component (9) includes a multi-dimensional controllable robotic arm (4) and a device base (2) located at the free end of the multi-dimensional controllable robotic arm (4). A mounting base (41) is provided at one end of the multi-dimensional controllable robotic arm (4) away from the device base (2). The bottom of the mounting base (41) is located on a controllable mobile platform (8). An infrared data acquisition component (1) is provided at the center of the device base (2). Several cantilever arms (21) are evenly distributed on the outer circumferential surface of the device base (2). Several excitation light sources (3) are provided on the cantilever arms (21).

2. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, The multidimensional controllable robotic arm (4) has no less than 3 rotational degrees of freedom.

3. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, The infrared data acquisition component (1) includes a filter and an infrared sensor camera.

4. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, The mounting base (41) is fixed to the controllable mobile platform (8) with screws at the bottom.

5. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, The device base (2) is also provided with a driving component at the position corresponding to the cantilever (21), and the driving component is used to drive the cantilever (21) to rotate.

6. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, Several excitation light sources (3) are spaced apart along the length of the cantilever (21).

7. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, The number of cantilever (21) is 6-16.

8. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, The power system (7) is used to supply power to the controllable mobile platform (8), wireless communication module (5), navigation and positioning module (6), multi-dimensional controllable robotic arm (4), equipment base (2), infrared data acquisition component (1) and excitation light source (3).

9. The device for remote detection of fusion reactor leaks according to claim 1, characterized in that, It also includes a control system (10) and a display system (11); The excitation light source (3), infrared data acquisition component (1), controllable mobile platform (8), multidimensional controllable robotic arm (4), navigation and positioning module (6), and wireless communication module (5) are all connected to the control system (10). The control system (10) is used to control the switching of the excitation light source (3) and infrared data acquisition component (1), and to control the movement of the controllable mobile platform (8) and multidimensional controllable robotic arm (4). The display system (11) is communicatively connected to the control system (10).

10. A method of operating the device for remote detection of fusion reactor leaks as described in any one of claims 1-9, characterized in that, The method includes the following steps: Step 1: Define a sector-shaped area to be tested within the fusion reactor device; Step 2: Position and navigate using the navigation and positioning module (6), and control system (10) controls the controllable mobile platform (8) to approach the area to be tested, so that the multidimensional controllable robotic arm (4) reaches the area to be tested; Step 3: Collect temperature field data and spectral characteristic data of the area to be measured using the infrared data acquisition component (1); The temperature field data is subjected to thermal imaging processing, the spectral feature data is subjected to spectral decoupling analysis, and the processed data is optimized using a dynamic noise reduction algorithm. A neural network model is built based on the optimized data, and the neural network model data is stored in the leaked database; Step 4: Transmit the constructed neural network model to the control system (10) for leakage determination; If it is determined that no leak has occurred, return to step 1 to redetermine the area to be tested; If a leak is detected, then execute: The control system (10) outputs the three-dimensional coordinates of the leak point and estimates the leakage flow rate. The three-dimensional coordinates of the leak point, the leakage flow rate, and the reconstructed image of the area to be tested are simultaneously displayed through the visualization interface of the display system (11); Step 5: Repeat steps 1 to 4 until the entire fusion reactor device has been tested.

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