CN1243214C - Urban underground miniature pipe depth measuring transducer based on CCD photosensitive elements - Google Patents
Urban underground miniature pipe depth measuring transducer based on CCD photosensitive elements Download PDFInfo
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- CN1243214C CN1243214C CN 200410025219 CN200410025219A CN1243214C CN 1243214 C CN1243214 C CN 1243214C CN 200410025219 CN200410025219 CN 200410025219 CN 200410025219 A CN200410025219 A CN 200410025219A CN 1243214 C CN1243214 C CN 1243214C
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Abstract
The present invention relates to a sensor for measuring the depth of an urban underground micro pipeline on the basis of CCD sensitizing members, which comprises a main body of the sensor, a drive part of the sensor and a data processing part of the sensor, wherein the main body is formed by connecting two rigid circular pipes by an elastic hose which can change bending following the curvature of the pipeline. Optical distance measuring devices are placed in the two rigid circular pipes, the depth data are converted into data in a photoelectric conversion mode, wherein the data can be processed by a computer. Afterwards, the computer calculates the depth and displays results, so the measurement of the depth of the underground micro pipeline is finished. Because the CCD sensitizing member adopted by the present invention has high resolution and small size, the main body of the sensor can be made into very small size in order to be suitable for the pipeline with vary small diameter. The main body of the sensor is sealed completely without ambient interference and can not be limited to the length of the pipeline. The present invention not only can be used for measuring the depth of underground thin pipelines, but also can be popularized for being applied to the measurement of vertical distance of all invisible pipelines and reference surfaces.
Description
Technical field
The present invention relates to the underground micro-tube depth survey in a kind of city sensor, relate in particular to the underground micro-tube depth survey in a kind of city sensor based on the CCD photo-sensitive cell, not only can be used for the measurement of the underground micro-tube degree of depth, can also be applied to the measurement of vertical range between all invisible pipelines and reference field, belong to the robotization detection range.
Background technology
At present, along with the arrival of information age, undergroundly in the city to lay various miniature information pipelines.Because populous, heavy traffic in the city, and prohibited in some locations in city and to have adopted excavation type method tubing, therefore generally all adopted the non-excavation type method to carry out miniature information pipeline laying.Pipeline is one of significant data of underground pipeline planning, laying and maintenance in the underground degree of depth.Owing to adopt the non-excavation type method to carry out pipeline laying, so pipeline depth must be measured by instrument.This makes and is applicable to that the method for the petroleum pipe line depth survey that diameter is bigger is no longer suitable owing to information pipe diameter very little (about 3～4cm).And pipeline this makes the depth transducer of making according to echo principle very widely (below the duct length 20m) to work in underground length long (about 200～300m).The method that extensively adopts is on the drill bit of probing pipeline electromagnetic wave launcher to be installed at present, and the radar by ground receives then, obtains the degree of depth of pipeline with this.Because this method adopts electromagnetic wave to send and receives, so be interfered easily.Particularly easier because various electromagnetic interference (EMI) make correctly identification signal of radar in the city, cause the inaccurate of depth survey, to construction with keep in repair and brought many hidden danger and inconvenience.
Retrieval to existing depth survey technology is found, Chinese invention patent " the mining medium-length hole degree of depth and drift indicator " (application number 01249875) has solved the measurement at the deep hole degree of depth and inclination angle, but it uses acoustic wave transducer, pendulum box, photoelectric encoder, instrument case etc. to constitute the intelligent measuring instrument, make the entire equipment volume very huge, can not satisfy the measurement of the small diameter pipeline degree of depth.
Therefore, in order to solve underground micro-tube depth survey problem, it is strong to invent a kind of antijamming capability, and the underground micro-tube depth survey in the city that size is little sensor to reach the design objective requirement of expection, is a new research work.Retrieval to existing patented technology is found, does not also find the device that addresses the above problem.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, the underground micro-tube depth survey in a kind of city based on CCD photo-sensitive cell sensor is provided, the measurement of the underground micro-tube degree of depth can be realized easily and accurately, the measurement of vertical range between all invisible pipelines and reference field can also be applied to.
The present invention is achieved by the following technical solutions:
Comprise sensor body, sensor driving part and sensing data processing section based on the city of CCD photo-sensitive cell underground micro-tube depth survey sensor.Sensor body is placed in the underground pipeline, form by linking together by two rigidity pipes with the elastic hose that the pipeline curvature bending changes, place the ligh-ranging device in two rigidity pipes, the center set-point light source of one of them rigidity pipe, ccd image sensor is placed at corresponding another rigidity pipe center, the uniform a plurality of slip steamboats that supported by thick steel disc of each rigidity pipe outside surface make the rigidity pipe prop up underground pipeline and can be along the stable motion of underground pipeline axis by the slip steamboat.Sensor driving part is by stepper motor, stepper motor driver, and draught line and pulling line are formed, and stepper motor comes the driving sensor body to move in pipeline by the scrolling draught line.The sensing data processing section comprises host computer and is positioned at the following level controller of sensor body, the ray cast that pointolite sends is on ccd image sensor, distance between the horizontal line of subpoint and center sensor point is the data that sensor need be gathered, finish analog-to-digital conversion by following level controller, and digital signal is sent to host computer handle, finish underground micro-tube depth survey.
Concrete structure of the present invention is: sensor body comprises sensor outer housing and ligh-ranging device.Sensor body will be moved in pipeline.Sensor outer housing is made up of by linking together with the elastic hose that the pipeline curvature bending changes two rigidity pipes.Elastic hose utilizes fixedly connected two the rigidity pipes of the radial tension of rubber, and then pastes circle aluminium flake a fastening rigidity pipe of trip bolt and an elastic hose in the coupling part.On the level ground, the whole sensor shell is installed in line.Place parts such as ligh-ranging device, circuit and O-ring seal in two rigidity pipes.Elastic hose rises and connects two rigidity pipes, and the pipeline curved transition is provided, water-tight and the effect that prevents the external light source influence.So the rigidity pipe moves in pipeline to make things convenient for sensor body because sensor will move will do short as much as possible in the curvature pipeline is arranged.Each rigidity pipe outside surface slip steamboat that a plurality of thick steel discs support that evenly distributes is so that the rigidity pipe can prop up pipeline and can be along the conduit axis stable motion by the slip steamboat.Elastic hose adopts the inner elastomeric material that axial steel wire is arranged, to prevent the elastic hose axial tension.
The ligh-ranging device is this sensor most important part, and the ligh-ranging device is finished the collection of pipeline depth data.The ligh-ranging device is fixedly mounted in the sensor outer housing, and moves in pipeline with sensor outer housing.The ligh-ranging device is made up of ccd image sensor and pointolite.In the sensor outer housing pipe rear end that is introduced into pipeline ccd image sensor is installed, the position of installing is at the mouth of pipe of pipe near elastic hose, require the plane, ccd image sensor place all should be as far as possible and the axis normal of pipe, and the ccd image sensor center should with the axis coinciding of rigidity pipe.After enter pipeline sensor outer housing pipe front end a pointolite is installed, the light that requires the pointolite emission as far as possible with the pipe dead in line, and the diameter of the light of pointolite emission should be as much as possible and the equal and opposite in direction of the photovoltaic sensing element unit of ccd image sensor, can make precision reach the size of ccd image sensor resolution like this.
The principle of ligh-ranging device is: require the distance between two rigidity pipe opposing end surface centers of circle short as much as possible during design, when the detectable angle of minimum deviation of ccd image sensor is as central angle must be greater than the pipeline maximum curvature radius time (but corresponding arc length), and to guarantee sensor each time all sample after the distance that moves between two rigidity pipe opposing end surface centers of circle (since in pipeline when mobile elastic hose be equivalent to only be subjected to flexural deformation, therefore can think that the distance between two rigidity pipe opposing end surface centers of circle is constant).The circular arc conduit axis can be reduced to the curve that is joined end to end and formed by a lot of very short broken lines like this, the length of each section broken line can be thought two distances between the rigidity pipe opposing end surface center of circle.As long as calculate the difference in height of each section broken line between putting from beginning to end, just can obtain the degree of depth that each section broken line is put relative ground from beginning to end by accumulation calculating again.The data that difference in height between each section broken line is put from beginning to end utilizes the ligh-ranging device to record just can be calculated, and can obtain each section broken line corresponding by the data that record is the central angle of radial direction with two rigidity pipe opposing end surfaces.When pipeline does not have bending, the projection of pointolite on ccd image sensor is just at the center of CCD, difference in height between each section broken line is put from beginning to end is exactly two distances between the rigidity pipe opposing end surface center of circle and the product of the cosine of each section broken line central angle sum before: when pipeline has bending, and the center that the projection of pointolite on ccd image sensor departs from CCD.The relative horizontal vertical range of crossing the CCD center of subpoint can be calculated the corresponding central angle of this section broken line, and the difference in height between at this moment each section broken line is put from beginning to end is exactly two distances between the rigidity pipe opposing end surface center of circle and each section broken line central angle sum is before added half the product of cosine of this section broken line central angle.Calculate the degree of depth just can try to achieve the relative ground of the many discrete points of pipeline by these because between the sampled point apart from very near, so can think that these discrete points can represent pipeline depth.
Sensor driving part is made up of stepper motor, driver, computing machine motion control card, pulley, draught line and pulling line.At first in pipeline, penetrate draught line, enter from the other end from one section inlet of pipeline and pass.Draught line uses steel wire, and an end connects sensor body one end and connects the stepper motor rotating disk.Stepper motor has worm type of reduction gearing.Stepper motor comes the driving sensor body to move in pipeline by the scrolling draught line, and the draught line process is in the pulley minimizing of the mouth of pipe and the friction of the mouth of pipe.By the stepping angle of known stepper motor, radius and each section broken line length of rotating disk, the computing machine motion control card can be calculated and the umber of pulse of stepper motor driver and the motion that frequency is come the control step motor will be issued, photoelectric encoder can be used as the motion that feedback is improved sensor body, and the current displacement in pipeline of detecting sensor.The ccd sensor body is sampled every one section broken line length.Though draught line can not be identical with the displacement of sensor body fully during the traction sensor body, because the diameter of pipeline is very little and velocity of rotation stepper motor is very slow, so still can use the displacement of draught line to replace the displacement of sensor body.Pull line with after the rigidity pipe that enters link to each other, pull line and play the effect that makes sensor body slowly mobile, can improve precision like this.Pulling line can be operated by survey crew.
The sensing data processing section is by level controller and host computer are formed down.Following level controller is positioned at the rear portion of ccd image sensor, also is enclosed in the rigidity pipe.Following level controller is a digital signal with the analog signal conversion of the ccd image sensor output of each sampled point, this signal is the horizontal vertical range in the relative CCD of mistake of pointolite subpoint on the CCD center of circle, descends level controller that digital signal is sent to host computer by the RS-485 host-host protocol then.The RS-485 transmission line in pipeline with draught line around, an end connects the next controller data output terminal, an end is connected with the serial ports of host computer by the aviation plug on the turntable shaft.
Host computer carries out the storage and the processing of data.Computing machine is received down the data that level controller sends by the RS-485 host-host protocol, at first with data storage in the hard disk of computing machine, save as the file layout that can read and be convenient to the processing and the preservation of data, the data processor of then data being sent into host computer carries out data processing and demonstration.Data processor is made of serial data input interface, iteration and processing code and reveal codes.The serial data input interface is sent to the data transmission of computing machine in data processor with RS-485; Iteration with handle code write as the data of the horizontal vertical range in the relative CCD of mistake of pointolite subpoint on the CCD center of circle of input by aforementioned principles algorithm and calculate the degree of depth on each relative ground of sampled point, then can compute classes like the unique point of deepest point etc.Reveal codes is exported the degree of depth of sampled point by graphics mode, also can show unique points such as deepest point simultaneously, then data is printed, and backs up.
The present invention is converted to the manageable data of computing machine by opto-electronic conversion with depth data, because that CCD resolution height and size can be made is very little, therefore the sensor body in pipeline can be made very for a short time of to be fit to the very little pipeline of diameter.Sensor body seals fully, therefore can not be subjected to extraneous interference.Sensor is not subjected to the restriction of duct length yet.Not only can be used for the measurement of underground tiny pipeline depth, can also be applied to the measurement of vertical range between all invisible pipelines and reference field.
Description of drawings
Fig. 1 is the underground micro-tube depth survey in the city sensor one-piece construction synoptic diagram that the present invention is based on the CCD photo-sensitive cell.
Among Fig. 1, underground pipeline 1, ground 2, sensor body 3, stepper motor driver 4, computing machine 5, pulley 6, rotating disk 7, with draught line around RS-485 communication transmission line 8, stepper motor 9, photoelectric encoder 10 pulls line 11.
Fig. 2 is when pipeline does not have bending, the sensor body synoptic diagram.
Among Fig. 2, underground pipeline 1, with the RS-485 data line around draught line 8, slip steamboat 12, crooked thick steel disc 13, trip bolt 14, elastic hose 15, aluminium flake 16, rigidity pipe 17, the light 18 that pointolite sends, following level controller 19, ccd image sensor 20, pointolite 21.
Fig. 3 is when pipeline has bending, the sensor body synoptic diagram.
Among Fig. 3, underground pipeline 1, with the RS-485 data line around draught line 8, slip steamboat 12, crooked steel disc 13, trip bolt 14, elastic hose 15, aluminium flake 16, rigidity pipe 17, the light 18 that pointolite sends, following level controller 19, ccd image sensor 20, pointolite 21.
Fig. 4 is Fig. 2 sensor body A-A directional profile figure.
Among Fig. 4, underground pipeline 1, slip steamboat 12, crooked steel disc 13, trip bolt 14, elastic hose 15, aluminium flake 16, rigidity pipe 17, pointolite 21 prevents the steel wire 22 that flexible pipe stretches in the elastic hose.
Fig. 5 is Fig. 2 sensor body B-B directional profile figure.
Among Fig. 5, underground pipeline 1, slip steamboat 12, crooked steel disc 13, trip bolt 14, elastic hose 15, aluminium flake 16, rigidity pipe 17, ccd image sensor 20 prevents the steel wire 22 that flexible pipe stretches in the elastic hose.
Embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is further described.
The present invention is based on the underground micro-tube depth survey in the city sensor one-piece construction of CCD photo-sensitive cell and working position as shown in Figure 1.Sensor of the present invention mainly comprises sensor body, sensor driving part and sensing data processing section.Sensor body 3 is placed in the underground pipeline 1; The sensing data processing section comprises host computer 5 and is positioned at the following level controller of sensor body 3; Sensor driving part is by stepper motor 9, stepper motor driver 4, and draught line 8 and pulling line 11 are formed.Stepper motor 9 places on the ground 2, is connected to photoelectric encoder 10 on the stepper motor 9, and photoelectric encoder 10 links to each other with stepper motor driver 4, and computing machine 5 links to each other with stepper motor driver 4, photoelectric encoder 10 and rotating disk 7 respectively.Be wound with RS-485 communication transmission line and draught line 8 on the rotating disk 7, be connected to an end of sensor body 3 by pulley 6, the other end of sensor body 3 connects and pulls line 11.Stepper motor 9 has worm type of reduction gearing and drives rotating disk 7 rotations.Stepper motor 9 comes driving sensor body 3 to move in pipeline 1 by scrolling draught line 8, and draught line 8 processes are in pulley 6 minimizings of the mouth of pipe and the friction of the mouth of pipe.By the stepping angle of known stepper motor 9, radius and each section broken line length of rotating disk, can calculate computing machine 5 motion control cards and will issue the umber of pulse of stepper motor driver 4 and the motion that frequency is come control step motor 9, photoelectric encoder 10 can record the position feed back signal of sensor body.Sensor body 3 is sampled every one section broken line length.Though draught line 8 can not be identical with the displacement of sensor body 3 fully during traction sensor body 3, but because the diameter of pipeline is very little and velocity of rotation stepper motor 9 is very slow, so still can use the displacement of draught line 8 to replace the displacement of sensor body 3.Pull line 11 with after the rigidity pipe 17 that enters link to each other, pull line 11 and play the effect that makes sensor body slowly mobile, can improve precision like this.Pulling line 11 can be operated by survey crew.
When pipeline 1 did not have bending, the light 18 that pointolite 21 sends was projected in the central point of ccd image sensor 20, as shown in Figure 2.When pipeline 1 had bending, light 18 projections that pointolite 21 sends departed from the central point of ccd image sensor 20, as shown in Figure 3.Distance between the horizontal line of subpoint and ccd image sensor 20 central points is exactly the data that depth transducer of the present invention need be gathered.
Two rigidity pipes 17 link together by elastic hose 15, form sensor outer housing, and its size should adapt with underground pipeline 1.Rigidity pipe 17 can not slide in elastic hose 15, measures inaccurately otherwise will make, so the present invention pastes a circle aluminium flake 16 in the rigidity pipe 17 and the coupling part of elastic hose 15, and fastening with trip bolt 14.The uniform a plurality of slip steamboats 12 that supported by thick steel disc 13 of each rigidity pipe 17 outside surface are so that rigidity pipe 17 can prop up pipeline 1 and can be along the axis stable motion of pipeline 1 by slip steamboat 12.Elastic hose 15 adopts the inner elastomeric material that axial steel wire is arranged, to prevent elastic hose 15 axial tensions.Sensor outer housing also requires good airproof performance, plays the effect of water-tight, makes the ligh-ranging device not influenced by external light source simultaneously.Want in the sensor outer housing set-point light source 21, ccd image sensor 20, with draught line 8 around RS-485 connection and following level controller 19.Following level controller 19 is finished analog-to-digital conversion, and the analog signal conversion that ccd image sensor 20 is exported is the digital signal that computing machine 5 can receive.Following level controller 19 is also finished the communication of RS-485 agreement, digital signal is sent to host computer 5 handle.
Fig. 4 is sensor body A-A directional profile figure shown in Figure 2, as shown in Figure 4, rigidity pipe 17 outside surfaces are uniform a plurality ofly to support slip steamboats 12 by thick steel disc 13, so that rigidity pipe 17 can prop up underground pipeline 1 and can be along underground pipeline 1 axis stable motion by slip steamboat 12.Elastic hose 15 adopts the inner elastomeric material that axial steel wire 22 is arranged, to prevent elastic hose 15 axial tensions.Rigidity pipe 17 pastes a circle aluminium flake 16 with the coupling part of elastic hose 15, and fastening with trip bolt 14.Pointolite 21 is fixedly mounted on the axis of a rigidity pipe 17.
Fig. 5 is sensor body B-B directional profile figure shown in Figure 2, the i.e. sectional view of another rigidity pipe.As shown in Figure 5, ccd image sensor 20 is fixedly mounted on the central axis of rigidity pipe 17.
The ligh-ranging device is a major part of the present invention.Ligh-ranging Unit Installation such as Fig. 4, shown in Figure 5.The ligh-ranging device is made up of a pointolite 21 and a ccd image sensor 20, pointolite 21 size requirements should be as far as possible and the equal and opposite in direction of the photoelectric sensing unit of ccd image sensor 20, can make this sensor accuracy reach the size of ccd image sensor 20 resolution like this.The installation requirement of pointolite 21 is to make the light 18 of pointolite 21 emission can be along the axis propagation of rigidity pipe 17, and it is stable to require pointolite 21 to install.Ccd image sensor 20 is installed the axis normal that should as far as possible make ccd image sensor plane, 20 place and rigidity pipe 17, and the photoelectric sensing unit at ccd image sensor 20 centers should with the axis coinciding of rigidity pipe 17, ccd image sensor 20 also should be installed in rigidity pipe 17 mouth of pipe near elastic hoses 15 as far as possible.
The sensing data processing section is by level controller 19 and host computer 5 are formed down.Following level controller 19 is installed in the ccd image sensor rear portion, also is enclosed in the rigidity pipe 17.Following level controller 19 is a digital signal with the electrical signal conversion of ccd image sensor 20 outputs of each sampled point, descends level controller 19 that digital signal is sent to host computer 5 by RS-485 communication transmission line then.Transmission line connects the RS-485 data output end of level controller down with draught line 8 around, transmission line one end in pipeline 1, an end is connected with the serial ports of host computer 5 by the aviation plug on 7 of the rotating disks.
Claims (4)
1, the underground micro-tube depth survey in a kind of city sensor based on the CCD photo-sensitive cell, comprise sensor body, sensor driving part and sensing data processing section, the two ends that it is characterized in that sensor body (3) connect draught line (8) respectively and pull line (11), and by stepper motor (9) driving of being with photoelectric encoder (10), sensor outer housing is made up of by linking together with the elastic hose (15) that the pipeline curvature bending changes two rigidity pipes (17), elastic hose (15) is close to a circle aluminium flake (16) and fastening with trip bolt (14) with the connecting portion of rigidity pipe (17), the uniform a plurality of slip steamboats (12) that support by thick steel disc (13) of each rigidity pipe outside surface, make rigidity pipe (17) prop up underground pipeline (1) and can be along underground pipeline (1) axis stable motion by slip steamboat (12), place the ligh-ranging device in two rigidity pipes (17), the center set-point light source (21) of one of them rigidity pipe, ccd image sensor (20) is placed at corresponding another rigidity pipe center, the axis normal of ccd image sensor (20) plane, place and rigidity pipe (17), the distance of the light (18) that pointolite (21) sends between the horizontal line of subpoint on the ccd image sensor (20) and ccd image sensor (20) central point is the data that depth transducer need be gathered, by the following level controller (19) that is installed in the ccd image sensor rear portion electrical signal conversion of will sampling is digital signal, and is sent to host computer (5) by the communication transmission line and handles.
2, the underground micro-tube depth survey in the city based on the CCD photo-sensitive cell as claimed in claim 1 sensor is characterized in that there is the elastomeric material of axial steel wire (22) described elastic hose (15) employing inside, to prevent elastic hose (15) axial tension.
3, the underground micro-tube depth survey in the city based on the CCD photo-sensitive cell as claimed in claim 1 sensor, it is characterized in that described communication transmission line in pipeline (1) with draught line (8) around, transmission line one end connects the data output end of level controller (19) down, and an end is connected with the serial ports of host computer (5) by the aviation plug on stepper motor rotating disk (7) axle.
4, the underground micro-tube depth survey in the city based on the CCD photo-sensitive cell as claimed in claim 1 sensor, it is characterized in that between host computer (5) and the following level controller (19) communicating by letter and transmit the data of depth survey by RS-485, after host computer (5) is received down the data that level controller (19) sends, at first with data storage in hard disk, save as the file layout that can read, carry out Data Receiving, preservation, iterative computation and demonstration by data processor then and print.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410025219 CN1243214C (en) | 2004-06-17 | 2004-06-17 | Urban underground miniature pipe depth measuring transducer based on CCD photosensitive elements |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410025219 CN1243214C (en) | 2004-06-17 | 2004-06-17 | Urban underground miniature pipe depth measuring transducer based on CCD photosensitive elements |
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| Publication Number | Publication Date |
|---|---|
| CN1595053A CN1595053A (en) | 2005-03-16 |
| CN1243214C true CN1243214C (en) | 2006-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200410025219 Expired - Fee Related CN1243214C (en) | 2004-06-17 | 2004-06-17 | Urban underground miniature pipe depth measuring transducer based on CCD photosensitive elements |
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| CN (1) | CN1243214C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3332266A4 (en) * | 2015-08-03 | 2019-04-17 | Commonwealth Scientific and Industrial Research Organisation | Monitoring systems and methods |
| CN105465611B (en) * | 2015-11-16 | 2018-05-25 | 武汉中仪物联技术股份有限公司 | A kind of drainage pipeline sonar detecting method |
| CN109612368B (en) * | 2018-12-20 | 2024-01-26 | 长庆石油勘探局有限公司技术监测中心 | Waterproof type small-caliber pipeline length measurement system and method |
| CN113601052B (en) * | 2021-07-28 | 2023-03-14 | 中国水利水电第六工程局有限公司 | Short pipe fixing tool suitable for automatic welding |
| CN115200487B (en) * | 2022-08-24 | 2023-05-30 | 水利部交通运输部国家能源局南京水利科学研究院 | Safety measurement device and safety evaluation method for large-caliber pipeline |
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