CN104355233A - Tower crane lifting system based on wireless positioning - Google Patents
Tower crane lifting system based on wireless positioning Download PDFInfo
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- CN104355233A CN104355233A CN201410505434.7A CN201410505434A CN104355233A CN 104355233 A CN104355233 A CN 104355233A CN 201410505434 A CN201410505434 A CN 201410505434A CN 104355233 A CN104355233 A CN 104355233A
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- locator card
- base station
- time
- lift
- hanging device
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- 230000002146 bilateral effect Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000004807 localization Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 230000002123 temporal effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention provides a tower crane lifting system based on wireless positioning. The tower crane lifting system comprises a positioning card, a base station, a terminal and lifting equipment, wherein the positioning card is arranged on the lifting equipment and a lifting position, and the positioning card, the base station and the lifting equipment wirelessly communicate with the terminal respectively; the positioning card is used for recording first sending time for sending a wireless signal to the base station by the positioning card and first receiving time for receiving the wireless signal from the base station; the base station is used for receiving the first sending time and the first receiving time which are transmitted by the positioning card, and calculating the distance between the positioning card and the base station in combination with second receiving time for receiving the wireless signal from the base station and second sending time for sending the wireless signal to the base station; the terminal is used for controlling the lifting equipment according to the distance between the positioning card and the base station and position information of the positioning card and the base station. According to the tower crane lifting system, the relationship between the lifting position and a lifting hook of the lifting equipment in three-dimensional space can be accurately positioned, the cost is reduced, and the safety is improved.
Description
Technical field
The present invention relates to a kind of tower crane Lift-on/Lift-off System, particularly relate to a kind of tower crane Lift-on/Lift-off System based on wireless location.
Background technology
Because tower crane equipment is very huge, but equipment hoisting is more and more difficult to formulation position, be mainly reflected in operating personal at high-altitude application machinery, and the article of lifting are far from operating personal, operating personal people is difficult to equipment hoisting to assigned address by eyes and experience entirely; Now traditional solution is: a people operates hanging device, and another informs the relation between affected personnel's article hoisting and assigned address by interphone, and article are lifted into assigned address by commander hoisting personnel.
This scheme lifting speed of prior art is slow, under efficiency, and complex operation; And will address this problem, also someone expects, with video technique, being arranged on by camera on hanging device, but so still can there is following problem: 1, the installation site of camera, is arranged on the hawser of hanging device, can be blocked by article hoisting; Be contained on arm, away from article, poor effect; 2, transmission of video, the video data volume is large, needs wiredly to be transferred in operator's compartment by video pictures, installs trouble, and fragile; 3, cost is high; 4, operating personal operates still loaded down with trivial details.
Summary of the invention
Technical matters to be solved by this invention is by wireless location technology, allows hoisting personnel directly in operator's compartment, under the condition of assisting without other people, facilitates and efficiently article hoisting is lifted into assigned address.
To this, the invention provides a kind of tower crane Lift-on/Lift-off System based on wireless location, comprising: locator card, base station, terminal and hanging device; Described locator card is arranged at hanging device and needs on the position of lifting, and described locator card, base station and hanging device realize radio communication with terminal respectively; Described locator card is used for record location card and sends the first departure time of wireless signal to base station and receive the first time of reception of base station radio signal, and sends the first departure time and the first time of reception to base station by wireless signal; The first departure time that described base station reception locator card transmits and the first time of reception, in conjunction with base station itself to locator card reception and the second time of reception and the second departure time that send wireless signal, calculate the distance between locator card and base station; Described terminal controls hanging device according to the distance between locator card and base station and location information thereof.
Send the first departure time of wireless signal by locator card to base station, the first time of reception that locator card receives base station radio signal, base station receives the second time of reception of wireless signal to locator card and base station sends the second departure time of wireless signal to locator card, the time between locator card and base station required for communicating wireless signals can be drawn, the distance between locator card and base station can be calculated by this time; Further, described terminal, by locator card and base station location information separately, just can obtain the position relationship between locator card and base station, and then is bench mark with base station, controls hanging device and is lifted into by article hoisting on the position of needs lifting.
Of the present inventionly be further, described locator card comprises interconnective controller chip and the positioning chip based on UWB.Described UWB is ultra-wide band technology, by the positioning chip based on UWB in conjunction with bilateral symmetry location algorithm, accurately can navigate to the lift hook position that lifting is arranged and the position needing lifting.
Of the present inventionly to be further, the transmission time TOF required for the wireless signal obtaining between locator card and base station by bilateral symmetry range finding formula, and then to obtain the distance D between locator card and base station, the distance D=TOF* light velocity; Described transmission time TOF=(2T
rR-T
sP-2T
sR+ T
rP+ T
rF-T
sF)/4 wherein, T
rRbe the first time of reception, described first time of reception is timestamp time of recording of locator card when locator card receives the return signal that base station sends; T
sPbe the first departure time, described first departure time is locator card when sending positioning signal, the time that the timestamp of locator card records; T
sRbe the second departure time, described second departure time for base station receive positioning signal after send a reply signal feeding position card time base station timestamp time of recording; T
rPbe the second time of reception, described second time of reception is the timestamp institute writing time of base station when base station receives positioning signal; T
rFfor the time that the timestamp of base station when base station receives the temporal information that locator card transmits records, T
sFfor locator card sends T
rRand T
sPto the time that the timestamp of locator card during base station records.
Of the present inventionly be further, described base station is arranged on the brandreth platform under hanging device OPS, and described brandreth platform is for raising tower crane.
Of the present inventionly be further, the quantity of described base station is at least three, and one of them base station is arranged near the pivoting support of hanging device, and all the other base stations are arranged on two angles of architectural top respectively, to realize three-dimensional localization.
Of the present inventionly be further, described locator card comprises the first locator card and the second locator card, and described first locator card is arranged on the hook of hanging device, for transmitting locating data in real time; Described second locator card is arranged on the position of needs lifting, and then makes architecture to these two positions of locator card in three-dimensional localization.
Of the present inventionly be further, the coordinate of described three base stations is J1 (0,0, z1), J2 (x2, y2, z2) and J3 (x3, y3, z3), and the coordinate of described second locator card is card (x4, y4, z4); First in construction drawing, measure x2, y2, x3 and y3, and be d1, d2 and d3 by the bilateral symmetry range finding distance obtained each other between three base stations, according to formula
Calculate z1, z2 and z3; Then found range by the bilateral symmetry between the second locator card and base station and obtain the second location and snap into distance k1, k2 and k3 between each base station, and then pass through formula
Calculate the coordinate of the second locator card.In like manner, the real-time coordinates obtaining the first locator card can be measured.
Namely the coordinate of described first locator card is card (x5, y5, z5), and then being found range by the bilateral symmetry between the first locator card and base station is obtained the first location and snap into distance k4, k5 and k6 between each base station, and then passes through formula
Calculate the real-time coordinate of the first locator card.
Of the present inventionly to be further, after navigating to the location information needing lifting, after described terminal records the location information of the second locator card, the second locator card to be taken away; Described terminal sets up 3 dimensional drawing or X-Y scheme, with show in real time the hanging device needs anglec of rotation to the left or to the right, forward or backward lifting distance and diff-H.
Of the present inventionly be further, article, by terminal demonstration data, are lifted into after two locator card in the vertical directions overlap, then are declined by article by the data of diff-H, overlap completely until reach two locating points by described hanging device.
Of the present inventionly to be further, to calculate the angle a between the first locator card and the second locator card by the coordinate information of the second locator card and the real-time coordinates of the first locator card, and then control hanging device anglec of rotation a to the left or to the right; Until when degree a equals 0, calculate the distance d between the first locator card and the second locator card in real time, and then control hanging device miles of relative movement d forward or backward; Until when distance d equals 0, calculate the distance h between the first locator card and the second locator card in real time, and then control hanging device discharges article hoisting downwards to Hoisting Position.
Compared with prior art, beneficial effect of the present invention is: the suspension hook relation in three dimensions accurately can locating Hoisting Position and hanging device, realize the operation to tower crane, and article hoisting is lifted into the position of specifying, instead of traditional tower crane and guide personnel, save cost, improve safety simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the present invention;
Fig. 2 is the plan structure schematic diagram of an embodiment of the present invention;
Fig. 3 is the structural representation of the hook position of an embodiment of the present invention, Hoisting Position and tower crane sight alignment;
Fig. 4 is the structural representation after the lifting of an embodiment of the present invention completes;
Fig. 5 is the bilateral symmetry range measurement principle schematic diagram of an embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferably embodiment of the present invention is described in further detail.
Embodiment 1:
This example provides a kind of tower crane Lift-on/Lift-off System based on wireless location, comprising: locator card, base station, terminal and hanging device; Described locator card is arranged at hanging device and needs on the position of lifting, and described locator card, base station and hanging device realize radio communication with terminal respectively; Described locator card is used for record location card and sends the first departure time of wireless signal to base station and receive the first time of reception of base station radio signal, and sends the first departure time and the first time of reception to base station by wireless signal; The first departure time that described base station reception locator card transmits and the first time of reception, in conjunction with base station itself to locator card reception and the second time of reception and the second departure time that send wireless signal, calculate the distance between locator card and base station; Described terminal controls hanging device according to the distance between locator card and base station and location information thereof.
Send the first departure time of wireless signal by locator card to base station, the first time of reception that locator card receives base station radio signal, base station receives the second time of reception of wireless signal to locator card and base station sends the second departure time of wireless signal to locator card, just can draw the time between locator card and base station required for communicating wireless signals, the distance between locator card and base station can be calculated by this time; Further, described terminal is in conjunction with the location information of the distance between locator card and base station and locator card and base station, just can obtain the position relationship between locator card and base station, and then be bench mark with base station, control hanging device and article hoisting is lifted on the position of needs lifting.
The present invention realizes allowing hoisting personnel in the operator's compartment of hanging device, by wireless location technology, in the condition of assisting without the need to other people, facilitates and efficiently article is lifted into assigned address, substantially increasing the efficiency of lifting, also make lifting work safer simultaneously.
This routine described locator card preferably includes interconnective controller chip and the positioning chip based on UWB.Described UWB is ultra-wide band technology, by the positioning chip based on UWB in conjunction with bilateral symmetry location algorithm, accurately can navigate to the lift hook position that lifting is arranged and the position needing lifting.
The described positioning chip based on UWB can use DW1000 chip, it can produce the ultra-wide band of 6.35GHZ, its principle is the time that calculating signal aloft transmits, such distance that can calculate point-to-point transmission, because its bandwidth reaches 6.35GHZ, an one clock aloft transmission distance calculates and is approximately 4.5cm; And to receive and dispatch time error be at most two clocks, therefore, its positioning precision can reach in 10cm.
Embodiment 2:
As shown in Figure 1, on the basis of embodiment 1, this routine described base station is arranged on the brandreth platform under hanging device OPS, and described brandreth platform is for raising tower crane; The quantity of described base station is at least three, and the quantity of this routine described base station is three, and one of them base station is arranged near the pivoting support of hanging device, and all the other base stations are arranged on two angles of architectural top respectively, to realize three-dimensional localization; Described locator card comprises the first locator card and the second locator card, and described first locator card is arranged on the hook of hanging device, for transmitting locating data in real time; Described second locator card is arranged on the position of needs lifting, and then makes architecture to these two positions of locator card in three-dimensional localization.
The working process of this example is as follows: first, to locate hanging device, first need the base station for wireless location is installed, base station is arranged on the brandreth platform for raising tower crane under OPS by this example, due to 3 dimension location will be carried out, so at least need installation three base stations, one of them base station is arranged near pivoting support, and all the other two are arranged on two angles of architectural top.
Then, the first locator card is arranged on the hook of hanging device, to realize real-time report data; Second locator card is put on Hoisting Position, and such base station will navigate to this two locator card positions in three dimensions, and after the second location snaps into Hoisting Position, after terminal records this position, the second locator card can be taken away.
And terminal is arranged in operator's compartment, can the location information of two locator cards be transferred in terminal, terminal is set up 3 dimensional drawing or X-Y scheme, the anglec of rotation to the left or to the right required for real-time display first locator card, lifting distance forward or backward and diff-H, respectively as shown in Figures 2 to 4; What do required for operator is exactly by terminal demonstration data, after two locator cards be lifted into by article hoisting in birds-eye view as shown in Figure 3 overlap; Again by diff-H data, article hoisting is declined, reaches two locator cards and vertically arrange, and distance in the vertical direction is the height of article hoisting, as shown in Figure 4.
This routine described base station, be all radio communication between locator card and terminal.Wherein a kind of account form of this example is as follows: as shown in Figure 5, this example obtains the transmission time TOF required for the wireless signal between locator card and base station by bilateral symmetry range finding formula, and then the distance D obtained between locator card and base station, the distance D=TOF* light velocity; Described transmission time TOF=(2T
rR-T
sP-2T
sR+ T
rP+ T
rF-T
sF)/4, wherein, T
rRbe the first time of reception, described first time of reception is timestamp time of recording of locator card when locator card receives the return signal that base station sends; T
sPbe the first departure time, described first departure time is locator card when sending positioning signal, the time that the timestamp of locator card records; T
sRbe the second departure time, described second departure time for base station receive positioning signal after send a reply signal feeding position card time base station timestamp time of recording; T
rPbe the second time of reception, described second time of reception is the timestamp institute writing time of base station when base station receives positioning signal; T
rFfor the time that the timestamp of base station when base station receives the temporal information that locator card transmits records, T
sFfor locator card sends T
rRand T
sPto the time that the timestamp of locator card during base station records.In Fig. 5, T
rSPfor receiving signal between locator card and base station to the time difference sending give a signal; The time value that the timestamp that Tag Timestamps is locator card records; The time value that the timestamp that Anchor Timestamps is base station records.
In FIG, the coordinate of described three base stations is respectively J1 (0,0, z1), J2 (x2, y2, z2) and J3 (x3, y3, z3), and the coordinate of described second locator card is card (x4, y4, z4); First in construction drawing, measure x2, y2, x3 and y3, and be d1, d2 and d3 by the distance that the bilateral symmetry between three base stations is measured each other, according to formula
Calculate z1, z2 and z3; Then measure the second location by the bilateral symmetry between the second locator card and base station and snap into distance k1, k2 and k3 between each base station, and then pass through formula
Calculate the coordinate of the second locator card.Described second location is snapped into distance k1, k2 and k3 between each base station and can be obtained by bilateral symmetry formula of finding range, and measurements and calculations method is the same with the measurements and calculations mode of distance D.Same reason, can obtain the real-time coordinate of the first locator card by the first location Distance geometry bilateral symmetry range finding formula snapped between each base station.
After navigating to the location information needing lifting, after described terminal records the location information of the second locator card, the second locator card is taken away; Described terminal sets up 3 dimensional drawing or X-Y scheme, with show in real time the hanging device needs anglec of rotation to the left or to the right, forward or backward lifting distance and diff-H; This routine described hanging device is by terminal demonstration data, after article being lifted into two locator card in the vertical directions coincidences, by the data of diff-H, article are declined again, overlap completely in x-axis and y-axis until reach two locating points, and only there is the diff-H of article hoisting in z-axis.
Concrete performing step is, as shown in Figure 2, calculates the angle a between the first locator card and the second locator card by the coordinate information of the second locator card and the real-time coordinates of the first locator card, and then controls hanging device anglec of rotation a to the left or to the right; As shown in Figure 3, until when degree a equals 0, calculate the distance d between the first locator card and the second locator card in real time, and then control hanging device miles of relative movement d forward or backward; As shown in Figure 4, until when distance d equals 0, calculate the distance h between the first locator card and the second locator card in real time, and then control hanging device discharges article hoisting downwards to Hoisting Position.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. based on a tower crane Lift-on/Lift-off System for wireless location, it is characterized in that, comprising: locator card, base station, terminal and hanging device; Described locator card is arranged at hanging device and needs on the position of lifting, and described locator card, base station and hanging device realize radio communication with terminal respectively; Described locator card is used for record location card and sends the first departure time of wireless signal to base station and receive the first time of reception of base station radio signal, and sends the first departure time and the first time of reception to base station by wireless signal; The first departure time that described base station reception locator card transmits and the first time of reception, in conjunction with base station itself to locator card reception and the second time of reception and the second departure time that send wireless signal, calculate the distance between locator card and base station; Described terminal controls hanging device according to the distance between locator card and base station and location information thereof.
2. the tower crane Lift-on/Lift-off System based on wireless location according to claim 1, is characterized in that, described locator card comprises interconnective controller chip and the positioning chip based on UWB.
3. the tower crane Lift-on/Lift-off System based on wireless location according to claim 1, it is characterized in that, transmission time TOF required for the wireless signal obtaining between locator card and base station by bilateral symmetry range finding formula, and then obtain the distance D between locator card and base station, the distance D=TOF* light velocity; Described transmission time TOP=(2T
rR-T
sP-2T
sR+ T
rP+ T
rF-T
sF)/4, wherein, T
rRbe the first time of reception, described first time of reception is timestamp time of recording of locator card when locator card receives the return signal that base station sends; T
sPbe the first departure time, described first departure time is locator card when sending positioning signal, the time that the timestamp of locator card records; T
sRbe the second departure time, described second departure time for base station receive positioning signal after send a reply signal feeding position card time base station timestamp time of recording; T
rPbe the second time of reception, described second time of reception is the timestamp institute writing time of base station when base station receives positioning signal; T
rFfor the time that the timestamp of base station when base station receives the temporal information that locator card transmits records, T
sFfor locator card sends T
rRand T
sPto the time that the timestamp of locator card during base station records.
4. the tower crane Lift-on/Lift-off System based on wireless location according to claims 1 to 3 any one, is characterized in that, described base station is arranged on the brandreth platform under hanging device OPS, and described brandreth platform is for raising tower crane.
5. the tower crane Lift-on/Lift-off System based on wireless location according to claim 4, it is characterized in that, the quantity of described base station is at least three, and one of them base station is arranged near the pivoting support of hanging device, all the other base stations are arranged on two angles of architectural top respectively, to realize three-dimensional localization.
6. the tower crane Lift-on/Lift-off System based on wireless location according to claim 5, is characterized in that, described locator card comprises the first locator card and the second locator card, and described first locator card is arranged on the hook of hanging device, for transmitting locating data in real time; Described second locator card is arranged on the position of needs lifting, and then makes architecture to these two positions of locator card in three-dimensional localization.
7. the tower crane Lift-on/Lift-off System based on wireless location according to claim 6, it is characterized in that, the coordinate of described three base stations is J1 (0,0, z1), J2 (x2, y2, z2) and J3 (x3, y3, z3), the coordinate of described second locator card is card (x4, y4, z4); First in construction drawing, measure x2, y2, x3 and y3, and be d1, d2 and d3 by the bilateral symmetry range finding distance obtained each other between three base stations, according to formula
Calculate z1, z2 and z3; Then found range by the bilateral symmetry between the second locator card and base station and obtain the second location and snap into distance k1, k2 and k3 between each base station, and then pass through formula
Calculate the coordinate of the second locator card.
8. the tower crane Lift-on/Lift-off System based on wireless location according to claim 6, is characterized in that, after navigating to the location information needing lifting, is taken away by the second locator card after described terminal records the location information of the second locator card; Described terminal sets up 3 dimensional drawing or X-Y scheme, with show in real time the hanging device needs anglec of rotation to the left or to the right, forward or backward lifting distance and diff-H.
9. the tower crane Lift-on/Lift-off System based on wireless location according to claim 8, it is characterized in that, described hanging device is by terminal demonstration data, after article being lifted into two locator card in the vertical directions coincidences, by the data of diff-H, article are declined again, overlap completely until reach two locating points.
10. the tower crane Lift-on/Lift-off System based on wireless location according to claim 8, it is characterized in that, calculate the angle a between the first locator card and the second locator card by the coordinate information of the second locator card and the real-time coordinates of the first locator card, and then control hanging device anglec of rotation a to the left or to the right; Until when degree a equals 0, calculate the distance d between the first locator card and the second locator card in real time, and then control hanging device miles of relative movement d forward or backward; Until when distance d equals 0, calculate the distance h between the first locator card and the second locator card in real time, and then control hanging device discharges article hoisting downwards to Hoisting Position.
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| CN201410505434.7A CN104355233A (en) | 2014-09-26 | 2014-09-26 | Tower crane lifting system based on wireless positioning |
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|---|---|---|---|
| CN201410505434.7A CN104355233A (en) | 2014-09-26 | 2014-09-26 | Tower crane lifting system based on wireless positioning |
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Cited By (16)
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| CN105197799A (en) * | 2015-09-30 | 2015-12-30 | 西安宝德自动化股份有限公司 | UWB-based crane wireless positioning control system and method |
| CN105329776A (en) * | 2015-12-04 | 2016-02-17 | 中国安全生产科学研究院 | UWB-based crane working holographic monitoring and early-warning system |
| CN105858480A (en) * | 2016-06-22 | 2016-08-17 | 北京建筑大学 | Building construction tower crane and its hoisting fixed-point stakeout auxiliary system |
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| CN106809733A (en) * | 2017-01-04 | 2017-06-09 | 千寻位置网络有限公司 | Quick accurate hanging method and system |
| CN106927357A (en) * | 2017-03-03 | 2017-07-07 | 合肥工业大学 | Tower crane lift hook safe condition supervising device and control method |
| CN107942345A (en) * | 2017-11-21 | 2018-04-20 | 北京建筑大学 | It is accurately positioned the double lifting rope section construction crane machines of GNSS of lift hook position |
| CN108087204A (en) * | 2017-12-08 | 2018-05-29 | 北京金风科创风电设备有限公司 | Hoisting alignment system and method for wind generating set |
| CN108100877A (en) * | 2018-01-25 | 2018-06-01 | 深圳大学 | Prefabricated part hanging device and method based on Internet of Things Yu Big Dipper location technology |
| CN108217463A (en) * | 2018-01-25 | 2018-06-29 | 深圳大学 | The tower crane positioning device and method of a kind of assembled architecture prefabricated components |
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| CN108910708A (en) * | 2018-07-17 | 2018-11-30 | 中铁十二局集团第二工程有限公司 | Safety management system and method for managing security in processing factory |
| CN110615362A (en) * | 2019-10-28 | 2019-12-27 | 中建三局集团有限公司 | Intelligent control system and method for tower crane |
| CN110736978A (en) * | 2019-11-20 | 2020-01-31 | 中铁四局集团有限公司 | device and method for positioning prefabricated part through pulse radar |
| CN111137791A (en) * | 2019-12-20 | 2020-05-12 | 福建睿思特科技股份有限公司 | Transformer substation lifting system based on wireless communication |
| CN119284750A (en) * | 2024-12-13 | 2025-01-10 | 华中科技大学 | A tower crane hook three-dimensional posture real-time measurement method, system and medium |
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| CN110615362A (en) * | 2019-10-28 | 2019-12-27 | 中建三局集团有限公司 | Intelligent control system and method for tower crane |
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| CN110736978B (en) * | 2019-11-20 | 2022-04-19 | 安徽数智建造研究院有限公司 | Device and method for positioning prefabricated part through pulse radar |
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| CN111137791A (en) * | 2019-12-20 | 2020-05-12 | 福建睿思特科技股份有限公司 | Transformer substation lifting system based on wireless communication |
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