市政污水管网的外水水量估计与定位研究进展Study progress of estimating and locating of extraneous waters in municipal sewage pipe network
庞晶津,黄棚兰,陈仪,王新端,吴军
摘要(Abstract):
【目的】河水、地下水和雨水等外水进入市政污水管网,将引起污水管网流量剧增、污水漫溢和污水厂污染物进水浓度偏低等一系列问题,对外水水量的估计与定位已成为提高污水管网系统运维水平先决条件。为确定工作重点并节约外水检测成本,【方法】主要介绍了市政污水管网的外水入侵途径、外水水量的评估方法、以及外水定位的技术及其相关应用,针对假设条件、精度、实施难易程度与评估成本等方面进行综合评估,全面分析了外水水量估计与定位方法的优缺点,总结了污水管网外水查找现阶段存在的问题和今后发展的方向,以攻克外水规模摸排、问题管网预判等难题。【结果】结果显示:外水水量评估结果势必存在误差,不同方法的适用条件、评估精度不一;外水定位难以实现大范围普查,存在检测难度高、技术受限等问题,外水水量估计与定位方法的择定至关重要。【结论】结果表明:污染物时间序列法虽评估费用昂贵但精度高,有望在今后工程应用中普及化;DTS的可实施性强,运维成本低,相比于传统的CCTV检测,能较为准确的反应外水入侵的动态变化,具有良好的外水定位发展前景。研究成果可作为城市市政污水管网外水量估计、定位和治理的参考。
关键词(KeyWords): 污水管网;外水;入流入渗;水量评估;外水定位;水环境;地下水;雨水
基金项目(Foundation): 国家自然科学基金项目(51478410)
作者(Author): 庞晶津,黄棚兰,陈仪,王新端,吴军
DOI: 10.13928/j.cnki.wrahe.2023.02.018
参考文献(References):
- [1] 赵旭雯,张敏芳.“十二五”城市排水系统建设的探讨 [J].水工业市场,2012(8):7-27.ZHAO X W,ZHANG M F.Discussion on urban drainage system construction during the twelfth five year plan period [J].Water-Industry Market,2012(8):7-27.
- [2] PANGLE L A,DIEM J E,MILLIGAN R,et al.Contextualizing inflow and infiltration within the streamflow regime of urban watersheds [J].Water Resources Research,2022,58(1):e2021WR030406.
- [3] ZHANG M K,LIU Y C,DONG Q,et al.Estimating rainfall-induced inflow and infiltration in a sanitary sewer system based on water quality modelling:which parameter to use?[J].Environmental Science:Water Research & Technology,2018,4(3):385-393.
- [4] R?DEL S,GüNTHERT F,BRüGGEMANN T.Investigating the impacts of extraneous water on wastewater treatment plants [J].Water Science and Technology,2017,75(4):847-855.
- [5] 郑岩杭,李翠梅,黄瑜琪.合流污水系统最优截流倍数研究 [J].水利水电技术,2020,51(10):173-179.ZHENG Y H,LI C M,HUANG Y Q.Study on optimal interception ratio of combined sewerage system[J].Water Resources and Hydropower Engineering,2020,51(10):173-179.
- [6] DIEM J E,PANGLE L A,MILLIGAN R A,et al.Intra-annual variability of urban effects on streamflow [J].Hydrological Processes,2021,35(9):e14371.
- [7] 陈乐平,王劲松,陈胜兵,等.市政混凝土排水管道接口渗漏规律研究[J].水利水电技术(中英文),2021,52(6):223-232.CHEN Leping,WANG Jinsong,CHEN Shengbing,et al.Study on joint leakage law of municipal concrete drainage pipeline[J].Water Resources and Hydropower Engineering,2021,52(6):223-232.
- [8] KACZOR G,CUPAK A.Analysis of the proportion of incidental water in annual wastewater inflows to a selected treatment plant during a 15-year observation period [J].Journal of Ecological Engineering,2021,22(7):204-211.
- [9] NGUYEN H H,VENOHR M.Harmonized assessment of nutrient pollution from urban systems including losses from sewer exfiltration:a case study in Germany [J].Environmental Science and Pollution Research,2021,28(45):63878-63893.
- [10] 杨文进,李树苑,张年保,等.排水钢筋混凝土新管的地下水渗入量测定 [J].中国给水排水,2006,22(4):95-97.YANG W J,LI S Y,ZHANG N B,et al.Determination of groundwater infiltration rate into the new reinforced concrete sewer [J].China Water & Wastewater,2006,22(4):95-97.
- [11] 邢玉坤,曹秀芹,柳婷,等.我国城市排水系统现状、问题与发展建议 [J].中国给水排水,2020,36(10):19-23.XING Y K,CAO X Q,LIU T,et al.Current status,problems and development suggestions of urban drainage system in China [J].China Water & Wastewater,2020,36(10):19-23.
- [12] 盛政,刘旭军,王浩正,等.城市污水管道入流入渗监测技术研究与应用进展 [J].环境工程,2013,31(2):17-21.SHENG Z,LIU X Z,WANG H Z,et al.Study on field monitoring technology for urban drainage network system management [J].Environmental Engineering,2013,31(2):17-21.
- [13] PANASIUK O,HEDSTR?M A,LANGEVELD J,et al.Using distributed temperature sensing (DTS) for locating and characterising infiltration and inflow into foul sewers before,during and after snowmelt period [J].Water,2019,11(8):1529.
- [14] DIRCKX G,VAN DAELE S,HELLINCK N.Groundwater Infiltration Potential (GWIP) as an aid to determining the cause of dilution of waste water [J].Journal of Hydrology,2016,542:474-486.
- [15] BEHESHTI M,SAGROV S.Detection of extraneous water ingress into the sewer system using tandem methods-a case study in Trondheim city [J].Water Science and Technology,2019,79(2):231-239.
- [16] THORNDAHL S,BALLING JD,LARSEN UBB.Analysis and integrated modelling of groundwater infiltration to sewer networks [J].Hydrological Processes,2016,30(18):3228-3238.
- [17] 中华人民共和国住房和城乡建设部.城乡建设统计年鉴—2019 [M].北京:中国统计出版社,2019.Ministry of Housing and Urban-Rural Development of the People′s Republic of China.China urban-rural construction statistical yearbook—2019 [M].Beijing:China Statistics Press,2019.
- [18] 李田,郑瑞东,朱军.排水管道检测技术的发展现状 [J].中国给水排水,2006,22(12):11-13.LI Tian,ZHENG Ruidong,ZHU Jun.Development of sewer inspection and assessment technologies [J].China Water & Wastewater,2006,22(12):11-13.
- [19] KARPF C,KREBS P.Quantification of groundwater infiltration and surface water inflows in urban sewer networks based on a multiple model approach [J].Water Research,2011,45(10):3129-3136.
- [20] KARPF C,KREBS P.Assessment of extraneous water inflow in separated sewer networks [C]//CITESEE R.Urban Water Management:Proceedings of the 10th ICUD Conference.Copenhagen,Denmark:CITESEER,2005:21-26.
- [21] 石国琦,常明,靳方园,等.沈阳市黑臭水体治理进展及典型案例分析 [J].环境工程学报,2019,13(3):550-558.SHI Guoqi,CHANG Ming,JIN Fangyuan,et al.Treatment progress and typical case analysis of the black and odorous water bodies in Shenyang city,China[J].Chinese Journal of Environmental Engineering,2019,13(3):550-558.
- [22] 王捷.上海市分流制排水地区雨污混接综合治理研究 [D].兰州:西北师范大学,2019.WANG J.Study on comprehensive control of rain and pollution mixing in Shanghai diversion system [D].Lanzhou:Northwest Normal University,2019.
- [23] 邢玉坤.我国排水管网点源污染问题分析及截流系统设计研究 [D].北京:北京建筑大学,2020.XING Y K.Analysis of point source pollution of drainage pipe network and research of intercepting system in China [D].Beijing:Beijing University of Civil Engineering and Architecture,2020.
- [24] 文卫.深圳市深圳湾潮位特征 [J].有色冶金设计与研究,2007,28(4):73-75.WEN W.Features of tide level of Shenzhen Bay,Shenzhen city [J].Nonferrous Metals Engineering & Research,2007,28(4):73-75.
- [25] 孔松,秦福军,沈良,等.平原河网地区排水管网提质增效案例分析与探讨 [J].给水排水,2022,58(4):102-106.KONG S,QIN F J,SHEN L,et al.Case analysis of improving quality and efficiency of sewage pipe network in plain river network area [J].Water & Wastewater Engineering,2022,58(4):102-106.
- [26] 包晗,唐颖栋,方刚,等.深圳茅洲河流域某污水收集片区外水侵入情况排查与整治 [J].给水排水,2021,57(3):74-78.BAO H,TANG Y D,FANG G,et al.Investigation and regulation on extraneous water intrusion into a sewage collection area in Shenz hen Ma ozhou River Basin[J].Water & Wastewater Engineering,2021,57(3):74-78.
- [27] 郭帅,张土乔.地下水渗入排污管道的定量方法 [J].中国给水排水,2013,29(4):21-25.GUO S,ZHANG T Q.Quantitative methods for groundwater infiltration into sewer system [J].China Water & Wastewater,2013,29(4):21-25.
- [28] 刘战广,谭学军,陈嫣.基于水量平衡分析的城镇污水管网定性诊断研究 [J].给水排水,2020,56(9):113-118.LIU Z G,TAN X J,CHEN Y.Qualitative diagonosis of urban sewage network based on water balance analysis.[J].Water & Wastewater Engineering,2020,56(9):113-118.
- [29] 杨浩铭,唐颖栋,魏俊,等.基于长历时监测的外水入侵诊断分析研究 [J].给水排水,2021,57(S1):218-221.YANG H M,TANG Y D,WEI J,et al.Analytical investigation on external water inflow and infiltration in sewer systems based on long term monitoring data [J].Water & Wastewater Engineering,2021,57(S1):218-221.
- [30] 周宇,唐川东,季久翠,等.城市污水管网外水入流入渗及有机物损失量化分析 [J].给水排水,2022,48(7):1-7.ZHOU Y,TANG C D,JI J C,et al.Quantitative analysis of external water infiltration/inflow and organic matter loss in urban wastewater pipe network [J].Water & Wastewater Engineering,2022,48(7):124-130.
- [31] 刘旭辉,张金松,GOULVEN I.深圳市排水系统地下水渗入量初步研究 [J].中国给水排水,2013,29(3):77-79.LIU X H,ZHANG J S,GOULVEN I.Groundwater infiltration in Shenzhen drainage system [J].China Water & Wastewater,2013,29(3):77-79.
- [32] 王小婷,姚越,周炜,等.基于三角分析法的城市污水管网入流入渗量评估 [J].水污染及处理,2019,7(4):152-159.WANG X T,YAO Y,ZHOU W,et al.Quantification of inflow and infiltration in urban sewer systems based on triangle method [J].Water Pollution and Treatment,2019,7(4):152-159.
- [33] 施金祥,王志宏,陈国强,等.排污管网外来水量的评估方法对比分析 [C]//中国环境科学学会.中国环境科学学会2021年科学技术年会——环境工程技术创新与应用分会场论文集(一).中国天津:《工业建筑》杂志社有限公司,2021:123-127.SHI J X,WANG Z H,CHEN G Q,et al.Comparative study on methods for quantifying extraneous water in sewer system [C]//Chinese Academy of Environmental Sciences.2021 annual conference of science and technology of Chinese Academy of Environmental Sciences——symposium on innovation and application of environmental engineering technology (I).Tianjin,China:Industrial Building Magazine Co.,Ltd.,2021:123-127.
- [34] FIELD R H,PITT R.Innovative urban Wet-Weather Flow management systems [M].Boca Raton:USEPA Publishing,2000.
- [35] FRANZ T.Spatial classification methods for efficient infiltration measurements and transfer of measuring results [D].Dresden,Germany:Dresden University of Technology,2007.
- [36] DE BENEDITTIS J,BERTRAND-KRAJEWSKI J L.Infiltration in sewer systems:comparison of measurement methods [J].Water Science and Technology,2005,52(3):219-227.
- [37] 王溯,李田,冯沧,等.排水系统地下水渗入量的水力学模型辅助评估 [J].中国给水排水,2010,26(10):13-18.WANG S,LI T,FENG C,et al.Hydraulic model-assisted evaluation of groundwater infiltration rate into drainage systems [J].China Water & Wastewater,2010,26(10):13-18.
- [38] BROMBACH H,WEISS G,LUCAS S.Temporal variation of infiltration inflow in combined sewer systems [J].Urban Drainage,2002,28(5):1-10.
- [39] 马兰,林林,段军波.广州市增城区石滩污水处理系统提质增效案例分析 [J].给水排水,2021,57(9):37-43.MA L,LIN L,DUAN J B.Research on quality improvement and efficiency improvement of Shitan sewage treatment system in Zengcheng district,Guanzhou city[J].Water & Wastewater Engineering,2021,57(9):37-43.
- [40] ATV-DVW K.Situation of extraneous water in Germany [J].KA-Abwasser Abfall,2003,50(1):70-81.
- [41] REZAEE M,TABESH M.Groundwater infiltration and Rainfall-Derived inflow and infiltration assessment in separate sewer systems (case study:Tehran urban area) [J].Journal of Water and Wastewater,2022,32(6):130-141.
- [42] ELLIS B,BERTRAND-KRAJEWSKI J L.Assessing infiltration and exfiltration on the performance of urban sewer systems (APUSS) [M].London:IWA Publishing,2010.
- [43] BARBER L B,ANTWEILER R C,FLYNN J L,et al.Lagrangian mass-flow investigations of inorganic contaminants in wastewater-impacted streams [J].Environmental Science & Technology,2011,45(7):2575-2583.
- [44] PANASIUK O,HEDSTROM A,LANGEVELD J,et al.Identifying sources of infiltration and inflow in sanitary sewers in a northern community:comparative assessment of selected methods [J].Water Science and Technology,2022,86(1):1-16.
- [45] 董进波,汤燕,马顺博,等.镇江市某城镇污水处理系统外水分析 [J].中国给水排水,2022,38(8):92-98.DONG J B,TANG Y,MA S B.et al.Analysis of extraneous water in an urban sewage treatment system in Zhenjiang [J].China Water & Wastewater,2022,38(8):92-98.
- [46] KRACHT O,GRESCH M,GUJER W.Innovative tracer methods for sewer infiltration monitoring [J].Urban Water Journal,2008,5(3):173-185.
- [47] HOUHOU J,LARTIGES B S,FRANCE-LANORD C,et al.Isotopic tracing of clear water sources in an urban sewer:A combined water and dissolved sulfate stable isotope approach [J].Water Research,2010,44(1):256-266.
- [48] PUSKAS-PRESZNER A,OROSZ A,KOMPAR L,et al.Isotopic tracing and quantitative assessment of rainwater in a separate sewer system in Tiszavasvari,Hungary [J].Results in Engineering,2022,13:100360.
- [49] 张明凯.基于污染物过程线模型的污水管网水量水质动态模拟研究 [D].北京:清华大学,2017.ZHANG M K.Research on dynamic variation of wastewater quantity and quality in sewer system based on pollutant hydrograph [D].Beijing:Tsinghua University,2017.
- [50] 金鹏康,王斌.城市污水管网对水质的生化改善特性 [J].环境工程学报,2016,10(7):3401-3408.JIN P K,WANG B.Improvement in biodegradability of wastewater quality in urban sewer system [J].Chinese Journal of Environmental Engineering,2016,10(7):3401-3408.
- [51] GAO C,BOOIJ M J,XU Y P.Development and hydrometeorological evaluation of a new stochastic daily rainfall model:Coupling Markov chain with rainfall event model [J].Journal of Hydrology,2020,589:125337.
- [52] 吴俊毅,秦华鹏.基于一二维耦合内涝模型的城市道路积水来源量化分析 [J].北京大学学报(自然科学版),2021,57(4):716-722.WU J Y,QIN H P.Quantitative source analysis of waterlogging on urban roads based on a 1D and 2D coupling waterlogging model [J].Acta Scientiarum Naturalium Universitatis Pekinensis,2021,57(4):716-722.
- [53] 吕金燕,沈旭,赵梦阳.基于SWMM模型的城市排水能力与内涝风险评估 [J].市政技术,2022,40(7):237-241.LV J Y,SHEN X,ZHAO M Y.Evaluation of drainage capacity and waterlogging risk based on SWMM [J].Journal of Municipal Technology,2022,40(7):237-241.
- [54] 刘兴坡,王天宇,张倩,等.EPA SWMM和Mike Urban等流时线模型比较研究 [J].中国给水排水,2017,33(24):30-35.LIU X P,WANG T Y,ZHANG Q,et al.Comparison of EPA SWMM and Mike Urban isochrones model [J].China Water & Wastewater,2017,33(24):30-35.
- [55] CHAU K.Use of Meta-Heuristic techniques in Rainfall-Runoff modelling [J].Water,2017,9(3):186.
- [56] PEEL M C,MCMAHON T A.Historical development of Rainfall-Runoff modeling [J].Wiley Interdisciplinary Reviews-Water,2020,7(5):e1471.
- [57] 王云飞,梁伟,张来斌.多层融合的管道泄漏诊断技术研究 [J].中国安全科学学报,2013,23(8):171-176.WANG Y F,LIANG W,ZHANG L B.Research on multi-layer data fusion-based technique for diagnosis of pipelines leakage [J].China Safety Science Journal,2013,23(8):171-176.
- [58] 王学渊,陈志刚,钟新荣,等.基于随机森林的管网漏失诊断方法 [J].计算机应用,2018,38(S1):20-23.WANG X Y,CHEN Z G,ZHONG X R,et al,Pipeline network leakage diagnosis based on multi-source random forest fusion [J].Journal of Computer Applications,2018,38(S1):20-23.
- [59] TANG Y,CHAN D H,ZHU D Z,et al.An analytical solution for steady seepage into a defective pipe [J].Water Science and Technology-Water Supply,2018,18(3):926-935.
- [60] 朱弋,周骅.基于“水帐”引领的雨水管道外水入流(渗)调查方法 [J].给水排水,2021,57(7):54-59.ZHU Y,ZHOU H.Investigation method of external water inflow (infiltration) of rainwater pipeline based on water quantity and quality data [J].Water & Wastewater Engineering,2021,57(7):54-59.
- [61] XU Z X,YIN H L,LI H Z.Quantification of non-stormwater flow entries into storm drains using a water balance approach [J].Science of the Total Environment,2014,487:381-388.
- [62] NGOC H T,HU J,LI J,et al.Suitability of artificial sweeteners as indicators of raw wastewater contamination in surface water and groundwater [J].Water Research,2014,48:443-456.
- [63] 刘希希,崔诺,胡馨月,等.特征因子法提高污水管道地下水入渗检测效率的研究 [J].给水排水,2022,58(2):122-127.LIU X X,CUIN,HU X Y,et al.Research on water quality factor method to improve the efficiency of groundwater infiltration detection in sewage pipes [J].Water & Wastewater Engineering,2022,58(2):122-127.
- [64] 郭翔.CCTV管道检测在扬州污水提质增效行动中的应用 [J].中国给水排水,2020,36(20):67-70.GUO X.Application of CCTV pipeline inspection in Yangzhou sewage quality improvement and efficiency enhancement action [J].China Water & Wastewater,2020,36(20):67-70.
- [65] 吕永鹏.城镇污水处理提质增效“十步法”研究与应用 [J].中国给水排水,2020,36(10):82-88.LYU Y P.Research and application of Ten-step framework for improving municipal wastewater treatment quality and efficiency [J].China Water & Wastewater,2020,36(10):82-88.
- [66] REN S,HE K,GIRSHICK R,et al.Faster R-CNN:towards Real-time object detection with region proposal networks [J].Ieee Transactions on Pattern Analysis and Machine Intelligence,2017,39(6):1137-1149.
- [67] KUMAR S S,ABRAHAM D M,JAHANSHAHI M R,et al.Automated defect classification in sewer closed circuit television inspections using deep convolutional neural networks [J].Automation in Construction,2018,91:273-283.
- [68] BEHESHTI M,SAGROV S,UGARELLI R.Infiltration/inflow assessment and detection in urban sewer system [J].Urban Water Journal,2015,302:24-34.
- [69] 刘洋.基于激光影像的管道几何形变检测技术研究 [D].沈阳:沈阳工业大学,2018.LIU Y.Research on pipeline geometric deformation detection technology based on laser image [D].Shenyang:Shenyang University of Technology,2018.
- [70] 王俊岭,邓玉莲,李英,等.排水管道检测与缺陷识别技术综述 [J].科学技术与工程,2020,20(33):13520-13528.WANG J L,DENG Y L,LI Y,et al.A review on detection and defect identification of drainage pipeline [J].Science Technology and Engineering,2020,20(33):13520-13528.
- [71] 刘起鹏.城市排水管道检测技术的应用与发展 [J].城市建筑,2019,16(3):148-149.LIU Q P.Application and development of detection technology for urban drainage pipeline [J].Urbanism and Architecture,2019,16(3):148-149.
- [72] VOSSE M,SCHILPEROORT R,HAAN C D,et al.Processing of DTS monitoring results:automated detection of illicit connections [J].Water Practice & Technology,2013,8(3):375-381.
- [73] SCHILPEROORT R,HOPPE H,DE HAAN C,et al.Searching for storm water inflows in foul sewers using fibre-optic distributed temperature sensing [J].Water Science & Technology,2013,68(8):1723-1730.
- [74] HOES O,SCHILPEROORT R,LUXEMBURG W,et al.Locating illicit connections in storm water sewers using fiber-optic distributed temperature sensing [J].Water Research,2009,43(20):5187-5197.
- [75] BEHESHTI M,SAGROV S.Quantification assessment of extraneous water infiltration and inflow by analysis of the thermal behavior of the sewer network [J].Water,2018,10(8):1070.
- [76] LANGEVELD J,HAAN C,KLOOTWIJK M,et al.Monitoring the performance of a storm water separating manifold with distributed temperature sensing [J].Water Science & Technology,2012,66(1):145-146.
- [77] 符韵梅,董艳辉,徐志方,等.分布式光纤温度示踪识别裂隙地下水流动研究进展 [J].水利水电科技进展,2020,40(3):86-94.FU Y M,DONG Y H,XU Z F,et al,Advances of DTS-based heat tracer tests in characterization of groundwater flow in fractured media [J].Advances in Science and Technology of Water Resources,2020,40(3):86-94.
- [78] SCHILPEROORT R,CLEMENS F.Fibre-optic distributed temperature sensing in combined sewer systems [J].Water Science and Technology,2009,60(5):1127-1134.
- [79] HELD I.Detection and assessment of infiltration/inflow in sewer systems [J].Technisches Messen,2003,70(7):352-358.
- [80] BOSSELET B,PUHL R,BIRKNER T.Reducing extraneous water:Detection and condition assessment of leaking private sewers [J].Techniques Sciences Methodes Genie Urbain-Genie Rural,2004,9:62-70.
- [81] HENNERKES J.Reduction of extraneous water [D].Germany:RWTH Aachen University,2006.
- [82] TAN P,ZHOU Y,ZHANG Y,et al.Assessment and pathway determination for rainfall-derived inflow and infiltration in sanitary systems:a case study [J].Urban Water Journal,2019,16(8):600-607.
- [83] ALKASSEH J M A,ADLAN M N,ABUSTAN I,et al.Applying minimum might flow to estimate water loss using statistical modeling:a case study in Kinta Valley,Malaysia [J].Water Resources Management,2013,27(5):1439-1455.
- [84] 陆宇尘,潘浩,张晓兰,等.如何在计量分区中通过漏损分离进行漏损控制 [J].给水排水,2013,49(S1):505-509.LU Y C,PAN H,ZHANG X L,et al.How to control leakage through leakage separation in metering partition [J].Water & Wastewater Engineering,2013,49(S1):505-509.
- [85] 陈泽鑫,邹秋云,江璟航,等.珠海市横琴新区污水系统病害分析及提质增效思路 [J].中国给水排水,2021,37(2):78-84.CHEN Z X,ZOU Q Y,JIANG J H,et al.Analysis of sewage system problems in Hengqin new area of Zhuhai city and ideas of improving quality and efficiency [J].China Water & Wastewater,2021,37(2):78-84.
- [86] 徐祖信,王思玉,刘淑雅,等.基于地下水入渗反演解析的污水管网破损数值化定位 [J].同济大学学报(自然科学版),2022,50(9):1331-1338.XU Z Y,WANG S Y,LIU S Y,et al.Numerical analysis and location of sewer network damage based on groundwater infiltration inversion [J].Journal of Tongji University(Natural Science),2022,50(9):1331-1338.
- [87] 余建伟,周京春,李清泉,等.基于排水管道胶囊的城市管网病害检测研究 [J].城市勘测,2021,37(1):167-171.XU J W,ZHOU J C,LI Q Q,et al.Research on disease detection of urban drainage pipelines based on a new capsule device [J].Urban Geotechnical Investigation & Surveying,2021,37(1):167-171.
- [88] 李清泉,朱家松,李虹,等.基于漂流式胶囊机器人的管道快速检测系统 [J].中国给水排水,2021,37(10):126-132.LI Q Q,ZHU J S,LI H,et al.Rapid detection system of pipeline based on floating capsule robot [J].China Water & Wastewater,2021,37(10):126-132.
- [89] 李云飞,杨效龙,张飞,等.管道检测用圆弧形复合超声波振子设计 [J].华中科技大学学报(自然科学版),2021,49(3):34-39.LI Y F,YANG X L,ZHANG L,et al.Design of circular arc compound ultrasonic vibrator for pipeline inspection [J].Journal of Huazhong University of Science and Technology(Natural Science Edition),2021,49(3):34-39.
- [90] 王永涛,朱珺,李东明,等.市政排水管道检测中的声纳成像系统设计 [J].电子技术应用,2017,43(1):111-113.WANG Y T,ZHU J,LI D M,et al.Design of the sonar imaging system in the detection of municipal drainage pipeline [J].Application of Electronic Technique,2017,43(1):111-113.