CN205350863U - Gas pipe network leaks on -line monitoring system , monitoring devices and portable monitoring devices - Google Patents

Gas pipe network leaks on -line monitoring system , monitoring devices and portable monitoring devices Download PDF

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CN205350863U
CN205350863U CN201620012757.7U CN201620012757U CN205350863U CN 205350863 U CN205350863 U CN 205350863U CN 201620012757 U CN201620012757 U CN 201620012757U CN 205350863 U CN205350863 U CN 205350863U
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monitor device
gas leakage
leakage
alarm signal
line monitor
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刘奕
杨盼
王刚桥
刘呈
蒋泽宇
钱静
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Tsinghua University
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Tsinghua University
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Abstract

The utility model discloses a gas pipe network leaks on -line monitoring system, monitoring devices and portable monitoring devices, monitoring system include a plurality of gass leakage on -line monitoring device, and every gas is leaked on -line monitoring device and is included methane analyser for the methane concentration of on -line monitoring device department is leaked in the monitoring gas, orientation module, wireless communication module for forward alarm signal and be given to the host computer, the controller links to each other with methane analyser, orientation module and wireless communication module respectively for monitoring methane concentration at methane analyser and exceeding when predetermineeing the threshold value, to wireless communication module sent alarm signal, wherein, alarm signal includes methane concentration and monitoring module's position, the host computer for receive alarm signal and feedback. The utility model has the advantages of as follows: whether set up a plurality of gass leakage on -line monitoring device real -time supervision gas pipeline leaks to generate alarm signal and give the host computer when monitoring emergence gas leakage, thereby leak on -line monitoring to large tracts of land region realization high accuracy, long -range real -time gas.

Description

Gas ductwork leakage on-line monitoring system, monitoring device and portable monitoring device
Technical field
This utility model relates to gas leakage detection field, is specifically related to a kind of gas ductwork leakage on-line monitoring system, monitoring device and portable monitoring device.
Background technology
Along with national energy-saving reduces discharging wideling popularize of policy, natural gas is due to clean, convenient, high-quality, efficient advantage, and its effect in energy resource structure will be more and more important.Therefore, thing followed gas leakage problem is also on the rise, it will bring safely huge hidden danger to the people's lives and property.
At present, the monitoring of urban underground gas ductwork leakage situation being also based on the mode that manual inspection is measured, detection workload is big, not prompt enough and to detect the cycle long.On the other hand, mature cities a lot of at home, the such as city such as Beijing, Shenyang, of the remote past due to what lay, the laying-out figure of underground utilities preserves sufficiently complete, brings bigger difficulty to patrolling and examining along the line, therefore, by the single artificial current demand that cannot meet far away along duct survey.
Utility model content
This utility model is intended at least solve one of above-mentioned technical problem.
For this, first purpose of the present utility model is in that to propose a kind of gas ductwork leakage on-line monitoring system.
Second purpose of the present utility model is in that to propose a kind of gas ductwork leakage on-Line Monitor Device.
3rd purpose of the present utility model is in that to propose a kind of gas ductwork leakage on-Line Monitor Device.
To achieve these goals, embodiment of the present utility model discloses a kind of gas ductwork leakage on-line monitoring system, including: multiple gas leakage on-Line Monitor Device, wherein, multiple described gas leakage on-Line Monitor Device intervals and be fixedly installed on preset location and/or arrange on a mobile platform, each gas leakage on-Line Monitor Device includes: methane analyser, for monitoring the methane concentration at described gas leakage on-Line Monitor Device place;Locating module, for obtaining the position of described gas leakage on-Line Monitor Device;Wireless communication module, for being transmitted to host computer by the alarm signal that controller sends;Controller, it is connected with described methane analyser, described locating module and described wireless communication module respectively, for described methane analyser monitor methane concentration exceed predetermined threshold value time, described alarm signal is sent to described wireless communication module, wherein, described alarm signal includes methane concentration and the position of described monitoring modular;Host computer, is used for receiving described alarm signal and feeding back.
Gas ductwork leakage on-line monitoring system according to this utility model embodiment, multiple gas leakage on-Line Monitor Device is set and monitors whether gas pipeline leaks in real time, and generate alarm signal when monitoring generation gas leakage to host computer, thus large area region is realized high accuracy, remotely real-time gas leakage on-line monitoring.
It addition, the gas ductwork according to this utility model above-described embodiment leaks on-line monitoring system, it is also possible to have following additional technical characteristic:
Further, described gas leakage on-Line Monitor Device also includes: wind direction and wind velocity measuring instrument, the wind direction at gas leakage on-Line Monitor Device place and wind speed described in the detection signal detection that sends according to described controller, and wind direction and wind speed measurement result are sent to described controller;Wherein, described controller be additionally operable to described methane analyser monitor methane concentration exceed described predetermined threshold value time, described wind direction and wind velocity measuring instrument being sent described detection signal and receives described wind direction and wind speed measurement result, described alarm signal also includes described wind direction and wind speed measurement result.
Further, multiple described gas leakage on-Line Monitor Device intervals and be fixedly installed on preset location and/or arrange on a mobile platform.
Further, described host computer is additionally operable to adopt location algorithm to determine the position of gas leakage according to described alarm signal.
Further, described locating module is GPS module, and described wireless communication module is GPRS module, and described GPS module and described GPRS module are integrated in SIM908 module.
Further, described alarm signal also includes the temporal information sending described alarm signal.
To achieve these goals, embodiment of the present utility model discloses a kind of gas leakage on-Line Monitor Device, including: methane analyser, for monitoring the methane concentration at described gas leakage on-Line Monitor Device place;Locating module, for obtaining the position of described gas leakage on-Line Monitor Device;Wireless communication module, for being transmitted to host computer by the alarm signal that controller sends;And controller, it is connected with described methane analyser, described locating module and described wireless communication module respectively, reports to the police for monitoring when methane concentration exceedes predetermined threshold value at described methane analyser.
According to this utility model embodiment gas ductwork leakage on-Line Monitor Device, in real time monitor whether occur gas leakage, the automatic alarm when gas leakage, solve manual detection gas leakage not in time, inefficient problem.
It addition, the gas ductwork according to this utility model above-described embodiment leaks on-Line Monitor Device, it is also possible to have following additional technical characteristic:
Further, also include: wind direction and wind velocity measuring instrument, the wind direction at gas leakage on-Line Monitor Device place and wind speed described in the detection signal detection that sends according to described controller, and wind direction and wind speed measurement result are sent to described controller;Wherein, described controller be additionally operable to described methane analyser monitor methane concentration exceed described predetermined threshold value time, described wind direction and wind velocity measuring instrument being sent described detection signal and receives described wind direction and wind speed measurement result, described alarm signal also includes described wind direction and wind speed measurement result.
To achieve these goals, embodiment of the present utility model discloses a kind of portable gas leakage on-Line Monitor Device, including mobile platform, described mobile platform is provided with above-mentioned gas leakage on-Line Monitor Device.
Additional aspect of the present utility model and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by practice of the present utility model.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present utility model and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the structural representation of the gas ductwork leakage on-line monitoring system of one embodiment of this utility model;
Fig. 2 is the layout schematic diagram of the gas leakage on-Line Monitor Device of one embodiment of this utility model;
Fig. 3 is the structural representation of the gas leakage on-Line Monitor Device of one embodiment of this utility model;
Fig. 4 is the structural representation of the portable gas leakage on-Line Monitor Device of one embodiment of this utility model.
Detailed description of the invention
Being described below in detail embodiment of the present utility model, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining this utility model, and it is not intended that to restriction of the present utility model.
In description of the present utility model, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, it is for only for ease of description this utility model and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or hint relative importance.
In description of the present utility model, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly;Can be mechanically connected, it is also possible to be electrical connection;Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be the connection of two element internals.For the ordinary skill in the art, it is possible to concrete condition understands above-mentioned term concrete meaning in this utility model.
With reference to as explained below and accompanying drawing, it will be clear that these and other aspects of embodiment of the present utility model.Describe and in accompanying drawing at these, specifically disclose some particular implementation in embodiment of the present utility model, represent some modes of the principle implementing embodiment of the present utility model, but it is to be understood that the scope of embodiment of the present utility model is not limited.On the contrary, all changes within the scope of embodiment of the present utility model includes falling into attached claims spirit and intension, amendment and equivalent.
Describe the gas ductwork according to this utility model embodiment below in conjunction with accompanying drawing and leak on-line monitoring system.
Fig. 1 is the structural representation of the gas ductwork leakage on-line monitoring system of one embodiment of this utility model.
Refer to Fig. 1, gas ductwork leakage on-line monitoring system 10 includes multiple gas leakage on-Line Monitor Device 101, multiple gas leakage on-Line Monitor Device 102 and host computer 103.
Each gas leakage on-Line Monitor Device 101 is fixedly installed on presets fixed point.Each gas leakage on-Line Monitor Device 101 includes: methane analyser 1011, locating module 1012, wireless communication module 1013, controller 1014.
Specifically, methane analyser 1011 is for monitoring the methane concentration at gas leakage on-Line Monitor Device 101 place.Adopt the methane analyser based on tunable laser spectroscopy absorption techniques, for accurately measuring the methane concentration in air.This analyser has the following characteristics that under-voltage prompting, self-diagnosis of trouble;Can in complicated gaseous environment steady operation, not by the interference of other gases;Without frequent calibration, scalar period is long;Can independently set range, conversion range;Certainty of measurement is high;Response time is short.Simultaneously as the gas concentration generally leaking into ground is non-normally low, the measuring cell of this measuring instrument can adopt and open may be used without pump suction type.
Positioner 1012 is for obtaining the position of gas leakage on-Line Monitor Device 101.In an embodiment of the present utility model, GPS is adopted to carry out acquisition gas leakage on-Line Monitor Device 101 is positioned.
Wireless communication module 1013 is for turning host computer 103 by the alarm signal that controller 1014 sends.In an embodiment of the present utility model, adopt GPRS that alarm signal is transferred to host computer 103.Alarm signal includes the temporal information of methane concentration value, positional information, transmission alarm signal.
Controller 1014 is connected with methane analyser 1011, locating module 1012 and wireless communication module 1013 respectively.Controller 1014 for methane analyser 1011 monitor methane concentration exceed predetermined threshold value time, send alarm signal to wireless communication module 1013.
Alarm signal that host computer 103 sends for receiving communication module 1013 is also fed back, the mode of feedback include video show, audio alarm etc..
Specifically, host computer 103 monitors cloud platform in real time for gas leakage.Gas leakage is monitored cloud platform in real time and is included four plates: SYSTEM SUMMARY, concentration monitor, location, leak point and emergency disposal.SYSTEM SUMMARY plate has briefly introduced function and the feature of whole system.The valid data that gas leakage on-Line Monitor Device 101 and gas leakage on-Line Monitor Device 102 are measured are illustrated on map by concentration monitor plate, the geographical position of each gas leakage on-Line Monitor Device 101/102 and corresponding real-time methane concentration can be demonstrated intuitively, and with four color indicated concentrations green, yellow, orange, red from low to high, and it can be seen that the history concentration curve of each gas leakage on-Line Monitor Device 101/102, observe the situation of change of history concentration value.Leak point placement plate calculates the position of doubtful leakage point according to the gps coordinate of each gas leakage on-Line Monitor Device 101/102, methane concentration value, the movement velocity of movable sensor, wind direction and wind velocity and algorithm of tracing to the source, and is labeled on map.Emergency disposal plate is according to the position, doubtful leak point calculated, map shows the position of key unit about and facility, such as school, hospital, fuel cartridge, chemical plant etc., and there is a key to send the function of warning message, it is possible to select to be sent to warning message the units such as gas company, fire brigade and functional government departments.
By multiple gas leakage on-Line Monitor Device 101 spaced apart, the spacing distance of multiple gas leakage on-Line Monitor Device 101 is determined as the case may be, and whether multiple gas leakage on-Line Monitor Device 101 gas leakage can occur in monitor large-area region.When only having a gas leakage on-Line Monitor Device 101 and reporting to the police, it is possible to determine roughly degree and the position of gas leakage.Staff rushes for scene immediately and goes get rid of and keep in repair leak position, reduces the life property caused not in time less than, maintenance because of monitoring and hurts minimum.
In an embodiment of the present utility model, gas leakage on-Line Monitor Device 101 also includes wind direction and wind velocity measuring instrument 1015.When controller 1014 methane concentration around monitoring exceedes default threshold value, wind direction and the wind speed at gas leakage on-Line Monitor Device 101 place is obtained, in order to host computer 103 further determines that the impact that the position of gas leakage and gas leakage cause by wind direction and wind velocity measuring instrument 1015.
In an embodiment of the present utility model, have employed SIM908 module, SIM908 module is integrated with GPS function and GPRS function, it is possible to reduce the size of gas leakage on-Line Monitor Device 101.
In an embodiment of the present utility model, each gas leakage on-Line Monitor Device 102 includes methane analyser 1021, locating module 1022, wireless communication module 1023, controller 1024, wind direction and wind velocity measuring instrument 1026 and mobile platform 1025.
Specifically, mobile platform 1025 is moveable vehicle, and methane analyser 1021, locating module 1022, wireless communication module 1023, controller 1024 and wind direction and wind velocity measuring instrument 1026 are arranged on mobile platform 1025.Methane analyser 1021 is similar to methane analyser 1011 structure, it is possible in conjunction with the feature of movement, parts being done corresponding adjustment on the basis of methane analyser 1011, methane analyser 1021 can also be identical with methane analyser 1011.Locating module 1022 is same or similar with locating module 1012.Wireless communication module 1023 is same or similar with wireless communication module.Controller 1024 is same or similar with controller 1014.Wind direction and wind velocity measuring instrument 1026 is same or similar with wind direction and wind velocity measuring instrument 1016.
Fig. 2 is the layout schematic diagram of the gas leakage on-Line Monitor Device of one embodiment of this utility model.
Refer to Fig. 2, multiple gas leakage on-Line Monitor Device 101 and multiple gas leakage on-Line Monitor Device 102 constitute the network of gas leakage on-line monitoring, further improve the accuracy for gas monitoring and promptness.
Host computer 103 is used for receiving alarm signal and feeding back.Specifically, the host computer 103 alarm signal according to the one or more transmissions in gas leakage on-Line Monitor Device 101 in alarm signal, and/or the alarm signal of the one or more transmissions in gas leakage on-Line Monitor Device 102, adopt location algorithm to determine the position of gas leakage, degree and coverage.
In an example of the present utility model, host computer 103 only receives the alarm signal that a gas leakage on-Line Monitor Device 101 sends, and wherein, the position of gas leakage on-Line Monitor Device 101 is A, and wind direction is northeaster, and wind speed scale is B.Thus it is known that the northeastward that the direction of leakage point is A place, further determine that the position of gas leakage further according to wind speed, then judge the degree of gas leakage according to the A concentration monitored and wind speed.Observe and map determines, from the environment of gas leakage, the impact that leakage point causes.Such as, have school or gas station near attached leakage point, then staff notifies that A sentences to avoid further resulting in person property injury.
In another example of the present utility model, host computer 103 receives the alarm signal that two gas leakage on-Line Monitor Device 101 send, wherein, the position of gas leakage on-Line Monitor Device 101 is X and Y, the concentration at X place is less than the concentration at Y place, X is in the west of Y, and wind direction is west wind, and wind speed scale is Z.Thus it is known that the direction of leakage point is between X, Y, further determining that the position of gas leakage further according to wind speed, the concentration then monitored according to X, Y and wind speed judge the degree of gas leakage.
In an embodiment of the present utility model, also include server 104.Alarm signal is first sent to server 104 by gas leakage on-Line Monitor Device 101 and gas leakage on-Line Monitor Device 102, server 104 can complete the analysis of leak point, it is also possible to be sent to host computer 103 and complete the analysis of leakage point.
Gas leakage on-Line Monitor Device 102 is set and is because gas leakage on-Line Monitor Device 101 when monitoring methane, need the position that methane is diffused into monitoring device just can detect, and gas leakage on-Line Monitor Device 102 can first motion above leakage point, therefore can more fast monitored to methane, it is achieved early alert;If the concentration of leakage is of a sufficiently low, gas leakage on-Line Monitor Device 101 can't detect methane concentration, but gas leakage on-Line Monitor Device 102 is above leak point, has bigger possibility to monitor abnormal methane concentration, it is possible to improves the stability of system.
Describe the gas ductwork according to this utility model embodiment below in conjunction with accompanying drawing and leak on-Line Monitor Device.
Fig. 3 is the structural representation of the gas ductwork leakage on-Line Monitor Device of one embodiment of this utility model.
Gas ductwork leakage on-Line Monitor Device 20 includes methane analyser 201, locating module 202, wireless communication module 203 and controller 204.
Specifically, methane analyser 201 is for monitoring the methane concentration at gas leakage on-Line Monitor Device 20 place.Adopt the methane analyser based on tunable laser spectroscopy absorption techniques, for accurately measuring the methane concentration in air.This analyser has the following characteristics that under-voltage prompting, self-diagnosis of trouble;Can in complicated gaseous environment steady operation, not by the interference of other gases;Without frequent calibration, scalar period is long;Can independently set range, conversion range;Certainty of measurement is high;Response time is short.Simultaneously as the gas concentration generally leaking into ground is non-normally low, the measuring cell of this measuring instrument can adopt and open may be used without pump suction type.
Positioner 202 is for obtaining the position of gas leakage on-Line Monitor Device 20.In an embodiment of the present utility model, GPS is adopted to carry out acquisition gas leakage on-Line Monitor Device 20 is positioned.
Alarm module 203 is for reporting to the police when receiving the alarm signal that controller 204 sends.The mode body reported to the police is reported to the police or sees that alarm signal is sent to reception device to realize reporting to the police.
Controller 204 is connected with methane analyser 201, locating module 202 and alarm module 203 respectively.Controller 204 for methane analyser 201 monitor methane concentration exceed predetermined threshold value time, send alarm signal to alarm module 203.
In an embodiment of the present utility model, also including wind direction and wind velocity measuring instrument 205, controller 204 is for judging leakage point position, leakiness and influence degree according to wind direction, wind speed and concentration.
Describe the portable gas ductwork according to this utility model embodiment below in conjunction with accompanying drawing and leak on-Line Monitor Device.
Fig. 4 is the structural representation of the portable gas ductwork leakage on-Line Monitor Device of one embodiment of this utility model.
Portable gas ductwork leakage on-Line Monitor Device 30 includes mobile platform 305, is provided with methane analyser 301, locating module 302, alarm module 303, controller 304 and wind direction and wind velocity measuring instrument 306 on a mobile platform.Wherein, methane analyser 301, locating module 302, alarm module 303, controller 304 and wind direction and wind velocity measuring instrument 306 are identical with wind direction and wind velocity measuring instrument 205 respectively at the methane analyser 201 of above-described embodiment, locating module 202, alarm module 203, controller 204.
It addition, other of the gas ductwork leakage on-line monitoring system of this utility model embodiment, monitoring device and portable monitoring device constitutes and effect is all known for a person skilled in the art, in order to reduce redundancy, do not repeat.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment of the present utility model or example.In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
While there has been shown and described that embodiment of the present utility model, it will be understood by those skilled in the art that: these embodiments can being carried out multiple change, amendment, replacement and modification when without departing from principle of the present utility model and objective, scope of the present utility model is by claim and equivalency thereof.

Claims (8)

1. a gas ductwork leakage on-line monitoring system, it is characterised in that including:
Multiple gas leakage on-Line Monitor Device, wherein, multiple described gas leakage on-Line Monitor Device intervals and be fixedly installed on preset location and/or arrange on a mobile platform, each gas leakage on-Line Monitor Device includes:
Methane analyser, for monitoring the methane concentration at described gas leakage on-Line Monitor Device place;
Locating module, for obtaining the position of described gas leakage on-Line Monitor Device;
Wireless communication module, for being transmitted to host computer by the alarm signal that controller sends;
Controller, it is connected with described methane analyser, described locating module and described wireless communication module respectively, for described methane analyser monitor methane concentration exceed predetermined threshold value time, described alarm signal is sent to described wireless communication module, wherein, described alarm signal includes methane concentration and the position of described monitoring modular;
Host computer, is used for receiving described alarm signal and feeding back.
2. gas ductwork according to claim 1 leakage on-line monitoring system, it is characterised in that described gas leakage on-Line Monitor Device also includes:
Wind direction and wind velocity measuring instrument, the wind direction at gas leakage on-Line Monitor Device place and wind speed described in the detection signal detection that sends according to described controller, and wind direction and wind speed measurement result are sent to described controller;
Wherein, described controller be additionally operable to described methane analyser monitor methane concentration exceed described predetermined threshold value time, described wind direction and wind velocity measuring instrument being sent described detection signal and receives described wind direction and wind speed measurement result, described alarm signal also includes described wind direction and wind speed measurement result.
3. gas ductwork according to claim 1 and 2 leakage on-line monitoring system, it is characterised in that described host computer is additionally operable to adopt location algorithm to determine the position of gas leakage according to described alarm signal.
4. gas ductwork according to claim 1 and 2 leakage on-line monitoring system, it is characterised in that described locating module is GPS module, and described wireless communication module is GPRS module, and described GPS module and described GPRS module are integrated in SIM908 module.
5. gas ductwork according to claim 4 leakage on-line monitoring system, it is characterised in that also include the temporal information sending described alarm signal in described alarm signal.
6. a gas leakage on-Line Monitor Device, it is characterised in that including:
Methane analyser, for monitoring the methane concentration at described gas leakage on-Line Monitor Device place;
Locating module, for obtaining the position of described gas leakage on-Line Monitor Device;
Alarm module, for reporting to the police when receiving the alarm signal that controller sends;And
Controller, is connected with described methane analyser, described locating module and described wireless communication module respectively, reports to the police for monitoring when methane concentration exceedes predetermined threshold value at described methane analyser.
7. gas leakage on-Line Monitor Device according to claim 6, it is characterised in that also include:
Wind direction and wind velocity measuring instrument, the wind direction at gas leakage on-Line Monitor Device place and wind speed described in the detection signal detection that sends according to described controller, and wind direction and wind speed measurement result are sent to described controller;
Wherein, described controller be additionally operable to described methane analyser monitor methane concentration exceed described predetermined threshold value time, described wind direction and wind velocity measuring instrument being sent described detection signal and receives described wind direction and wind speed measurement result, described alarm signal also includes described wind direction and wind speed measurement result.
8. a portable gas leakage on-Line Monitor Device, it is characterised in that include mobile platform, described mobile platform is provided with the gas leakage on-Line Monitor Device described in claim 6 or 7.
CN201620012757.7U 2016-01-06 2016-01-06 Gas pipe network leaks on -line monitoring system , monitoring devices and portable monitoring devices Active CN205350863U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105546358A (en) * 2016-01-06 2016-05-04 清华大学 Gas pipe network leakage online monitoring system and device and mobile monitoring device
CN106870954A (en) * 2016-12-26 2017-06-20 北京理工大学 Multichannel real-time monitoring and can quickly position the gas monitoring method and system of leakage
CN108119760A (en) * 2017-12-06 2018-06-05 北京理工大学 A kind of localization method and system of underground gas pipeline leakage region
CN108775930A (en) * 2018-08-29 2018-11-09 吉林建筑大学 A kind of automatic tour inspection system suitable for piping lane project

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105546358A (en) * 2016-01-06 2016-05-04 清华大学 Gas pipe network leakage online monitoring system and device and mobile monitoring device
CN106870954A (en) * 2016-12-26 2017-06-20 北京理工大学 Multichannel real-time monitoring and can quickly position the gas monitoring method and system of leakage
CN108119760A (en) * 2017-12-06 2018-06-05 北京理工大学 A kind of localization method and system of underground gas pipeline leakage region
CN108775930A (en) * 2018-08-29 2018-11-09 吉林建筑大学 A kind of automatic tour inspection system suitable for piping lane project

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