CN107271539A - A kind of sea-bottom oil-gas pipeline leakage field/very low frequency receives detection localization method and device - Google Patents
A kind of sea-bottom oil-gas pipeline leakage field/very low frequency receives detection localization method and device Download PDFInfo
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- CN107271539A CN107271539A CN201710531749.2A CN201710531749A CN107271539A CN 107271539 A CN107271539 A CN 107271539A CN 201710531749 A CN201710531749 A CN 201710531749A CN 107271539 A CN107271539 A CN 107271539A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
- G01N27/85—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields using magnetographic methods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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Abstract
A kind of sea-bottom oil-gas pipeline leakage field/very low frequency receives detection localization method, comprises the following steps：1）Flux leakage detector and wiper are installed in pipeline；2）Detection positioner is laid in Near Pipelines；3）Detect that the ARM main control units in positioner gather the voltage signal of sensor by AD collecting units；4）Raw magnetic gradient signal is stored in SD card memory cell by ARM main control units；5）ARM main control units calculate by when magnetic field signal and time value；6）The magnetic field value and time value of maximum point are stored in SD card memory cell by ARM main control units.And a kind of device for being used to realize detection localization method.The present invention is realized to be controlled to being accurately positioned of defect of pipeline, the comprehensive assessment to pipe safety situation and the safety to pipe detection running situation, reduces detection engineering risk.
Description
Technical field
Field of locating technology is detected the present invention relates to oil pipe, and in particular to a kind of sea-bottom oil-gas pipeline leakage field/very low frequency connects
Receive detection localization method and device.
Background technology
Sea-bottom oil-gas is national grand strategy resource, and route, the state of sea-bottom oil-gas pipeline are important strategic of country
Information.Because submarine pipeline local environment is extremely complex, corrosive pipeline or damaged condition are of common occurrence, are let out once occurring oil gas
Dew, will cause huge economic loss and ecological environment disaster.For a long time, because the country does not possess Technique of Subsea Pipeline Inspection energy
Power, China's Technique of Subsea Pipeline Inspection market is monopolized by external oil gas service company always, and not only service price is expensive, and China's oil
The information of gas pipeline also cannot be protected effectively.
The flux leakage detector and wiper of sea-bottom oil-gas pipeline work may be blocked in the petroleum pipeline of corrosion, device
It can not be accurately positioned, subsea construction operations itself is big, positioning is inaccurate more to cause construction operation to be more difficult to, and service price is more
It is expensive.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to provide a kind of sea-bottom oil-gas pipeline leakage field/
Very low frequency receives detection localization method and device.Flux leakage detector and wiper in pipe by when, the leakage field that pipe is outer to be laid/very
Low frequency reception detects the real-time detecting and tracking of positioner, is accurately positioned and records target location, this using defects detection in pipe
The mode being combined with track and localization outside pipe, realizes to being accurately positioned of defect of pipeline, the synthesis of pipe safety situation is commented
Estimate and the safety of pipe detection running situation is controlled, reduce detection engineering risk.To improve the outer track positioning accuracy of pipe,
Many sets can be laid along petroleum pipeline interval and receive detection positioner containing leakage field/very low frequency.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of sea-bottom oil-gas pipeline leakage field/very low frequency receives detection localization method, comprises the following steps：
1）Installation detecting device and cleaning plumbing installation inside sea-bottom oil-gas pipeline, wherein, detection means is using carrying permanent magnetism
The flux leakage detector of unit, cleaning plumbing installation is using the wiper for carrying VLF emission machine；
2）Leakage field/very low frequency is laid near sea-bottom oil-gas pipeline and receives detection positioner；
3）Detect that the ARM main control units in positioner gather magnetic sensor by AD collecting units and two mutually orthogonal
The voltage signal of the single shaft induction type magnetic sensor laid；
4）Raw magnetic gradient signal is stored in SD card memory cell by ARM main control units；
5）ARM main control units are handled by internal algorithm, calculate flux leakage detector or wiper by when magnetic field signal and
Time value；
6）ARM main control units by flux leakage detector or wiper by when maximum point magnetic field value and corresponding time value be stored in
In SD card memory cell, the outer real-time tracking of the pipe of flux leakage detector and wiper in sea-bottom oil-gas pipeline is realized.
The step 5）Real-time calculating, specific rules include：
S1）When flux leakage detector or wiper not over when, leakage field/very low frequency receives the magnetic field letter of detection positioner detection
Number steady, fluctuation very little, ARM main control units are not up to the threshold value thresholding of design, mesh by the magnetic field signal amplitude of algorithm process
Demarcate position record strip number constant, and keep real-time acquisition testing dbjective state；
S2）When carrying the flux leakage detector of permanent magnet unit by submarine pipeline, leakage field/very low frequency of pipeline external receives inspection
The magnetic sensor surveyed in positioner can detect the magnetostatic signal of flux leakage detector, now, by caused by characteristic
Field waveform change amplitude exceedes the flux leakage detector threshold value of setting, realizes that flux leakage detector passes through signal and precise positioning；
S3）When carrying the wiper of VLF emission machine by submarine pipeline, leakage field/very low frequency of pipeline external receives inspection
The induction type magnetic sensor surveyed in positioner can detect the very low frequency signal of wiper, now, by caused by characteristic
Field waveform change amplitude exceedes the wiper threshold value of setting, realizes that wiper passes through signal and precise positioning.
The very low frequency signal that the magnetostatic signal or wiper that the detection positioner is carried to flux leakage detector are carried
After collection, algorithm, LPF algorithm, bubbling algorithm, demagnetization algorithm, magnetic field modulus change amount are updated using adaptive baseline
One or more in algorithm and thresholding algorithm, realize and pass through the real time discriminating of characteristic, standard to flux leakage detector or wiper
Really detect peak field value and corresponding time value.
The step 3）In, it is flux leakage detector intelligently to accurately identify pass through in oil-gas pipeline by ARM main control units
Or wiper.
The detection positioner cloth is placed near the oil-gas pipeline on land, the leakage field inspection in the oil-gas pipeline of land is realized
Survey the outer real-time tracking of the pipe of device and wiper.
And a kind of sea-bottom oil-gas pipeline leakage field/very low frequency receives detection positioner, the detection positioner includes
ARM main control units and AD collecting units, AD collecting units are passed with ARM main control units, magnetic sensor and induction type magnetic respectively
Sensor is connected；ARM main control units are connected with memory cell.
Described detection positioner includes a magnetic sensor, and the leakage field of AD collecting units is connected by shielding line
Detection terminal.
Described detection positioner includes two induction type magnetic sensors, is laid in detection positioner inner orthogonal；
Induction type magnetic sensor connects the very low frequency detection terminal of AD collecting units by shielding line.
The beneficial effects of the invention are as follows：
1）Accurate positioning, flux leakage detector and wiper by when time to peak error be less than 32ms；
2）Detection range is remote, and effective detection range is not less than 8m；
3）The outer tracking of pipe is real-time, in real time detection target and software processing；
4）Reliable operation, normal work more than 3 months and the storage for meeting operational data；
5）Low in energy consumption, device work maximum current is not more than 45mA, is adapted to power using high capacity cell, effectively reduces detection
Positioner lays number of times and maintenance cost；
6）Strong antijamming capability, the influence come for oil-gas pipeline magnetic band caused by the strong magnetic of flux leakage detector, can effectively be recognized
Evade, the floating of detection positioner is brought for ocean bottom currents motion or biological motion or geology change, can effectively be evaded；
7）Good software algorithm ensure that the accuracy of flux leakage detector or wiper by record strip number；
8）Wide adaptability, meets the detection of plurality of application scenes oil-gas pipeline；
9）Coordinate magnetic flux leakage defect inspection equipment in pipe, realize to the comprehensive assessment of submarine pipeline security situation and to pipe detection
The safety control of running situation, reduces detection engineering risk.
Brief description of the drawings
Fig. 1 is structural principle block diagram of the invention.
Fig. 2 receives detection positioner scheme of installation for leakage field/very low frequency of the present invention.
In figure, 1 is ARM main control units；2 be AD collecting units；3 be storage element；4 be magnetic sensor；5 be sensing
Formula Magnetic Sensor.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, but the present invention is not limited to following examples.
Referring to Fig. 1, leakage field/very low frequency receives detection positioner, including ARM main control units are connected with AD collecting units,
ARM main control units are connected with memory cell, and AD collecting units are connected with magnetic sensor, and AD collecting units are passed with induction type magnetic
Sensor is connected.
Described magnetic sensor has one, and the Magnetic Flux Leakage Inspecting terminal of AD collecting units, three axles are connected by shielding line
There is Magnetic Sensor omnidirectional to detect magnetic field ability；Described induction type magnetic sensor has two, is adopted respectively by shielding line with AD
The very low frequency detection terminal for collecting unit is connected, and induction type magnetic sensor is single shaft distribution winding, and mutually orthogonal is laid.
Described ARM main control unit work clock 70MHz, using temperature compensating crystal oscillator, improve timing precision；Described AD is adopted
Collect the sampling A/D chip that unit uses 32 bit resolutions, effectively improve detectivity and precision.
Described magnetic sensor realizes comprehensive detection of magnetic field, and feature is that noise is low, measurement range is wide, sensitivity
Height, detectivity is better than 0.1nT, and detection range is not less than 8m；Described single shaft induction type magnetic characteristic sensor be narrow bandwidth,
The small, noise of interference is low, sensitivity is high, and detectivity is better than 10pT, and detection range is not less than 8m, and effective detection wiper is carried
VLF emission machine transmission signal.
Referring to Fig. 2, the leakage field that the present invention is mentioned/very low frequency receives detection positioner can not only be placed on the inspection in seabed with cloth
Survey on positioner, and the device cloth can be placed near the oil-gas pipeline on land, realize the leakage in the oil-gas pipeline of land
The outer real-time tracking of the pipe of magnetic detector and wiper.
Sea-bottom oil-gas pipeline leakage field/very low frequency receives detection localization method using Quanzhou, Fujian experiment as example, implementation steps
It is as follows：
1）Flux leakage detector carries permanent magnet unit and wiper carries VLF emission machine and is operate in inside sea-bottom oil-gas pipeline
Detection means and cleaning plumbing installation；
2）Leakage field/very low frequency receives detection positioner and is placed on by digging people or ROV cloth near sea-bottom oil-gas pipeline；
3）Leakage field/very low frequency receives detection positioner and worked on power；
4）ARM main control units gather magnetic sensor and two mutually orthogonal single shaft induction types laid by AD collecting units
The voltage signal of Magnetic Sensor；
5）The raw magnetic gradient signal calculated is stored in SD card memory cell by ARM main control units；
6）ARM main control units calculate detection target by algorithm process, in real time；
7）When carrying the flux leakage detector of permanent magnet unit by submarine pipeline, leakage field/very low frequency of pipeline external receives inspection
The magnetic sensor surveyed in positioner can detect the magnetostatic signal of flux leakage detector, and software calculates flux leakage detector
By when peak field value and correspondence time value, by follow-up primary data analysis, the magnetic field value of calculating is the original magnetic of leakage field
In field wave shape target by when maximum point magnetic field value, and the corresponding time of the point is equal with the time value calculated, in experiment
Flux leakage detector by when maximum field value about 99uT, calculate time error be not more than 32ms；
8）When carrying the wiper of VLF emission machine by submarine pipeline, leakage field/very low frequency of pipeline external receives inspection
The induction type magnetic sensor surveyed in positioner can detect the very low frequency signal that pipe cleaning emitting goes out, and software calculates pigging
Device by when peak field value and correspondence time value, by follow-up primary data analysis, the magnetic field value and very low frequency of calculating are former
In beginning field waveform target by when maximum field value it is equal, and the corresponding time of the point is equal with the time value calculated,
In experiment flux leakage detector by when maximum field value about 5.2nT, calculate time error be not more than 32ms；
9）ARM main control units by flux leakage detector or wiper by when maximum point magnetic field value and time value be stored in SD card and deposit
In storage unit, it is comprehensive control modular device can also by way of serial ports reading and saving data.
The present invention operation principle be：
Leakage field/very low frequency is laid by frogman or ROV near existing sea-bottom oil-gas pipeline and receives detection positioner, is completed
After work on power, the omnidirectional that the device is utilized respectively high-performance low-noise detects three axis fluxgate Magnetic Sensors and mutually orthogonal cloth
The single shaft induction type magnetic sensor put gathers the magnetostatic field signal in space and very low frequency signal respectively, and defeated in voltage signal mode
Go out, the voltage signal of output completes analog-to-digital conversion by AD collecting units, and ARM main control units read AD gathered datas, by certainly
Adapt to baseline more new algorithm, LPF algorithm, bubbling algorithm, demagnetization algorithm, magnetic field modulus change quantity algorithm, thresholding algorithm
Deng many algorithms processing, calculating has analysed whether that flux leakage detector or wiper target pass through, while the original number that AD is gathered
It is stored in when factually in SD card memory cell, so that subsequent data analysis is reduced.
When flux leakage detector or wiper not over when, leakage field/very low frequency receives the magnetic field of detection positioner detection
Signal is steady, fluctuation very little, and ARM main control units are not up to the threshold value thresholding of design by the magnetic field signal amplitude of algorithm process,
Target positioning record strip number is constant, and keeps real-time acquisition testing dbjective state.When flux leakage detector or wiper by when, by
Carry permanent magnet unit in Magnetic Flux Leakage Inspecting, by when strong magnetic signal can be given off to surrounding space, the strong magnetic signal can pass through oil
Feed channel is radiated to the periphery；Wiper carries VLF emission machine, can radiate very low frequency signal to surrounding space in real time, very low
Frequency signal can also penetrate oil-gas pipeline and be radiated to surrounding space.The three axle magnetic that leakage field/very low frequency is received in detection positioner are passed
Sensor and induction type magnetic sensor detect magnetic field signal waveform and show phenomenon by characteristic variations, if drawn by characteristic
The field waveform change amplitude risen exceedes the flux leakage detector threshold value or wiper threshold value of setting, and ARM main control units pass through software
Algorithm calculates correspondence peak field value and time value, and detection positioning target record bar number increases by one.
The present invention receives detection localization method using a kind of sea-bottom oil-gas pipeline leakage field/very low frequency, realizes flux leakage detector
Positioned with real-time tracking outside the pipe of wiper.The many set leakage fields laid along sea-bottom oil-gas pipeline interval/very low frequency receives detection
Positioner, the low frequency for the VLF emission machine transmitting that the magnetostatic signal and wiper that detection flux leakage detector is carried in real time are carried
Signal, when flux leakage detector or wiper not over when, leakage field/very low frequency receives the magnetic field signal of detection positioner detection
Steadily, very little is fluctuated, the magnetic field signal amplitude that ARM main control units are handled by internal algorithm is not up to the threshold value thresholding of design；
When flux leakage detector or wiper by when, the magnetic field signal waveform that leakage field/very low frequency receives detection positioner detection is presented
Go out the phenomenon by characteristic variations, if changing the flux leakage detector threshold that amplitude exceedes setting by field waveform caused by characteristic
Value or wiper threshold value, ARM main control units calculate correspondence peak field value and time value, detection positioning mesh by software algorithm
Marking record strip number increases by one, meanwhile, data are preserved in the memory unit.
After leakage field/very low frequency reception detection positioner is laid in place, pass through comprehensive control modular device and control leakage field/very low frequency
Electricity on detection positioner is received, the space of SD card memory cell can be so saved, while improving the effective of data storage
Property and authenticity, shorten the time of data analysis.Leakage field/very low frequency receives detection positioner to flux leakage detector and pigging
In the software algorithm processing of device, employ adaptive baseline update algorithm, LPF algorithm, bubbling algorithm, demagnetization algorithm,
The many algorithms such as magnetic field modulus change quantity algorithm, thresholding algorithm, realization passes through the real-time of characteristic to flux leakage detector or wiper
Differentiate, accurate detection peak field value and corresponding time value.
The leakage field that the present invention is mentioned/very low frequency receives detection positioner in Mianyang, Sichuan, Lianyungang of Jiangsu, Fujian
Quanzhouwan completes test of many times test, works normal, is compared by the initial data with memory cell, and target detection and localization is accurate
Really.
Shown by multiple actual oil-gas pipeline experimental verification, the leakage field that the present invention is provided/very low frequency receives detection positioning
Device has following technical advantage：（1）Accurate positioning, flux leakage detector and wiper by when time to peak error be less than
32ms；（2）Detection range is remote, and effective detection range is not less than 8m；（3）The outer tracking of pipe is real-time, at real-time detection target and software
Reason；（4）Reliable operation, normal work more than 3 months and the storage for meeting operational data；（5）Low in energy consumption, device work is maximum
Electric current is not more than 45mA, suitable to be powered using high capacity cell, effectively reduces laying number of times and safeguarding into for detection positioner
This；（6）Strong antijamming capability, the influence come for oil-gas pipeline magnetic band caused by the strong magnetic of flux leakage detector, can effectively be recognized
Evade, the floating of detection positioner is brought for ocean bottom currents motion or biological motion or geology change, can effectively be evaded；
（7）Good software algorithm ensure that the accuracy of flux leakage detector or wiper by record strip number；（8）Wide adaptability is full
The detection of sufficient plurality of application scenes oil-gas pipeline；（9）Coordinate magnetic flux leakage defect inspection equipment in pipe, realize to the safe feelings of submarine pipeline
The comprehensive assessment of condition and the safety control to pipe detection running situation, reduce detection engineering risk.
It is described above, only it is the present invention preferably embodiment, but protection scope of the present invention is not limited thereto,
It is any to be familiar with those skilled in the art in the technical scope of present disclosure, by simply deducing and replacing,
It should all be considered as belonging in protection scope of the present invention.
Claims (8)
1. a kind of sea-bottom oil-gas pipeline leakage field/very low frequency receives detection localization method, it is characterised in that comprise the following steps：
1）Installation detecting device and cleaning plumbing installation inside sea-bottom oil-gas pipeline, wherein, detection means is using carrying permanent magnetism
The flux leakage detector of unit, cleaning plumbing installation is using the wiper for carrying VLF emission machine；
2）Leakage field/very low frequency is laid near sea-bottom oil-gas pipeline and receives detection positioner；
3）Detect that the ARM main control units in positioner gather magnetic sensor by AD collecting units and two mutually orthogonal
The voltage signal of the single shaft induction type magnetic sensor laid；
4）Raw magnetic gradient signal is stored in SD card memory cell by ARM main control units；
5）ARM main control units are handled by internal algorithm, calculate flux leakage detector or wiper by when magnetic field signal and
Time value；
6）ARM main control units by flux leakage detector or wiper by when maximum point magnetic field value and corresponding time value be stored in
In SD card memory cell, the outer real-time tracking of the pipe of flux leakage detector and wiper in sea-bottom oil-gas pipeline is realized.
2. a kind of sea-bottom oil-gas pipeline leakage field according to claim 1/very low frequency receives detection localization method, its feature exists
In the step 5）Real-time calculating, specific rules include：
S1）When flux leakage detector or wiper not over when, leakage field/very low frequency receives the magnetic field letter of detection positioner detection
Number steady, fluctuation very little, ARM main control units are not up to the threshold value thresholding of design, mesh by the magnetic field signal amplitude of algorithm process
Demarcate position record strip number constant, and keep real-time acquisition testing dbjective state；
S2）When carrying the flux leakage detector of permanent magnet unit by submarine pipeline, leakage field/very low frequency of pipeline external receives inspection
The magnetic sensor surveyed in positioner can detect the magnetostatic signal of flux leakage detector, now, by caused by characteristic
Field waveform change amplitude exceedes the flux leakage detector threshold value of setting, realizes that flux leakage detector passes through signal and precise positioning；
S3）When carrying the wiper of VLF emission machine by submarine pipeline, leakage field/very low frequency of pipeline external receives inspection
The induction type magnetic sensor surveyed in positioner can detect the very low frequency signal of wiper, now, by caused by characteristic
Field waveform change amplitude exceedes the wiper threshold value of setting, realizes that wiper passes through signal and precise positioning.
3. a kind of sea-bottom oil-gas pipeline leakage field according to claim 1/very low frequency receives detection localization method, its feature exists
In the very low frequency signal collection that the magnetostatic signal or wiper that the detection positioner is carried to flux leakage detector are carried
Afterwards, algorithm, LPF algorithm, bubbling algorithm, demagnetization algorithm, magnetic field modulus change quantity algorithm are updated using adaptive baseline
And the one or more in thresholding algorithm, realize and the real time discriminating of characteristic, accurate inspection are passed through to flux leakage detector or wiper
Survey peak field value and corresponding time value.
4. a kind of sea-bottom oil-gas pipeline leakage field according to claim 1/very low frequency receives detection localization method, its feature exists
In the step 3）In, it is flux leakage detector or clear intelligently to accurately identify pass through in oil-gas pipeline by ARM main control units
Pipe device.
5. a kind of be used to run the device that sea-bottom oil-gas pipeline leakage field described in claim 1/very low frequency receives detection localization method,
Characterized in that, the detection positioner cloth is placed near the oil-gas pipeline on land, the leakage in the oil-gas pipeline of land is realized
The outer real-time tracking of the pipe of magnetic detector and wiper.
6. a kind of be used to run the device that sea-bottom oil-gas pipeline leakage field described in claim 1/very low frequency receives detection localization method,
Characterized in that, the detection positioner includes ARM main control units（1）With AD collecting units（2）, AD collecting units（2）Point
Not with ARM main control units（1）, magnetic sensor（4）And induction type magnetic sensor（5）Connection；ARM main control units（1）With depositing
Storage unit（3）Connection.
7. a kind of sea-bottom oil-gas pipeline leakage field according to claim 6/very low frequency receives detection positioner, its feature exists
In described detection positioner includes a magnetic sensor（4）, AD collecting units are connected by shielding line（2）Leakage
Magnetic testi terminal.
8. a kind of sea-bottom oil-gas pipeline leakage field according to claim 6/very low frequency receives detection positioner, its feature exists
In described detection positioner includes two induction type magnetic sensors（5）, laid in detection positioner inner orthogonal；Sense
Answer formula Magnetic Sensor（5）AD collecting units are connected by shielding line（2）Very low frequency detection terminal.
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| CN107975679A (en) * | 2017-12-01 | 2018-05-01 | 张国东 | A kind of fire hydrant monitoring system, water lines monitoring system and water lines monitoring method |
| CN109813801A (en) * | 2019-01-31 | 2019-05-28 | 中国石油化工股份有限公司 | Time-based pipeline surveys and draws interior detection system check point synchronous method |
| CN110260044A (en) * | 2019-06-06 | 2019-09-20 | 天津大学 | A kind of submarine pipeline localization method |
| CN110894911A (en) * | 2019-12-24 | 2020-03-20 | 中瓴埃斯科(重庆)环保产业有限公司 | Intelligent leakage detection robot for detecting leakage points of liquid filling pipeline and detection method |
| CN112484771A (en) * | 2019-09-12 | 2021-03-12 | 中国石油天然气股份有限公司 | Monitoring method of pipe cleaner |
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