CN108119759A - A kind of underground gas pipeline leakage point accurate positioning method and system - Google Patents
A kind of underground gas pipeline leakage point accurate positioning method and system Download PDFInfo
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- CN108119759A CN108119759A CN201711277590.2A CN201711277590A CN108119759A CN 108119759 A CN108119759 A CN 108119759A CN 201711277590 A CN201711277590 A CN 201711277590A CN 108119759 A CN108119759 A CN 108119759A
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- exploration hole
- gas
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- hole
- gas concentration
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Classifications
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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
- F17D5/005—Protection or supervision of installations of gas pipelines, e.g. alarm
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
- G01V9/007—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00 by detecting gases or particles representative of underground layers at or near the surface
Abstract
The present invention provides a kind of underground gas pipeline leakage point accurate positioning method and system, the described method includes：S1, multiple exploration holes above the pipeline section of doubtful gas leakage are set, obtain the gas concentration value of each exploration hole；The investigation depth and probe interval of S2, the gas concentration value based on each exploration hole and the exploration hole, using numerical analysis method, the specific location of prediction fuel gas pipeline leakage point.Underground gas pipeline leakage point accurate positioning method and system provided by the invention judge the leakage point position of pipeline by the means of numerical analysis so that only need a small amount of exploration hole that can just complete that leakage point is accurately positioned, save vast resources.
Description
Technical field
It is accurately fixed more particularly, to a kind of underground gas pipeline leakage point the present invention relates to safety detection of pipelines field
Position method and system.
Background technology
In recent years, situation occurred frequently is presented in underground gas ductwork security incident.According to incompletely statistics, in 2011-2014 years
Between, for national gas accidents per annual at 800 or more, these accidents cause great casualties and economic loss, by
To the extensive concern of public opinion.
The leak detection of city gas pipeline in a manner of manual inspection based on, by technical staff carry imflammable gas detection
The detecting instruments such as instrument, laser methane detector carry out leakage detection and location to pipeline.
This method is high for the detection accuracy of gas leakage, and rate of false alarm is relatively low, but thicker for the positioning of leakage point
It is rough.Simultaneously as the leakage of natural gas has the characteristics that concealment, mobility, inspection shaft and air-leakage detector, nothing are only relied on
Leakage point is accurately positioned in method, is excavated often to find gas leakage point many places, causes the wasting of resources, also affects road friendship
It is logical.
The content of the invention
The present invention provides a kind of underground gas pipeline leakage point accurate positioning method, the described method includes：
S1, multiple exploration holes are set above the pipeline section of doubtful gas leakage, the combustion gas for obtaining each exploration hole is dense
Angle value；
The investigation depth and probe interval of S2, the gas concentration value based on each exploration hole and the exploration hole, are adopted
With numerical analysis method, the specific location of prediction fuel gas pipeline leakage point.
Wherein, step S1 includes:
S11, multiple first exploration holes above the pipeline section of doubtful gas leakage are set, obtain each first exploration hole
Gas concentration value；
The concentration distribution situation that S12, the gas concentration Data-Statistics based on each first exploration hole obtain, determines combustion gas
The highest region of concentration；
S13, multiple second exploration holes in the highest region of the gas concentration are set, obtain each second detection
The gas concentration value in hole.
Wherein, the probe interval of first exploration hole is more than the probe interval of second exploration hole.
Wherein, the investigation depth of first exploration hole is less than the investigation depth of second exploration hole.
Wherein, step S11 is specifically included：
Multiple first exploration holes are set above the pipeline section of doubtful gas leakage, and the detection of each first exploration hole is deep
Degree reaches below coating, and the investigation depth of each first exploration hole is equal；
Combustible gas detector in each first exploration hole is set, obtains the combustion gas of each first exploration hole
Concentration value.
Wherein, step S13 is specifically included：
Multiple second exploration holes are set in the highest region of the gas concentration, the detection of each second exploration hole
Depth reaches soil horizon, and second exploration hole is uniformly distributed in the highest region of the gas concentration；
Combustible gas detector is set in each second exploration hole, and the detection for changing second exploration hole is deep
Degree, to obtain the gas concentration value of corresponding each second exploration hole of different depth soil horizon.
Wherein, step S2 includes：
The relative position of S21, the pipeline section based on the doubtful gas leakage and the exploration hole, establish space coordinates,
The x-axis of the space coordinates is the pipeline section of the doubtful gas leakage, and z-axis is the investigation depth of the exploration hole, and y-axis is institute
State the gas concentration value of exploration hole；
The gas concentration value of S22, the investigation depth based on the exploration hole and each exploration hole, sit in the space
The concentration profile of different investigation depth connections is drawn in mark system；
S23, based on numerical analysis method, predict the distribution trend of the concentration profile in the z-axis direction, the concentration cutd open
Face is in specific location of the convergent point of the space coordinates as fuel gas pipeline leakage point.
Wherein, step S22 is specifically included：
The gas concentration value of investigation depth and each exploration hole based on the exploration hole, in the space coordinates
The concentration distribution face that the middle gas concentration value for drawing the corresponding all exploration holes of each investigation depth is formed；
Concentration in the concentration distribution face that the gas concentration value of the corresponding all exploration holes of all investigation depths is formed
Identical point connection obtains the concentration profile of the different investigation depth connections.
Wherein, the method further includes：
When predicting that the specific location of fuel gas pipeline leakage point is more than predetermined threshold value with the site error of actual gas pipeline,
Increase the investigation depth of the exploration hole, and increase the quantity of the exploration hole, to reduce the probe interval of the exploration hole.
According to the second aspect of the invention, a kind of underground gas pipeline leakage point Precise Position System, the system are provided
Including：
Acquisition module for setting multiple exploration holes above the pipeline section of doubtful gas leakage, obtains each detection
The gas concentration value in hole；
Pinpoint module, for gas concentration value and the investigation depth of the exploration hole based on each exploration hole
And probe interval, using numerical analysis method, the specific location of prediction fuel gas pipeline leakage point.
Underground gas pipeline leakage point accurate positioning method and system provided by the invention, are sentenced by the means of numerical analysis
The leakage point position of disconnected pipeline so that only need a small amount of exploration hole that can just complete that leakage point is accurately positioned, save vast resources.
Description of the drawings
Fig. 1 is a kind of underground gas pipeline leakage point accurate positioning method flow chart provided in an embodiment of the present invention；
Fig. 2 is ideally gas leakage schematic diagram provided in an embodiment of the present invention；
Fig. 3 is gas leakage schematic diagram under actual state provided in an embodiment of the present invention；
Fig. 4 is the second exploration hole hole bit distribution schematic diagram provided in an embodiment of the present invention；
Fig. 5 is that combustion gas diffusion tendency predicts schematic diagram in space coordinates provided in an embodiment of the present invention；
Fig. 6 is a kind of underground gas pipeline leakage point Precise Position System structure chart provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
Fig. 1 is a kind of underground gas pipeline leakage point accurate positioning method flow chart provided in an embodiment of the present invention, such as Fig. 1
It is shown, the described method includes：
S1, multiple exploration holes are set above the pipeline section of doubtful gas leakage, the combustion gas for obtaining each exploration hole is dense
Angle value；
The investigation depth and probe interval of S2, the gas concentration value based on each exploration hole and the exploration hole, are adopted
With numerical analysis method, the specific location of prediction fuel gas pipeline leakage point.
In the prior art, since the leakage of natural gas has the characteristics that concealment, mobility, only rely on inspection shaft and gas is let out
Leakage point can not be accurately positioned in leak detection instrument, excavated often to find gas leakage point many places.
This processing mode not only inefficiency, but also also create the serious wasting of resources, affects road traffic.
Problem present in for the above-mentioned prior art, an embodiment of the present invention provides a kind of underground gas pipeline leakage points
Accurate positioning method judges the leakage point position of pipeline by the means of numerical analysis so that only needs a small amount of exploration hole with regard to energy
It completes that leakage point is accurately positioned, saves vast resources.
In S1, it is to be understood that the embodiment of the present invention be built upon primarily determined that it is doubtful leakage scope on the basis of
What is carried out is accurately positioned, and the pipeline section of the doubtful gas leakage is the scope of preliminary judgement leakage point, then is visited by pipeline
It surveys instrument and investigates thoroughly abnormal pipeline accurate location.
So as to be detected on ground along pipeline path, while also avoid due to the unintelligible punching of pipeline position
Pipeline is damaged.
In S1, the exploration hole is using drilling machine after pipeline path is determined, the exploration hole of drill with ferrule on pipeline section is being visited
Combustible gas detector is placed in gaging hole, you can obtain the gas concentration value of the exploration hole.
In S2, the numerical analysis method is the mode of some default calculating according to the present invention, is obtained for some problems
It is approximate but enough accurate as a result, using numerical analysis method provided in an embodiment of the present invention, with reference to exploration hole gas concentration value and
The investigation depth and probe interval of the exploration hole are capable of the leakage point position of accurate judgement pipeline, pipeline leakage can be greatly decreased
The time required to precise positioning.
Underground gas pipeline leakage point accurate positioning method provided by the invention judges pipeline by the means of numerical analysis
Leakage point position so that only need a small amount of exploration hole just can complete accurate positionin leakage point, save vast resources.
On the basis of above-described embodiment, step S1 includes:
S11, multiple first exploration holes above the pipeline section of doubtful gas leakage are set, obtain each first exploration hole
Gas concentration value；
The concentration distribution situation that S12, the gas concentration Data-Statistics based on each first exploration hole obtain, determines combustion gas
The highest region of concentration；
S13, multiple second exploration holes in the highest region of the gas concentration are set, obtain each second detection
The gas concentration value in hole.
Wherein, the probe interval of first exploration hole is more than the probe interval of second exploration hole；
The investigation depth of first exploration hole is less than the investigation depth of second exploration hole.
It is understood that the pipeline section possible range of doubtful gas leakage is larger, in order to save resource, the embodiment of the present invention
A kind of new punching flow is provided, by slightly punching definite area with high mercury, then is carefully beaten in the area with high mercury
Hole, to reduce the scope of leakage point.
Fig. 2 is ideally gas leakage schematic diagram provided in an embodiment of the present invention, as shown in Fig. 2, in ideal state
Under, the coating of road is friable soil, and gas leakage is earthward spread in the soil in a funnel shaped, concentration on ground
Highest position is the top of leakage point, then the distance of the highest region distance leakage point of concentration is nearest in theory
's.
Fig. 3 is gas leakage schematic diagram under actual state provided in an embodiment of the present invention, as shown in figure 3, under actual state,
Gas " is run helter-skelter " below road surface, and weak link that can be from road surface is leaked on ground.The position of fuel gas is detected on ground
Put that have deviated from leakage point far.
So the embodiment of the present invention cannot be only determined according to the highest point of exploration hole gas concentration, and need basis
The statistical distribution of one scope is determined.
So the embodiment of the present invention will first be set in S11 multiple first exploration holes to the pipeline section of doubtful gas leakage into
The thick punching positioning of row, it is preferred that moved towards along pipeline, an institute is not made a call to every 1-2 meters above the leakage scope pipeline section initially determined that
State the first exploration hole, aperture 10mm.
The gas concentration value of all first exploration holes is counted, obtains the statistical distribution of gas concentration value, from statistics
The highest region of distribution is selected in distribution as the region carefully punched.
The thin punching is that multiple second exploration holes are set in the highest region of the gas concentration in S13, is obtained
Take the gas concentration value of each second exploration hole, it is preferred that Fig. 4 is the second exploration hole hole position provided in an embodiment of the present invention
Distribution schematic diagram, as shown in figure 4, making a call to second exploration hole every 0.4 meter, aperture 10mm is separated by 40cm between each drilling.
On the basis of above-described embodiment, step S11 is specifically included：
Multiple first exploration holes are set above the pipeline section of doubtful gas leakage, and the detection of each first exploration hole is deep
Degree reaches below coating, and the investigation depth of each first exploration hole is equal；
Combustible gas detector in each first exploration hole is set, obtains the combustion gas of each first exploration hole
Concentration value.
Specifically, the drilling of the first exploration hole provided in an embodiment of the present invention need to reach below coating, the brill of inspecting hole is deep
It is consistent.Using combustable gas concentration in gas detecting instrument detection inspecting hole, maximum concentration point is obtained, then in maximum concentration point two
It is respectively made a hole in the range of side 0.5m or so, concentration in detection hole, concentration profile is drawn according to more than monitor value, is further contracted
The scope of Small leak point primarily determines that the scope for concentrating punching, i.e., the highest region of gas concentration provided in an embodiment of the present invention.
Further, step S13 is specifically included：
Multiple second exploration holes are set in the highest region of the gas concentration, the detection of each second exploration hole
Depth reaches soil horizon, and second exploration hole is uniformly distributed in the highest region of the gas concentration；
Combustible gas detector is set in each second exploration hole, and the detection for changing second exploration hole is deep
Degree, to obtain the gas concentration value of corresponding each second exploration hole of different depth soil horizon.
The distribution of second exploration hole provided in an embodiment of the present invention is as shown in figure 4, in the highest region of the gas concentration
In the second exploration hole be uniformly distributed, and each second exploration hole deeply reach soil horizon.
It is understood that the embodiment of the present invention will adjust the investigation depth of the second exploration hole, it is deep to obtain different detections
Gas concentration value in the lower soil horizon of degree.
Preferably, increase 5cm punching depth every time, be repeated 4 times, so as to obtain the second detection under the conditions of 4 groups of different depths
The corresponding soil horizon gas concentration value in hole.
Above-mentioned punching detection fixed point entire work flow provided in an embodiment of the present invention reduces the definite leakage of punching positioning originally
The drilling hole amount of point reduces the extent of the destruction of road pavement.
On the basis of above-described embodiment, step S2 includes：
The relative position of S21, the pipeline section based on the doubtful gas leakage and the exploration hole, establish space coordinates,
The x-axis of the space coordinates is the pipeline section of the doubtful gas leakage, and z-axis is the investigation depth of the exploration hole, and y-axis is institute
State the gas concentration value of exploration hole；
The gas concentration value of S22, the investigation depth based on the exploration hole and each exploration hole, sit in the space
The concentration profile of different investigation depth connections is drawn in mark system；
S23, based on numerical analysis method, predict the distribution trend of the concentration profile in the z-axis direction, the concentration cutd open
Face is in specific location of the convergent point of the space coordinates as fuel gas pipeline leakage point.
It should be noted that the accurate positioning method provided in an embodiment of the present invention based on numerical analysis method can be not against
Implement in the punching flow-independent that above-described embodiment provides, but in order to obtain more preferably locating effect, it can be with above-mentioned punching stream
Journey organically combines, and so as to save more multiple resource, also obtains more preferable locating effect.
Fig. 5 is that combustion gas diffusion tendency predicts schematic diagram in space coordinates provided in an embodiment of the present invention, as shown in figure 5,
The pipeline section direction of x-axis, that is, gas leakage of space coordinates provided in an embodiment of the present invention, the coordinate in x-axis can reflect simultaneously
The punch position of exploration hole, y-axis are numerically expressed as the combustion gas of exploration hole perpendicular to x-axis above the pipeline section of gas leakage
Concentration value, z-axis are numerically expressed as the investigation depth of exploration hole both perpendicular to x-axis and y-axis.
As shown in figure 5, the embodiment of the present invention depicts the concentration profile of different depth connection in space coordinates, and it is pre-
The distribution trend of the concentration profile in the z-axis direction is surveyed, until concentration profile progressively converges on a bit, convergent point is this
The specific location of the fuel gas pipeline leakage point of inventive embodiments prediction.
Step S22 is specifically included：
The gas concentration value of investigation depth and each exploration hole based on the exploration hole, in the space coordinates
The concentration distribution face that the middle gas concentration value for drawing the corresponding all exploration holes of each investigation depth is formed；
Concentration in the concentration distribution face that the gas concentration value of the corresponding all exploration holes of all investigation depths is formed
Identical point connection obtains the concentration profile of the different investigation depth connections.
Preferably, the combustion of corresponding each second exploration hole of different depth soil horizon provided with reference to above-described embodiment
Gas concentration value, specifically illustrates the embodiment of the present invention, according to flammable in the soil horizon of multigroup second exploration hole different depth
The concentration distribution of gas using the technology of numerical analysis, is drawn the methane concentration distribution map of the corresponding plane of each depth, and is incited somebody to action
Same concentrations connect in different level, draw concentration profile, pass through the distribution trend of numerical analysis prediction concentrations in the longitudinal direction, meter
Calculating pipeline may leakage point.
On the basis of above-described embodiment, the method further includes：
When predicting that the specific location of fuel gas pipeline leakage point is more than predetermined threshold value with the site error of actual gas pipeline,
Increase the investigation depth of the exploration hole, and increase the quantity of the exploration hole, to reduce the probe interval of the exploration hole.
Due to simply prediction scheme provided in an embodiment of the present invention, positioning can be worked as there are position error to a certain extent
When error is more than predetermined threshold value, the embodiment of the present invention will increase the investigation depth of the exploration hole, and increase the exploration hole
Quantity so as to draw more accurate concentration field, carries out leakage point prediction, so may insure that position error is always held at threshold value
In the range of, it is ensured that positioning it is accurate reliable.
The embodiment of the present invention judges the leakage point position of pipeline using the means of numerical analysis, and pipeline leakage essence can be greatly decreased
Certainly the time required to position, and judge leakage point position method using numerical analysis means, reduce drilling depth, reduction pipeline by
The probability destroyed to drilling machine, and due to reducing drilling depth, so as to reduce torque-on-bit, bringing reduces bit diameter
Income realizes the precise positioning of pipeline leakage point under the conditions of the micro- damage in road surface.
Fig. 6 is a kind of underground gas pipeline leakage point Precise Position System structure chart provided in an embodiment of the present invention, such as Fig. 6
It is shown, a kind of underground gas pipeline leakage point Precise Position System, including：Acquisition module 1 and pinpoint module 2, wherein：
Acquisition module 1 obtains each detection for setting multiple exploration holes above the pipeline section of doubtful gas leakage
The gas concentration value in hole；
Pinpoint module 2 is for gas concentration value and the investigation depth of the exploration hole based on each exploration hole
And probe interval, using numerical analysis method, the specific location of prediction fuel gas pipeline leakage point.
Specifically how fuel gas pipeline leakage point in underground is accurately positioned, reference can be made to above-described embodiment, the embodiment of the present invention
Details are not described herein.
Underground gas pipeline leakage point Precise Position System provided by the invention judges pipeline by the means of numerical analysis
Leakage point position so that only need a small amount of exploration hole just can complete accurate positionin leakage point, save vast resources.
Finally, the present processes are only preferable embodiment, are not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modifications, equivalent replacements and improvements are made should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of underground gas pipeline leakage point accurate positioning method, which is characterized in that including：
S1, multiple exploration holes above the pipeline section of doubtful gas leakage are set, obtain the gas concentration value of each exploration hole；
The investigation depth and probe interval of S2, the gas concentration value based on each exploration hole and the exploration hole, using number
It is worth analytic approach, predicts the specific location of fuel gas pipeline leakage point.
2. according to the method described in claim 1, it is characterized in that, step S1 includes:
S11, multiple first exploration holes above the pipeline section of doubtful gas leakage are set, obtain the combustion of each first exploration hole
Gas concentration value；
The concentration distribution situation that S12, the gas concentration Data-Statistics based on each first exploration hole obtain, determines gas concentration
Highest region；
S13, multiple second exploration holes in the highest region of the gas concentration are set, obtain each second exploration hole
Gas concentration value.
3. according to the method described in claim 2, it is characterized in that, the probe interval of first exploration hole is more than described second
The probe interval of exploration hole.
4. according to the method described in claim 2, it is characterized in that, the investigation depth of first exploration hole is less than described second
The investigation depth of exploration hole.
5. according to the method described in claim 4, it is characterized in that, step S11 is specifically included：
Multiple first exploration holes are set above the pipeline section of doubtful gas leakage, and the investigation depth of each first exploration hole reaches
Below to coating, and the investigation depth of each first exploration hole is equal；
Combustible gas detector in each first exploration hole is set, obtains the gas concentration of each first exploration hole
Value.
6. according to the method described in claim 4, it is characterized in that, step S13 is specifically included：
Multiple second exploration holes are set in the highest region of the gas concentration, the investigation depth of each second exploration hole
Reach soil horizon, and second exploration hole is uniformly distributed in the highest region of the gas concentration；
Combustible gas detector in each second exploration hole is set, changes the investigation depth of second exploration hole, with
Obtain the gas concentration value of corresponding each second exploration hole of different depth soil horizon.
7. according to the method described in claim 1, it is characterized in that, step S2 includes：
The relative position of S21, the pipeline section based on the doubtful gas leakage and the exploration hole, establish space coordinates, described
The x-axis of space coordinates is the pipeline section of the doubtful gas leakage, and z-axis is the investigation depth of the exploration hole, and y-axis is the spy
The gas concentration value of gaging hole；
The gas concentration value of S22, the investigation depth based on the exploration hole and each exploration hole, in the space coordinates
The middle concentration profile for drawing different investigation depth connections；
S23, based on numerical analysis method, predict the distribution trend of the concentration profile in the z-axis direction, the concentration profile existed
Specific location of the convergent point of space coordinates as fuel gas pipeline leakage point.
8. the method according to the description of claim 7 is characterized in that step S22 is specifically included：
The gas concentration value of investigation depth and each exploration hole based on the exploration hole, is painted in the space coordinates
Make the concentration distribution face that the gas concentration value of the corresponding all exploration holes of each investigation depth is formed；
Concentration is identical in the concentration distribution face that the gas concentration value of the corresponding all exploration holes of all investigation depths is formed
Point connection, obtain the concentration profile of the different investigation depth connection.
9. according to the method described in claim 1, it is characterized in that, the method further includes：
When predicting that the specific location of fuel gas pipeline leakage point is more than predetermined threshold value with the site error of actual gas pipeline, increase
The investigation depth of the exploration hole, and increase the quantity of the exploration hole, to reduce the probe interval of the exploration hole.
10. a kind of underground gas pipeline leakage point Precise Position System, which is characterized in that including：
Acquisition module for setting multiple exploration holes above the pipeline section of doubtful gas leakage, obtains each exploration hole
Gas concentration value；
Pinpoint module, for the gas concentration value based on each exploration hole and investigation depth and the spy of the exploration hole
Interval is surveyed, using numerical analysis method, the specific location of prediction fuel gas pipeline leakage point.
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| CN109669221A (en) * | 2019-02-23 | 2019-04-23 | 克拉玛依友诚实验检测分析有限责任公司 | A kind of oil field underground metal pipeline detection system |
| CN110848579A (en) * | 2019-11-28 | 2020-02-28 | 安徽理工大学 | Buried gas pipeline leakage source positioning device and algorithm |
| CN111679675A (en) * | 2020-06-18 | 2020-09-18 | 新石器慧通（北京）科技有限公司 | Gas inspection method for unmanned vehicle and unmanned vehicle |
| CN114413181A (en) * | 2021-12-17 | 2022-04-29 | 北京市燃气集团有限责任公司 | Tracing and positioning method for side-by-side buried gas pipeline leakage points |
| CN114623391A (en) * | 2022-04-11 | 2022-06-14 | 广州燃气集团有限公司 | Method for positioning leakage position of gas pipeline |
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| CN110848579A (en) * | 2019-11-28 | 2020-02-28 | 安徽理工大学 | Buried gas pipeline leakage source positioning device and algorithm |
| CN111679675A (en) * | 2020-06-18 | 2020-09-18 | 新石器慧通（北京）科技有限公司 | Gas inspection method for unmanned vehicle and unmanned vehicle |
| CN111679675B (en) * | 2020-06-18 | 2023-11-03 | 新石器慧通（北京）科技有限公司 | Gas inspection method for unmanned vehicle and unmanned vehicle |
| CN114413181A (en) * | 2021-12-17 | 2022-04-29 | 北京市燃气集团有限责任公司 | Tracing and positioning method for side-by-side buried gas pipeline leakage points |
| CN114623391A (en) * | 2022-04-11 | 2022-06-14 | 广州燃气集团有限公司 | Method for positioning leakage position of gas pipeline |
| CN114623391B (en) * | 2022-04-11 | 2023-11-21 | 广州燃气集团有限公司 | Positioning method for leakage position of gas pipeline |
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