CN107462246A - A kind of digging machine guides system - Google Patents
A kind of digging machine guides system Download PDFInfo
- Publication number
- CN107462246A CN107462246A CN201710552956.6A CN201710552956A CN107462246A CN 107462246 A CN107462246 A CN 107462246A CN 201710552956 A CN201710552956 A CN 201710552956A CN 107462246 A CN107462246 A CN 107462246A
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- Prior art keywords
- digging machine
- sensor
- control box
- main control
- satellite
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The invention discloses a kind of digging machine to guide system, the digging machine includes digging machine car body, large arm, forearm and bucket, the digging machine guiding system includes main control box, position detecting device, obliquity sensor, main frame and power module, the position detecting device, obliquity sensor, main control box are connected with the main frame respectively, the power module is used to provide power supply to the main control box and position detecting device, the position detecting device includes satellite detection components, and the satellite detection components are used to detect the position of digging machine and produce satellite location signal.This invention takes the method that RTK e measurement technologies are combined with the sensor of precision, in the position that manipulator can't see or can also complete work at night and ensure quality；Patterned display interface is convenient to be operated, and prevents crossing in earth work from digging puzzlement；Improve the production efficiency for digging the engineerings such as slope, desilting.
Description
Technical field
The present invention relates to a kind of system, more particularly to a kind of digging machine guiding system.
Background technology
Digging machine technology extensive use, however, operating personnel need to take a significant amount of time progress before digging machine is operated at present
Systematic learning, otherwise can not operate, and be influenceed greatly by human factor in operating process, in the position that manipulator can't see or
It is difficult to complete work at night and ensures Mining Quality, digs the low production efficiency of the engineering such as slope, ditching.
The content of the invention
The defects of the technical problem to be solved in the present invention is to overcome in the prior art, now provide a kind of digging machine guiding system
System, this invention takes the method that RTK e measurement technologies are combined with the sensor of precision, in the position that manipulator can't see or evening
On can also complete work and ensure quality；Prevent crossing in earth work from digging puzzlement；Improve the production for digging the engineerings such as slope, desilting
Efficiency.
The present invention is that solve above-mentioned technical problem by following technical proposals：
A kind of digging machine guiding system of the present invention, the digging machine include digging machine car body, large arm, forearm and bucket, and its feature exists
In the digging machine guiding system includes main control box, position detecting device, obliquity sensor, main frame and power module, institute's rheme
Put detection means, obliquity sensor, main control box to be connected with the main frame respectively, the power module is used for the main control
Case and position detecting device provide power supply, and the position detecting device includes satellite detection components, and the satellite detection components are used
In the position of detection digging machine and receive satellite location signal；The obliquity sensor is used to measure the position angle of digging machine simultaneously in real time
Produce angle signal；The main frame is used for the default engineering coordinate position for setting bucket, receives the position detecting device transmission
Position signalling and the obliquity sensor angle signal, and described in being obtained by the position signalling and angle signal computing
The physical location of bucket, the physical location is obtained to the vertical error of digging machine compared with default engineering coordinate position, and
The satellite location signal, angle signal, physical location and vertical error are sent to the main control box..
Preferably, the satellite detection components include RTK receivers, master positioning antenna and auxiliary directional aerial, and the RTK connects
Receipts machine provides power supply by the power module, and the master positioning antenna and auxiliary directional aerial are connected with the RTK receivers, described
Master positioning antenna is used for the three dimensional space coordinate position for detecting the digging machine, and the auxiliary directional aerial is used to detect the digging machine
Orientation angle；The master positioning antenna and auxiliary directional aerial are respectively arranged on the digging machine car body.
Preferably, the master positioning antenna and auxiliary directional aerial support Big Dipper satellite signal, GLONASS satellite signal and
Gps satellite signal.
Preferably, the satellite detection components also include control station antenna, and the control station antenna is used to receive base station electricity
The base radio signal is simultaneously sent to the RTK receivers by platform signal.
Preferably, GNSS receiver and radio station are provided with the main frame, the GNSS receiver and radio station are used to receive
Satellite location signal and the base radio signal, and carry out data processing.
Preferably, the main frame includes equipment management center, and the equipment management center is used to carry out the data processing,
The equipment management center includes control data corporation, data distribution module, data analysis module and digging machine achievements in construction management
Center.
Preferably, the obliquity sensor includes tilting of car body sensor, big arm sensor, small arm sensor and bucket biography
Sensor, the tilting of car body sensor are used for the longitudinal angle of inclination for detecting the digging machine car body and horizontal angle of inclination,
The big arm sensor is used for the longitudinal inclination for detecting the large arm, and the small arm sensor is used to detect the forearm
Longitudinal inclination, the bucket sensor are used for the longitudinal inclination for detecting the bucket.
Preferably, the main control box includes display, and the display is used for the institute's rheme for showing the main frame transmission
Confidence number, angle signal and vertical error and for setting operating parameter.
Preferably, the main control box uses full color touch liquid crystal screen.
Preferably, the main control box includes operating unit, and the operating unit is used to set detection parameters.
The positive effect of the present invention is：
This invention takes the method that RTK e measurement technologies are combined with the sensor of precision, pacifies in the key position of digging machine
Level sensor and inclination sensor are set, the elevation of RTK receivers is delivered to bucket, main control box reaches real-time display and referred to
Draw digging machine by hand to make, in the position that manipulator can't see or can also complete work at night and ensure quality；Patterned display circle
Face allows manipulator to go familiar and learning system with need not wasting time and energy, and more energy are put into work；Prevent a cubic metre of earth work
Crossing in journey digs puzzlement；Improve the production efficiency for digging the engineerings such as slope, desilting；A variety of digging machine arms is supported to configure；With 3 axles
Sensor technology can provide the excavation precision within up to 3 centimeters, ensure that the requirement of engineering precision detection.
Brief description of the drawings
Fig. 1 is the structural representation of the preferred embodiment of the present invention.
Fig. 2 is the distribution schematic diagram of the obliquity sensor of the preferred embodiment of the present invention.
Fig. 3 is the structural representation of the main frame of the preferred embodiment of the present invention.
Embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to described reality
Apply among a scope.
Fig. 1 and Fig. 2, a kind of digging machine guiding system of the present invention are referred to, digging machine includes digging machine car body, large arm, forearm and digging
Bucket, the present invention include main control box 2, position detecting device, obliquity sensor 8, main frame 4 and power module 1, position detection dress
Put, obliquity sensor 8, main control box 2 are connected with main frame 4 respectively, power module 1 be used for main control box 2 and position detection dress
Offer power supply is put, position detecting device includes satellite detection components, and satellite detection components are used for position and the generation for detecting digging machine
Satellite location signal；Obliquity sensor 8 is used to measure the angle of digging machine in real time and produces angle signal；Main frame 4 is used to set master
Machine is used for the default engineering coordinate position for setting bucket, the position signalling and obliquity sensor 8 of the transmission of receiving position detection means
Angle signal, and the physical location of bucket is obtained by position signalling and angle signal computing, by physical location and default position
The vertical error for being compared and obtaining digging machine is put, and satellite location signal, angle signal, physical location and vertical error are sent
To main control box 2.The invention mainly comprises multiple modules such as engineering, machinery, instrument, configuration, cooperated between each module,
Realize that digging machine scraper bowl fills out the real-time exhibition of digging amount information, such as the present invention can use MC102GNSS Samsung posture instrument (positioning and directings
Module), the vehicle-mounted high performance controllers of CB100 (containing display screen), AS102 high accuracy Gao Gengxin rates double-shaft sensor, LB100 highlight
Degree instruction light target, A100GNSS Samsung strong reception antennas and PM103 power management modules, and controlled equipped with Ei2000 digging machines
Module software.
Satellite detection components include RTK receivers 3, master positioning antenna 5 and auxiliary directional aerial 6, and RTK receives 3 machines by power supply
Module 1 provides power supply, and master positioning antenna 5 and auxiliary directional aerial 6 are connected with RTK receivers 3, and master positioning antenna 5, which is used to detect, to be dug
The three dimensional space coordinate position of machine, auxiliary directional aerial 6 are used for the orientation angle for detecting digging machine；Master positioning antenna 5 and auxiliary orientation day
Line 6 is respectively arranged on digging machine car body.Master positioning antenna 5 and auxiliary directional aerial 6 support Big Dipper satellite signal, GLONASS satellite
Signal and gps satellite signal.GPS diagnosis provide the GPS instantaneous operating conditions of digging machine guiding system, including connection shape
The information such as state, data receiver situation, the quality of data.In digging machine guiding system, GPS is responsible for the positioning letter of collection vehicle
Breath.These location informations are the longitude and latitude numerical value based on WGS84 coordinates, in practice of construction, are all based on the office of respective engineering
Portion's coordinate system is carried out, it is therefore desirable to carries out space coordinate conversion.
Satellite detection components also include control station antenna 7, and control station antenna 7 is used to receiving base radio signal and by base station
Radio signals are sent to RTK receivers 3.
GNSS receiver and radio station are provided with main frame, GNSS receiver and radio station are used to receive satellite location signal and base
Station radio signal, and data processing is carried out as shown in Fig. 2 main frame 4 includes equipment management center, equipment management center is used to carry out
Data processing, equipment management center include control data corporation, data distribution module, data analysis module and digging machine achievements in construction
Administrative center.Main frame 4 is also built-in with indicator lamp, and the display information such as radio signals, satellite number facilitates decision problem.
Obliquity sensor 8 uses 360 ° of double-shaft sensors, available for the angle essence that on tilting bucket, can reach 0.01 °
Degree.Preferably, obliquity sensor 8 includes tilting of car body sensor 11, big arm sensor 12, small arm sensor 13 and bucket sensing
Device 14, tilting of car body sensor 11 is used for the longitudinal angle of inclination for detecting digging machine car body and horizontal angle of inclination, large arm pass
Sensor 12 is used for the longitudinal inclination for detecting large arm, and small arm sensor 13 is used for the longitudinal inclination for detecting forearm, bucket
Sensor 14 is used for the longitudinal inclination for detecting bucket.Tilting of car body sensor 11, big arm sensor 12 and bucket sensor
The direction of 14 sensor is horizontal forward, and the direction of small arm sensor 13 is straight down.When mounted, must remember
Record each position sensor No. SN, gps antenna pole installation when, to keep vertical cable amount to four (one 3 meters,
One 5 meters, two 7 meters, extended line can be connect).When cable is installed, it must consider that digging machine acts required sky
Between, cable is fixed on the hydraulic tube on digging machine with band, the connecting cable of car body and control cabinet is hidden in underbody.3 rice noodles
Cable connects small arm sensor 13；7 meters of cable connection body inclination sensor 11, big arm sensor 12 and bucket sensor 14；5
The cable connection body and main control box 2 of rice.
Main control box 2 includes display 9, and display 9 is used for position signalling, angle signal and the elevation for showing main frame transmission
Error and for setting operating parameter.Main control box 2 uses full color touch liquid crystal screen.If equipment is normal, it is shown as connecting；
If there is exception, corresponding abnormal state prompting can be provided, vehicle body sensor, CAN module, com interface can be refreshed in real time
Deng the real time connection information of hardware device.Main control box 4 includes operating unit 10, and operating unit 10 is used to set detection parameters.
The present invention imports data and can only imported from USB flash disk, other storage engineered paths None- identifieds.Current design data imports branch
Hold the triangulation network, road, plane, domatic, engineering base map, works scope, evade the type of area etc. 7.
Main control box 2 is used for the data for collecting each sensor, calculates the coordinate of bucket and is compared with design data,
Provide difference and be shown on screen.The information such as the position of the excavation gradient and bucket required for the present invention will be with patterned
Mode is clearly indicated on screen, and excavation and filling information instructs manipulator to go to be operated in a manner of color.Red, which represents, owes
Digging, green representative are met the requirements, blueness is represented and backfilled, and multiple information can be shown on screen, and content can be according to operation
The custom of hand is customized, and bilateral light target is shown etc., it is most important that 3D systems can reduce the frequency of gradient inspection, even
It is not need gradient inspection, system can constantly go to monitor the quality of work, improve quality safety.Main control box 2 is arranged on
Driver's cabin, it is built-in with all-round operating system, there is provided real time data and can realize control in real time, colored 3D digitlizations are shown, are simulated
Digging machine state, light target Real time dynamic display fill out digging amount, make driver very clear, oneself can adjust LED precision, facilitate digging machine
Make by hand, main control box 2 is the dust-proof and earthquake-proof waterproof of technical grade, reliable in quality, stable performance.
Light target is that digging machine guiding system fills out the real-time instruction terminal of digging amount, it is necessary to be set respectively according to the installation situation of light target
The light target information of guiding system, including left and right light target ID, if forward and reverse installation, light target indicating graduation etc..Work setting includes
What light target indicator lamp was shown normally fills out digging amount designation range, and the indicating graduation information of each light target indicator lamp.Digging machine guides
System standard configuration light target is to be located at driver's cabin arranged on left and right sides respectively, and its installation situation can be carried out in light target the configuration dialog box
It is respectively configured, including each light target ID, forward and reverse installation.
It is combined this invention takes state-of-the-art RTK e measurement technologies with the sensor of precision, in the key position of digging machine
Alignment sensor and obliquity sensor 8 are installed, RTK elevation is delivered to bucket, main control box 2 reaches real-time display and guided
Digging machine is made by hand, in the position that manipulator can't see or can also complete work at night and ensure quality.
When being welded to connect plate, digging machine is parked on smooth spacious place, is responsible for the technician of installation, uses marking pen
In the related bolt-center connecting line of the large arm of digging machine, forearm, dog bone, and (gps antenna will for the position of GPS welding bases
Avoid digging machine aiutage, the distance between two gps antennas are the bigger the better).Sensor is determined according to the connecting line of bolt-center
The position of welded plate, the position of welded plate is as far as possible parallel with bolt-center connecting line, and its angle is not to be exceeded 10 degree, two GPS
It is vertical during tube chamber welds with base and horizontal, point-blank.
The present invention by the length between the longitudinal inclination of several sensors on vehicle body and individual crucial axle,
The elevation of characteristic point, is delivered on the crown of bucket, and here it is complete whole process of the GPS three-dimensional coordinates to bucket transmission.
The present invention calculates direction and the real-time elevation of vehicle body of digging machine by two GNSS antennas, and is accurately counted by 4 double-shaft sensors
Calculate the real-time elevation and horizontal coordinate of bucket point, so as to which COMPREHENSIVE CALCULATING goes out the three-dimensional coordinate of spear optional position, and with 3D electronics
Design drawing interacts calculating, gives manipulator in real time and carries out excavation and filling guidance, and with a variety of sides such as figure, numerical value and indicator lamp
Formula shows bucket point and the relative position in target operation face, and guiding manipulator accurately constructs.
The present invention is combined using global positioning satellite monitoring technology with abundant design control software, in real time to mechanical appearance
State carries out Three dimensions control.System application Digital Design benchmark, can construct in entirely without setting-out environment.Even if design surface is very multiple
Miscellaneous, driver experience is few, can also round-the-clock job, quickly and accurately realize design object, avoid doing over again, improve construction work
Make efficiency, dramatically increase contractor's income on construction jobs, be earthwork construction project efficiently, the technology application solution of high repayment.
In software operation, engineering module includes coordinate system, data management, point list, hides area, engineering base map, with
And other functions such as vertical shift.Digging machine guides the design data form of system, at present including the triangulation network, road, plane, slope
Face, engineering base map, works scope, evade the polytypes such as area.Each type of design data has the definition of oneself form, and
Mutually distinguish.Design data management includes the displaying of the essential information such as design data title, type, and design data it is newly-increased,
The operations such as deletion, importing.
This invention takes the method that RTK e measurement technologies are combined with the sensor of precision, pacifies in the key position of digging machine
Level sensor and inclination sensor are set, RTK elevation is delivered to bucket, main control box reaches real-time display and guides digging machine
Make by hand, in the position that manipulator can't see or can also complete work at night and ensure quality；Patterned display interface allows behaviour
Make hand go familiar and learning system with need not wasting time and energy, more energy are put into work；Prevent in earth work
Cross digging puzzlement；Improve the production efficiency for digging the engineerings such as slope, desilting；A variety of digging machine arms is supported to configure；With the sensor of 3 axles
Technology can provide the excavation precision within up to 3 centimeters, ensure that the requirement of engineering precision detection.
The present invention is described in detail above in association with accompanying drawing embodiment, those skilled in the art can be according to upper
State and bright many variations example is made to the present invention.Within the spirit and principles of the invention, any modification for being made, equally replace
Change, improve, should be included in the scope of the protection.Thus, some details in embodiment should not be formed to this
The restriction of invention, the present invention will be used as protection scope of the present invention using the scope that appended claims define.
Claims (10)
1. a kind of digging machine guides system, the digging machine includes digging machine car body, large arm, forearm and bucket, it is characterised in that the digging
Power traction guiding systems include main control box, position detecting device, obliquity sensor, main frame and power module, the position detection dress
Put, obliquity sensor, main control box are connected with the main frame respectively, the power module is used for the main control box and position
Detection means provides power supply, and the position detecting device includes satellite detection components, and the satellite detection components, which are used to detect, digs
The position of machine simultaneously receives satellite location signal；The obliquity sensor is used to measure the position angle of digging machine in real time and produces angle
Signal；The main frame is used for the default engineering coordinate position for setting bucket, receives the position letter of the position detecting device transmission
Number and the obliquity sensor angle signal, and pass through the reality that the position signalling and angle signal computing obtain the bucket
Border position, the physical location is obtained compared with default engineering coordinate position the vertical error of digging machine, and is defended described
Star position signalling, angle signal, physical location and vertical error are sent to the main control box.
2. guiding system according to claim 1, it is characterised in that the satellite detection components include RTK receivers, master
Position antenna and auxiliary directional aerial, the RTK receivers provide power supply by the power module, the master positioning antenna and auxiliary fixed
It is connected to antenna with the RTK receivers, the master positioning antenna is used for the three dimensional space coordinate position for detecting the digging machine, institute
State the orientation angle that auxiliary directional aerial is used to detect the digging machine；The master positioning antenna and auxiliary directional aerial are respectively arranged at institute
State on digging machine car body.
3. guiding system according to claim 2, it is characterised in that the master positioning antenna and auxiliary directional aerial support north
Struggle against satellite-signal, GLONASS satellite signal and gps satellite signal.
4. bull-dozer according to claim 2 guides system, it is characterised in that the satellite detection components also include main electricity
Platform antenna, the control station antenna are used to receive base radio signal and the base radio signal is sent into the RTK to connect
Receipts machine.
5. bull-dozer according to claim 4 guides system, it is characterised in that is provided with GNSS receiver in the main frame
And radio station, the GNSS receiver and radio station are used to receive satellite location signal and the base radio signal, and carry out data
Processing.
6. digging machine according to claim 5 guides system, it is characterised in that the main frame includes equipment management center, institute
State equipment management center to be used to carry out the data processing, the equipment management center includes control data corporation, data distribution
Module, data analysis module and digging machine achievements in construction administrative center.
7. guiding system according to claim 1, it is characterised in that the obliquity sensor senses including tilting of car body
Device, big arm sensor, small arm sensor and bucket sensor, the tilting of car body sensor are used to detect the digging machine car body
The angle of inclination of longitudinal direction and horizontal angle of inclination, the big arm sensor are used for the longitudinal inclination for detecting the large arm,
The small arm sensor is used for the longitudinal inclination for detecting the forearm, and the bucket sensor is used to detect the bucket
Longitudinal inclination.
8. guiding system according to claim 1, it is characterised in that the main control box includes display, the display
Device is used to show the position signalling, angle signal and the vertical error of the main frame transmission and for setting operating parameter.
9. guiding system according to claim 8, it is characterised in that the main control box uses full color touch liquid crystal
Screen.
10. guiding system according to claim 8, it is characterised in that the main control box includes operating unit, the behaviour
Make unit to be used to set detection parameters.
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| CN201710552956.6A CN107462246A (en) | 2017-07-07 | 2017-07-07 | A kind of digging machine guides system |
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| CN201710552956.6A Pending CN107462246A (en) | 2017-07-07 | 2017-07-07 | A kind of digging machine guides system |
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Cited By (7)
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| CN108951750A (en) * | 2018-08-08 | 2018-12-07 | 上海宝冶集团有限公司 | A kind of excavator construction operation method, system and excavator |
| CN109162278A (en) * | 2018-11-01 | 2019-01-08 | 南京天辰礼达电子科技有限公司 | The method for showing and realizing the navigation of stake point is calculated using RTK combination stake machine model |
| CN109443360A (en) * | 2018-10-18 | 2019-03-08 | 南京天辰礼达电子科技有限公司 | A kind of vehicle driving trace generation and stitching algorithm based on polygon |
| CN111121748A (en) * | 2019-12-09 | 2020-05-08 | 重庆巨能建设(集团)有限公司 | Construction measurement system and method based on excavation operation of earth and stone of excavating machinery |
| CN111137325A (en) * | 2019-12-30 | 2020-05-12 | 北京易控智驾科技有限公司 | Calibration device and method for loading position of unmanned system in mining area |
| CN111708067A (en) * | 2020-08-04 | 2020-09-25 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Automatic guide system of excavator |
| CN113532253A (en) * | 2021-07-27 | 2021-10-22 | 上海亥伯智能科技有限公司 | Method and system for detecting side-pulling lateral bending of suspension arm of heavy crane |
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