CN112229584A - Ship oil supply operation oil spill monitoring method and monitoring device - Google Patents
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000003305 oil spill Substances 0.000 title claims description 19
- 238000012806 monitoring device Methods 0.000 title claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 52
- 238000005286 illumination Methods 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000001228 spectrum Methods 0.000 claims description 10
- 238000000691 measurement method Methods 0.000 claims description 9
- 238000001917 fluorescence detection Methods 0.000 claims description 3
- 238000012417 linear regression Methods 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000011109 contamination Methods 0.000 abstract description 7
- 239000000446 fuel Substances 0.000 abstract description 7
- 238000012840 feeding operation Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 110
- 239000000295 fuel oil Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 241000287181 Sturnus vulgaris Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
Abstract
The invention discloses an oil spilling monitoring method and a detection device for ship oil supply operation, wherein the device comprises a small industrial personal computer, an illumination sensor, an ultraviolet fluorescent oil contamination monitoring sensor, a camera and wireless data transmission equipment, wherein the small industrial personal computer, the illumination sensor and the ultraviolet fluorescent oil contamination monitoring sensor are arranged in a shell; the monitoring method comprises the following steps: judging whether the light of the monitored environment is sufficient by using an illumination sensor; judging whether monitoring data are acquired through an image acquisition device or an ultraviolet fluorescent oil stain monitoring sensor according to the light condition; processing and analyzing the monitoring data, and judging whether oil stains exist on the water surface; alarming when the oil bloom on the water surface is judged; this boats and ships fuel feeding operation oil spilling monitoring ability and device are enough high-efficient, accurate fuel feeding operation oil pollution supervision, and the testing result degree of accuracy is high, realizes monitoring the risk of running, falling, dripping and leaking during the boats and ships fuel feeding operation, helps improving the anti-pollution supervisory ability of marine main departments to boats and ships fuel feeding operation.
Description
Technical Field
The invention relates to the technical field of monitoring and monitoring of ship oil spilling, in particular to an oil spilling monitoring device for ship oil supply operation.
Background
According to the clear regulations of the marine environmental protection law of the people's republic of China (abbreviated as the sea ring law), the maritime administration department is responsible for the organization and management of oil spill emergency reactions. At present, China has basically built 5-level oil spill emergency system construction such as national level, sea level, provincial level (autonomous region, direct prefecture city), port level and ship level. However, the construction of the oil spill emergency system is mainly to cope with the large-area oil spill event caused by the ship accident, and cannot cope with the leakage phenomenon caused by the oil supply operation of the ship, mainly because the oil spill amount caused by the leakage phenomenon is small and the operation units can be cleaned in time. However, due to the characteristics of high frequency, unfixed position (port or anchor ground) and small oil spillage in the oil supply operation of the ship, the prevention and cleaning work of the leakage is not considered by part of operation units, so that a small amount of oil pollution belt with unknown sources exists in the port or the sea surface, and great difficulty is brought to the supervision and source tracing work of the maritime administration department.
Disclosure of Invention
The invention aims to provide an oil spilling monitoring method for ship oil supply operation, which can efficiently and accurately monitor the risk of leakage, overflow and drip in the ship oil supply operation.
Another object of the present invention is to provide a monitoring device for monitoring oil spilling during the oil supply operation of the ship
Therefore, the technical scheme of the invention is as follows:
a ship oil supply operation oil spill monitoring method is characterized by comprising the following steps:
s1, judging whether the light of the monitored environment is sufficient by using an illumination sensor;
s2, when the light of the monitoring environment is judged to be sufficient, continuously acquiring multiframe images of the water surface of the monitoring area through the image acquisition device; when the light of the monitoring environment is judged to be insufficient, acquiring the fluorescence intensity of the water surface of the monitoring area under the f wave band through an ultraviolet fluorescence oil stain monitoring sensor;
s3, processing and analyzing the data collected in the step S2:
s301, aiming at the water surface image: the chrominance values h of all pixels in each frame image are calculated according to the following formula:
wherein r is the brightness value of the pixel in a red channel, g is the brightness value of the pixel in a green channel, b is the brightness value of the pixel in a blue channel, max is the maximum value of r, g and b of the same pixel, min is the maximum value of r, g and b of the same pixel, and the calculation result of the chromaticity h is an integer and has a value range of 0-360 degrees;
when the calculation results of the chromatic values of all pixels in the single-frame image cover 240 or more than 240 of the 360 results, the frame image is judged to be 'colorful', and oil stains exist on the water surface; when the chromatic values of all pixels in the single-frame image do not cover 240 or more than 240 of the 360 results, the image is judged to be 'single color', and oil stains do not exist on the water surface;
s302, aiming at the fluorescence intensity of the water surface under the f wave band: and substituting the measured fluorescence intensity I into the following formula to calculate the oil film thickness d on the water surface:
d＝A×(If(d)-If(0) in (c) in (c),
wherein f is the wavelength of fluorescence, A is the conversion coefficient between fluorescence and oil film thickness, If (d) is the fluorescence intensity of f wave band when the oil film thickness is d, and If (0) is the fluorescence intensity of oil-free water body in f wave band, namely the background fluorescence intensity;
when the thickness d of the oil film obtained by calculation is less than 10 mu m, judging that no oil splash exists on the water surface; when the thickness d of the oil film obtained by calculation is more than or equal to 10 mu m, judging that oil stains exist on the water surface;
s4, when any single frame image is judged to be 'colorful' in the step S301 and oil bloom exists on the water surface, alarming is carried out; or, when the oil film thickness d measured at any time is more than or equal to 10 μm in the step S302, alarming.
Further, in step S1: when the illuminance value measured by the illuminance sensor is less than or equal to 15 lux, judging that the monitoring environment is night and the light is insufficient; when the illuminance value measured by the illuminance sensor is more than 15 lux, the monitoring environment is judged to be daytime and the light is sufficient.
Further, in step S3, f is 450 nm.
Further, in step S3, the conversion coefficient a between fluorescence and oil film thickness is measured by: i) dripping oil drops into a bucket with a specific area, and calculating the thickness of the oil film on the water surface by a geometric measurement method; ii) measuring the difference of the fluorescence intensity of the water surface before and after the oil drop is dropped; iii) changing the volume of the dropped oil drop, and repeating the steps i) and ii) for multiple times to measure different oil film thicknesses, iv) drawing a geometric curve of the fluorescence intensity changing along with the oil film thickness by taking the oil film thickness as a horizontal coordinate and the fluorescence intensity as a vertical coordinate; v) performing linear regression treatment on the geometric curve drawn in the step iv), wherein the slope of the obtained straight line is the conversion coefficient A.
An oil spilling monitoring device for ship oil supply operation comprises a small industrial personal computer, an illumination sensor, an ultraviolet fluorescent oil stain monitoring sensor, a camera and wireless data transmission equipment, wherein the small industrial personal computer, the illumination sensor and the ultraviolet fluorescent oil stain monitoring sensor are arranged in a shell; the illumination sensor is fixed on the upper part of the shell, and the photosensitive mechanism of the illumination sensor is exposed out of the top opening of the shell and is arranged towards the upper part; the ultraviolet fluorescent oil stain monitoring sensor consists of an ultraviolet laser and a spectrum analyzer which are fixed on the lower part of the shell, and a laser emission end of the ultraviolet laser and a fluorescence detection end of the spectrum analyzer are arranged towards the bottom opening of the shell, and a beam light tube of the ultraviolet fluorescent oil stain monitoring sensor vertically extends downwards from the bottom opening of the shell to the outer side of the shell; the camera is fixed on the bottom surface of the shell in a mode that the acquisition window of the camera is vertically downward; the wireless data transmission equipment is fixed on the top surface of the shell; the illumination sensor, the ultraviolet fluorescence oil stain monitoring sensor, the camera and the wireless data transmission equipment are respectively connected with the small industrial personal computer through data transmission lines.
Further, the wireless data transmission device is a 4G router.
Further, the ultraviolet laser employs a semiconductor laser having a wavelength of 405 nm.
Further, the oil spilling monitoring device for the oil supply operation of the ship further comprises an alarm which is connected with the small industrial personal computer 1 and used for giving an alarm sound when an abnormal monitoring result occurs.
Compared with the prior art, the ship oil supply operation oil spill monitoring method can efficiently and accurately monitor oil pollution of oil supply operation, and the accuracy of a detection result is high; the ship fuel feeding corresponding to the marine fuel feeding monitoring system is arranged on the side of the fuel feeding ship and is downwards aligned to the water surface below the fuel feeding pipe, the risk of leakage and leakage during the oil feeding operation of the marine fuel feeding is monitored, and the marine fuel feeding monitoring system is favorable for improving the anti-pollution monitoring capability of a marine main department on the oil feeding operation of the marine fuel feeding.
Drawings
FIG. 1 is a schematic view of an application field of the oil spill monitoring device for the oil supply operation of a ship;
FIG. 2 is a schematic structural diagram of an oil spill monitoring device for a ship oil supply operation according to the present invention;
FIG. 3 is a flow chart of the method for monitoring oil spilling during the oil supply operation of a ship according to the present invention;
FIG. 4 is a graph showing fluorescence intensity spectrum measured at a wavelength of 450nm in a case where the thickness of the oil film is d in example 2 of the present invention;
FIG. 5 is a graph showing the comparison of the measurement results of the fluorescence intensity method and the geometric measurement method for measuring the thickness of the oil film on the water surface in the present invention.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
Example 1
As shown in fig. 1, the monitoring device D for oil spill during the oil supply operation of the ship is suitable for an oil supply operation scene, and is specifically installed on the hull of an oil supply ship a on the side adjacent to an oil receiving ship B, and is arranged adjacent to an oil supply pipeline C between the oil supply ship a and the oil receiving ship B;
specifically, as shown in fig. 2, the system comprises a small industrial personal computer 1, an illuminance sensor 2, an ultraviolet fluorescent oil stain monitoring sensor 3, a camera 4, wireless data transmission equipment 5 and an alarm, wherein the small industrial personal computer, the illuminance sensor and the ultraviolet fluorescent oil stain monitoring sensor are arranged in a shell, and the camera 4, the wireless data transmission equipment 5 and the alarm are arranged outside the shell; wherein the content of the first and second substances,
the illumination sensor 2 is fixed on the upper part of the shell, and a photosensitive mechanism of the illumination sensor is exposed from an opening on the top of the shell and is arranged upwards, so that the illumination sensor stares at the sky upwards to monitor the field illumination condition in real time; specifically, the illuminance sensor preferably has interfaces such as RS232, RS485, or USB, so as to be connected to the small-sized industrial personal computer 1;
the ultraviolet fluorescent oil stain monitoring sensor 3 consists of an ultraviolet laser and a spectrum analyzer which are fixed at the lower part of the shell, so that a laser emission end of the ultraviolet laser and a fluorescence detection end of the spectrum analyzer are both arranged towards the bottom opening of the shell, and a beam tube of the ultraviolet fluorescent oil stain monitoring sensor 3 vertically extends downwards from the bottom opening of the shell to the outer side of the shell;
specifically, the ultraviolet laser employs a semiconductor laser having a wavelength of 405 nm.
The camera 4 is fixed on the bottom surface of the shell in a mode that an acquisition window of the camera is vertically downward, so that the camera can stare at the water surface downward, whether a colored oil film exists on the water surface is monitored in the daytime, and the monitoring principle is that the oil film has an interference effect on direct sunlight and scattered light, and oil films with different thicknesses generate different colors due to interference; specifically, the brand, model and resolution of the camera are not specifically required, and the camera preferably has interfaces such as RS232, RS485 or USB and the like so as to be connected with the small industrial personal computer 1;
the wireless data transmission equipment 5 adopts a 4G router which is fixed on the top surface of the shell and provides required network signals for remote data transmission of the small industrial personal computer 1;
the illumination sensor 2, the ultraviolet fluorescent oil contamination monitoring sensor 3, the camera 4 and the wireless data transmission device 5 are respectively connected with the small industrial personal computer 1 through data transmission lines, and the small industrial personal computer 1 drives the illumination sensor 2, the ultraviolet fluorescent oil contamination monitoring sensor 3 and the camera 4 to acquire data and collect the acquired data for subsequent processing and analysis; specifically, be equipped with data processing unit in the small-size industrial computer 1, it includes:
the illumination sensor processing module is connected with the illumination sensor and used for receiving the test result transmitted by the illumination sensor and judging whether the monitoring environment is night or daytime; the illumination sensor processing module is respectively connected with the image acquisition device processing module and the ultraviolet fluorescent oil stain monitoring sensor processing module so as to drive the image acquisition device to work or drive the ultraviolet fluorescent oil stain monitoring sensor 3 to work according to the judgment result;
the image acquisition device processing module is connected with the image acquisition device and used for driving the image acquisition device to continuously acquire monitoring images and receive image data so as to sequentially perform chrominance calculation on all pixels of each frame of image and further judge whether oil stains exist on the water surface;
the ultraviolet fluorescent oil contamination monitoring sensor processing module is connected with the ultraviolet fluorescent oil contamination monitoring sensor 3 and used for driving the ultraviolet fluorescent oil contamination monitoring sensor 3 to continuously emit ultraviolet laser light and receive spectral data obtained by processing of a spectrum analyzer so as to sequentially perform chromaticity calculation on the thickness of the oil film on the water surface reflected by the spectral data and further determine whether oil stains exist on the water surface;
the alarm module is connected with the alarm and used for driving the alarm to generate alarm sound; the alarm module is also respectively connected with the image acquisition device processing module and the ultraviolet fluorescent oil stain monitoring sensor processing module so as to judge whether to alarm according to the detection result.
Example 2
A ship oil supply operation oil spill monitoring method realized by adopting the ship oil supply operation oil spill monitoring device in the embodiment 1 comprises the following specific steps:
s1, judging whether the light of the monitoring environment is sufficient by using the illumination sensor: when the illuminance value measured by the illuminance sensor is less than or equal to 15 lux, judging that the monitoring environment is night and the light is insufficient; when the illuminance value measured by the illuminance sensor is more than 15 lux, the monitoring environment is judged to be daytime and the light is sufficient;
s2, when the light of the monitoring environment is judged to be sufficient, continuously acquiring multiframe images of the water surface of the monitoring area through the image acquisition device; when the light of the monitoring environment is judged to be insufficient, acquiring the fluorescence intensity of the water surface of the monitoring area under the f wave band through an ultraviolet fluorescence oil stain monitoring sensor;
s3, processing and analyzing the data collected in the step S2:
s301, aiming at the water surface image: the chrominance values h of all pixels in each frame image are calculated according to the following formula:
wherein r is the brightness value of the pixel in a red channel, g is the brightness value of the pixel in a green channel, b is the brightness value of the pixel in a blue channel, max is the maximum value of r, g and b of the same pixel, min is the maximum value of r, g and b of the same pixel, and the value range of chromaticity h is 0-360 degrees;
when the calculation results of the chromatic values of all pixels in the single-frame image cover 240 or more than 240 of the 360 results, the frame image is judged to be 'colorful', and oil stains exist on the water surface; when the chromatic values of all pixels in the single-frame image do not cover 240 or more than 240 of the 360 results, the image is judged to be 'single color', and oil stains do not exist on the water surface;
s302, aiming at the fluorescence intensity of the water surface under the wave band of 450 nm: and substituting the measured fluorescence intensity I into the following formula to calculate the oil film thickness d on the water surface:
d＝A×(If(d)-If(0) in (c) in (c),
wherein f is the wavelength of fluorescence, f is 450nm, A is the conversion coefficient between fluorescence and oil film thickness, If (d) is the fluorescence intensity of 450nm wave band when the oil film thickness is d, and If (0) is the fluorescence intensity of oil-free water body at 450nm wave band, namely the background fluorescence intensity;
s4, in the process of acquiring the continuous monitoring information, when any single frame image is judged to be 'colorful' in step S301 and oil bloom exists on the water surface, alarming is carried out; or, when the oil film thickness d measured at any time is more than or equal to 10 μm in the step S302, alarming.
In step S3, the conversion coefficient a between fluorescence and oil film thickness is measured as follows:
i) dripping oil drops into a bucket with a specific area, and calculating the thickness of the oil film on the water surface by a geometric measurement method;
ii) measuring the difference of the fluorescence intensity of the water surface before and after the oil drop is dropped;
iii) changing the volume of the dropped oil drops, and repeating the steps i) and ii), and measuring the oil film thickness for multiple times;
iv) drawing a geometric curve of the fluorescence intensity changing along with the oil film thickness by taking the fluorescence intensity as an abscissa and the oil film thickness as an ordinate;
v) performing linear regression treatment on the geometric curve drawn in the step iv), wherein the slope of the obtained straight line is the conversion coefficient A.
In this example, the conversion factor A between fluorescence and oil film thickness was tested to be 0.8X 10-3。
FIG. 4 shows a spectrum obtained by a spectrum analyzer after ultraviolet laser with a wavelength of 405nm is emitted to the water surface at night. The fluorescence intensity If (d) of 450nm wave band when the oil film thickness is d is intercepted from the graph, the fluorescence intensity of 450nm wave band of the oil-free water body, namely the background fluorescence intensity If (0), is calculated by a formula, the oil film thickness d is less than 10 mu m, and the problem that oil flowers do not exist on the water surface at the data acquisition time, namely the problem of running, overflowing and leaking of the oil during the oil supply operation of the ship can be judged according to the result.
FIG. 5 is a graph showing the comparison between the measurement results of the fluorescence intensity method and the geometric measurement method for measuring the thickness of the oil film on the water surface in the present invention. In the figure, data points are corresponding graphs of oil film thickness results obtained by adopting a geometric measurement method and corresponding fitting curves of the oil film thickness results obtained by adopting a fluorescence measurement method of the application; as can be seen from FIG. 5, when the fluorescence intensity method of the present application is used for testing the oil film on the same water surface, the oil film thickness result is substantially consistent with the oil film thickness result measured by a geometric measurement method, and the measurement method can effectively measure the oil film condition on the water surface.
Claims (8)
1. A ship oil supply operation oil spill monitoring method is characterized by comprising the following steps:
s1, judging whether the light of the monitored environment is sufficient by using an illumination sensor;
s2, when the light of the monitoring environment is judged to be sufficient, continuously acquiring multiframe images of the water surface of the monitoring area through the image acquisition device; when the light of the monitoring environment is judged to be insufficient, acquiring the fluorescence intensity of the water surface of the monitoring area under the f wave band through an ultraviolet fluorescence oil stain monitoring sensor;
s3, processing and analyzing the data collected in the step S2:
s301, aiming at the water surface image: the chrominance values h of all pixels in each frame image are calculated according to the following formula:
wherein r is the brightness value of the pixel in a red channel, g is the brightness value of the pixel in a green channel, b is the brightness value of the pixel in a blue channel, max is the maximum value of r, g and b of the same pixel, min is the maximum value of r, g and b of the same pixel, and the calculation result of the chromaticity h is an integer and has a value range of 0-360 degrees;
when the calculation results of the chromatic values of all pixels in the single-frame image cover 240 or more than 240 of the 360 results, the frame image is judged to be 'colorful', and oil stains exist on the water surface; when the chromatic values of all pixels in the single-frame image do not cover 240 or more than 240 of the 360 results, the image is judged to be 'single color', and oil stains do not exist on the water surface;
s302, aiming at the fluorescence intensity of the water surface under the f wave band: and substituting the measured fluorescence intensity I into the following formula to calculate the oil film thickness d on the water surface:
d＝A×(If(d)-If(0) in (c) in (c),
wherein f is the wavelength of fluorescence, A is the conversion coefficient between fluorescence and oil film thickness, If (d) is the fluorescence intensity of f wave band when the oil film thickness is d, and If (0) is the fluorescence intensity of oil-free water body in f wave band, namely the background fluorescence intensity;
when the thickness d of the oil film obtained by calculation is less than 10 mu m, judging that no oil splash exists on the water surface; when the thickness d of the oil film obtained by calculation is more than or equal to 10 mu m, judging that oil stains exist on the water surface;
s4, when any single frame image is judged to be 'colorful' in the step S301 and oil bloom exists on the water surface, alarming is carried out; or, when the oil film thickness d measured at any time is more than or equal to 10 μm in the step S302, alarming.
2. The marine vessel fueling operation spill monitoring method of claim 1, wherein in step S1: when the illuminance value measured by the illuminance sensor is less than or equal to 15 lux, judging that the monitoring environment is night and the light is insufficient; when the illuminance value measured by the illuminance sensor is more than 15 lux, the monitoring environment is judged to be daytime and the light is sufficient.
3. The method for monitoring oil spill in marine oil supply operation according to claim 1, wherein in step S3, f is 450 nm.
4. The method for monitoring oil spill in marine oil supply operation according to claim 1, wherein in step S3, the method for determining the conversion coefficient a between fluorescence and oil film thickness is: i) dripping oil drops into a bucket with a specific area, and calculating the thickness of the oil film on the water surface by a geometric measurement method; ii) measuring the difference of the fluorescence intensity of the water surface before and after the oil drop is dropped; iii) changing the volume of the dropped oil drop, and repeating the steps i) and ii) for multiple times to measure different oil film thicknesses, iv) drawing a geometric curve of the fluorescence intensity changing along with the oil film thickness by taking the oil film thickness as a horizontal coordinate and the fluorescence intensity as a vertical coordinate; v) performing linear regression treatment on the geometric curve drawn in the step iv), wherein the slope of the obtained straight line is the conversion coefficient A.
5. The device for monitoring the oil spill in the oil supply operation of the ship is characterized by comprising a small industrial personal computer (1), an illumination sensor (2), an ultraviolet fluorescent oil stain monitoring sensor (3), a camera (4) and wireless data transmission equipment (5), wherein the small industrial personal computer, the illumination sensor and the ultraviolet fluorescent oil stain monitoring sensor are arranged in a shell; the illumination sensor (2) is fixed on the upper part of the shell, and the photosensitive mechanism of the illumination sensor is exposed out of the top opening of the shell and is arranged towards the upper part; the ultraviolet fluorescent oil stain monitoring sensor (3) consists of an ultraviolet laser and a spectrum analyzer which are fixed at the lower part of the shell, and a laser emission end of the ultraviolet laser and a fluorescence detection end of the spectrum analyzer are arranged towards the bottom opening of the shell, and a beam light tube of the ultraviolet fluorescent oil stain monitoring sensor (3) vertically extends downwards from the bottom opening of the shell to the outer side of the shell; the camera (4) is fixed on the bottom surface of the shell in a mode that an acquisition window of the camera is vertically downward; the wireless data transmission equipment (5) is fixed on the top surface of the shell; the illumination sensor (2), the ultraviolet fluorescent oil stain monitoring sensor (3), the camera (4) and the wireless data transmission equipment (5) are respectively connected with the small industrial personal computer (1) through data transmission lines.
6. The marine oil supply operation spill monitoring device of claim 5, wherein the wireless data transmission device (5) is a 4G router.
7. The apparatus for monitoring the oil spill during the oil supplying operation of the ship as claimed in claim 5, wherein the ultraviolet laser is a semiconductor laser having a wavelength of 405 nm.
8. The device for monitoring the oil spilling during the oil supply operation of the ship according to claim 5, further comprising an alarm connected with the small industrial personal computer (1).
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| CN117152064A (en) * | 2023-08-11 | 2023-12-01 | 成都格理特电子技术有限公司 | Petrochemical plant pipeline liquid drip detection method and system based on images |
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