CN108427346A - A kind of fabricated construction hoist controlling management system - Google Patents
A kind of fabricated construction hoist controlling management system Download PDFInfo
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- CN108427346A CN108427346A CN201810285755.9A CN201810285755A CN108427346A CN 108427346 A CN108427346 A CN 108427346A CN 201810285755 A CN201810285755 A CN 201810285755A CN 108427346 A CN108427346 A CN 108427346A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a kind of fabricated construction hoist controllings to manage system, including：User terminal, Cloud Server, control gateway and terminal device；The terminal device includes intelligent glasses, alignment and fine motion detection device and hoist controlling device；The user terminal is for inquiring construction information and sending control data instruction；The Cloud Server is used to be instructed according to the control data and generates control instruction and be sent to the control gateway, and obtains detection data and preserved；The control gateway described be aligned with fine motion detection device to the detection data of predetermined view point to be monitored, be obtained in real time to construction site by the intelligent glasses and make the hoist controlling device realize to automatically control for being interacted with fine motion detection device and the hoist controlling device with the intelligent glasses, described be directed at according to relevant control instruction.The present invention can realize the automatic Dock With Precision Position between the intelligent guidance of assembly work and accessory, improve installation accuracy and track construction speed.
Description
Technical field
The present invention relates to monitoring technology fields more particularly to a kind of fabricated construction hoist controlling to manage system.
Background technology
Hoisting technology is one and is related to safety and technical very strong professional technique, is played in the construction of major project
Very important effect, heavy construction structure, equipment installation and bridge construction in, often to the progress of entire engineering, economy,
Safety plays a crucial role, thus, receive the attention of enterprise and society.
Although having very strict various management, control flow currently, developing quick house and lifting industry, due to
Accessory is various, installation accuracy requires height, and human error is easy tod produce during Assembling, once assembling occurs mistake or assembles
Deviation can seriously bring massive losses, not only component deterioration, also affect entire construction process, and if using for reference traditional stream
Journey mode, each step assembling link process are all checked, then the efficiency of management is low, cost increases.
With the development of science and technology, be improve installation accuracy, tracking construction speed, accessory is traced to the source and workflow management, carry
High country's civil engineering work industry integral level, needs us to explore modern advanced informationization technology, technology of Internet of things, meter
Calculation machine vision technique, virtual reality and augmented reality, cloud computing technology, big data analysis and computer-aided management technology
It is applied in accessory production, lifting construction, accessory assembly and construction management, realizes that intelligent hoist controlling manages system.
Invention content
Technical problem to be solved of the embodiment of the present invention is, provides a kind of fabricated construction hoist controlling management system
System can realize the automatic Dock With Precision Position between the intelligent guidance of assembly work and accessory, improve installation accuracy, and track construction
Progress.
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of fabricated construction hoist controlling management systems
System, including：User terminal, Cloud Server, control gateway and terminal device；The terminal device includes at least one Brilliant Eyes
Mirror, at least one alignment and fine motion detection device and at least one hoist controlling device；Wherein,
The user terminal stores in the database for obtaining the Cloud Server according to dependent instruction input by user
Construction information, and relevant control data is sent to the Cloud Server according to the construction information and is instructed；
The Cloud Server is connected by internetwork connection mode with the control gateway, for being asked according to the control
It asks instruction to generate control instruction, and the control instruction is sent to the control gateway, and the control gateway is fed back
Detection data preserved；
The control gateway is connected by internetwork connection mode with the terminal device, for according to relevant control
Instruction sends the construction information to the intelligent glasses so that the intelligent glasses according to the construction information to the lifting
The construction action of controller is monitored in real time, and is generated monitoring report according to preset condition and carried out real-time broadcasting；For basis
Relevant control instruction obtains detection data of the alignment with fine motion detection device to predetermined view point；And for according to phase
The control instruction of pass sends the construction information to the hoist controlling device, so that the hoist controlling device is believed according to the construction
The control signal of breath extraction X, Y, Z axis movement and rotation, and lifting action is executed according to the control signal.
Further, the control gateway is the intelligent control for being installed on construction site and capable of running built-in Linux
Equipment.
Further, the construction information includes project information, construction drawing, construction speed information, accessory information and hangs
Fill information.
Further, the Cloud Server is additionally operable to analyze the detection data according to the construction information, and
Analysis report is generated and preserved, and the construction information is updated according to the analysis report.
Further, the Cloud Server is additionally operable to, when judging that the analysis report includes preset dangerous information, touch
Activating alarm, and generate the warning information for being sent to the user terminal.
Further, the fabricated construction hoist controlling manages system, further includes assembly accessory, the assembly accessory
The upper Quick Response Code with the accessory information comprising the assembly accessory；The assembly accessory includes lifting accessory and being combined with target to match
Part.
Further, the intelligent glasses carry out the construction action of the hoist controlling device according to the construction information real
When monitor, and according to preset condition generate monitoring report carry out real-time broadcasting, specially：
The intelligent glasses, built-in barcode scanning module and voice module；Wherein,
The barcode scanning module scans the Quick Response Code on assembly accessory to obtain the assembly accessory according to relevant control instruction
Corresponding accessory information；
The voice module carries out the construction action of the terminal device real according to the accessory information and construction information
When monitor, and according to preset condition generate monitoring report carry out real-time broadcasting；The preset condition is according to the construction information
It is configured.
Further, the intelligent glasses, are additionally operable to the relevant operation instruction of response user, and two on accessory are assembled in scanning
Dimension code is to obtain the corresponding accessory information of assembly accessory, or sends construction information to the control gateway and obtain request to obtain
The construction information.
Further, described that the alignment is obtained with fine motion detection device to predetermined view point according to relevant control instruction
Detection data, specially：
The control gateway will send relevant control instruction to the alignment and fine motion detection device；It is described alignment with it is micro-
Motion detection device, including video camera and target；The video camera includes taking module and detection module；
The alignment and fine motion detection device phase should control instruction, so that the taking module is acquired current target figure
Picture, and the detection module is made to obtain the detection data of predetermined view point in real time according to the target image, and by the detection
Data are sent to the control gateway；Wherein,
The detection data includes the vertical range and micro-displacement of predetermined view point, and lifting accessory is combined with target and matched
The distance between part.
Further, the hoist controlling device extracts the control letter that X, Y, Z axis is mobile and rotates according to the construction information
Number, specially：
According to construction information extraction lifting information corresponding with current assembly accessory；The lifting information includes described right
The accurate information with fine motion detection device；
Convert the lifting information to the control signal of the X, Y, Z axis movement and rotation of the assembly accessory.
Implement the embodiment of the present invention, has the advantages that：
A kind of fabricated construction hoist controlling provided in an embodiment of the present invention manages system, including：User terminal, cloud service
Device, control gateway and terminal device；The terminal device includes intelligent glasses, alignment and fine motion detection device and hoist controlling
Device；The user terminal is for inquiring construction information and sending control data instruction；The Cloud Server is used for according to the control
Request instruction processed generates control instruction and is sent to the control gateway, and obtains detection data and preserved；The control
Gateway is used for according to relevant control instruction and the intelligent glasses, described is aligned and fine motion detection device and the hoist controlling
Device interacts, and is filled with fine motion detection with being monitored, being obtained the alignment in real time to construction site by the intelligent glasses
It sets the detection data to predetermined view point and the hoist controlling device realization is made to automatically control.The present invention can realize assembly work
Intelligent guidance and accessory between automatic Dock With Precision Position, improve installation accuracy simultaneously track construction speed.
Description of the drawings
Fig. 1 is a kind of structural representation for fabricated construction hoist controlling management system that first embodiment of the invention provides
Figure；
Fig. 2 is in first embodiment of the invention by being directed at the high-precision two-dimensional measurement of micromovements instrument constituted with fine motion detection device
The structural schematic diagram of monitoring system.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that the user terminal in the embodiment of the present invention can be mobile terminal and immobile terminal, it is non-
Mobile terminal includes desktop computer, and mobile terminal includes smart mobile phone (Smart Phone, such as Android phone, iOS mobile phones
Deng), intelligent glasses, smartwatch, Intelligent bracelet, tablet computer, laptop, personal digital assistant etc. can carry out it is wireless
The mobile internet device of communication.
First embodiment of the invention：
Referring to Fig. 1, a kind of fabricated construction hoist controlling management system that Fig. 1, which is first embodiment of the invention, to be provided
Structural schematic diagram.
A kind of fabricated construction hoist controlling management system, including：User terminal 11, Cloud Server 12, control gateway 13
With terminal device 14.The terminal device 14 includes at least one intelligent glasses 142, at least one alignment and fine motion detection device
141 and at least one hoist controlling device 143.
In the present embodiment, the control gateway 13 is connected by WLAN with the terminal device 14, in parallel
It is dynamic to control several described intelligent glasses 142, the alignment and fine motion detection device 141 and the hoist controlling device 143.
The user terminal 11, in the database for obtaining the Cloud Server 12 according to dependent instruction input by user
The construction information of storage, and relevant control data is sent to the Cloud Server 12 according to the construction information and is instructed.
In the present embodiment, the user terminal 11 can be obtained by the control gateway 13 from the Cloud Server 12
Construction information.The construction information includes project information, construction drawing, construction speed information, accessory information and lifting information.With
Family can by the user terminal 11 to the fabricated construction hoist controlling manage system be managed, relevant information inquiry and
Accessory hoist controlling etc..
The Cloud Server 12 is connected by internetwork connection mode with the control gateway 13, for according to the control
Request instruction processed generates control instruction, and the control instruction is sent to the control gateway 13, and to the control net
The detection data for closing 13 feedbacks is preserved.
In the present embodiment, the Cloud Server 12 is additionally operable to divide the detection data according to the construction information
Analysis, and analysis report is generated and preserves, and the construction information is updated according to the analysis report.
It should be noted that the Cloud Server 12 is handed over by 3G, 4G or broadband into row information with the control gateway 13
Mutually, i.e. data interaction and instruction interaction.The Cloud Server 12 is the data of the fabricated construction hoist controlling management system
Center and control centre, the Cloud Server 12 can be that the user equipment of construction site and terminal device 14 provide construction letter
Breath, as project information, construction drawing, construction speed information, accessory information, lifting information, assembling fittings information, installation are guided
Deng.In addition, the Cloud Server 12 can also preserve the collected detection data, and carries out the analysis of detection data and carry
Refining, to constantly improve construction and installation and management level.
In the present embodiment, the Cloud Server 12 is additionally operable to judge that the analysis report includes preset dangerous letter
When breath, alarm is triggered, and generate the warning information for being sent to the user terminal 11.The warning information includes danger early warning letter
Number, there are the information of dangerous inclination or locomotive function, construction sites, and unexpected information or installation accuracy occurs not for accessory
Up to the information etc. of requirement.
The control gateway 13 is connected by internetwork connection mode with the terminal device 14, for according to relevant
Control instruction sends the construction information to the intelligent glasses 142, so that the intelligent glasses 142 are according to the construction information
The construction action of the hoist controlling device 143 is monitored in real time, and monitoring report is generated according to preset condition and is carried out in real time
It reports；For obtaining testing number of the alignment with fine motion detection device 141 to predetermined view point according to relevant control instruction
According to；And for sending the construction information to the hoist controlling device 143, so that the lifting according to relevant control instruction
Controller 143 extracts the control signal that X, Y, Z axis is mobile and rotates according to the construction information, and is held according to the control signal
Row lifting acts.
In the present embodiment, the control gateway 13 is to be installed on construction site and can run the intelligence of built-in Linux
It can control device.The fabricated construction hoist controlling management system allows the user terminal 11 to pass through the Cloud Server 12
The control gateway 13 is connected, multiple construction sites are monitored and be managed by the control gateway 13.
Further, the fabricated construction hoist controlling manages system, further includes assembly accessory, the assembly accessory
The upper Quick Response Code with the accessory information comprising the assembly accessory；The assembly accessory includes lifting accessory and being combined with target to match
Part.
Further, the intelligent glasses 142 act the construction of the hoist controlling device 143 according to the construction information
It is monitored in real time, and monitoring report is generated according to preset condition and carries out real-time broadcasting, specially：
The intelligent glasses 142, built-in barcode scanning module and voice module；Wherein,
The barcode scanning module scans the Quick Response Code on assembly accessory to obtain the assembly accessory according to relevant control instruction
Corresponding accessory information；
The voice module acts the construction of the terminal device 14 and carries out according to the accessory information and construction information
Monitoring in real time, and monitoring report is generated according to preset condition and carries out real-time broadcasting；The preset condition is to be believed according to the construction
Breath is configured.
Further, the intelligent glasses 142, are additionally operable to the relevant operation instruction of response user, and scanning is assembled on accessory
Quick Response Code to obtain the corresponding accessory information of assembly accessory, or send construction information to the control gateway 13 and obtain request
To obtain the construction information.
It is understood that the intelligent glasses 142 have the Quick Response Code function of reading assembly accessory, on the Quick Response Code
Including detailed assembly accessory information in Cloud Server 12, intelligent glasses 142 are also equipped with to field personnel's real-time report and need
The accessory that emphasis monitors is wanted to whether there is dangerous inclination or locomotive function, to avoid that accident occurs in construction or reach
Less than installation accuracy requirement.Field personnel can obtain assembly accessory information and alignment and fine motion by intelligent glasses 142
The information of detection device 141.
Further, described that the alignment is obtained with fine motion detection device 141 to default sight according to relevant control instruction
Detection data a little is examined, specially：
The control gateway 13 will send relevant control instruction to the alignment and fine motion detection device 141；It is described right
Accurate and fine motion detection device 141, including video camera 1411 and target 1412；The video camera 1411 includes taking module and detection
Module；
It is described alignment with 141 phase of fine motion detection device should control instruction, so that the taking module is acquired current target
Image, and the detection module is made to obtain the detection data of predetermined view point in real time according to the target image, and by the inspection
Measured data is sent to the control gateway 13；Wherein,
The detection data includes the vertical range and micro-displacement of predetermined view point, and lifting accessory is combined with target and matched
The distance between part.
It is understood that the video camera 1411 has image taking and analysis ability, can in real time to point of observation (such as
Pillar) vertically detected with micro-displacement, and detection lifts the difference distance between accessory and target combination accessory and works as
Whether preceding assembly accessory is aligned, and detection data is sent to the control gateway 13 by WLAN.
Further, the hoist controlling device 143 extracts the control that X, Y, Z axis is mobile and rotates according to the construction information
Signal, specially：
According to construction information extraction lifting information corresponding with current assembly accessory；The lifting information includes described right
The accurate information with fine motion detection device 141；
Convert the lifting information to the control signal of the X, Y, Z axis movement and rotation of the assembly accessory.
It is understood that the hoist controlling device 143 will be aligned with the conversion of the information of fine motion detection device 141 in order to control
Hoisting machine is mobile to the X, Y, Z axis of accessory and the control signal of rotation, and automatically controls hoisting machine according to the control signal
Operation, to realize automatic Dock With Precision Position between accessory.
It should be noted that the control management process of fabricated construction hoist controlling management system, referring to Fig. 2, Fig. 2
It is to monitor system by being directed at the high-precision two-dimensional measurement of micromovements instrument constituted with fine motion detection device in first embodiment of the invention
Structural schematic diagram.
As shown in Fig. 2, 21 be upper member, 22 be lower member, and 23 be the first alignment and micro-movement measuring device, and 24 be second pair
Accurate and micro-movement measuring device, 25 be docking mark.
The upper member 21 and lower member 22 dock, wherein and the upper member 21 and lower member 22 are prefabricated in the factory,
Its interface also prints corresponding docking mark 25.It is understood that docking mark 25 position of different component is according to work
Journey actual components are determined.
It is generally necessary to which two orthogonal directions measure to complete component docking simultaneously, the first alignment and micro-movement measuring device 23 are real
The existing docking of upper member 21 and lower member 22 in XOY plane, the second alignment and micro-movement measuring device 24 realize upper member 21 and
Docking of the lower member 22 in YOZ planes, in this way, the first alignment is aligned with micro-movement measuring device 23 and second and is filled with measurement of micromovements
It sets 24 and calculates displacement variable in docking operation on three directions of x, y, z jointly.
Specifically, using sub-pixel positioning algorithm, i.e., using the object feature being known in advance, target image is divided
Analysis handles (such as extracting feature, prominent features filter out noise etc.), then until identifying and determining with target anastomosis degree highest.
In entire position fixing process, with Floating-point Computation method, positioning accuracy can be reached and be higher than whole pixel, i.e. sub-pix.This base
In the characteristic of target, then the technology of the most exact position of this feature is calculated in analysis image.
The present embodiment is by means of information-based field management, assemble flow control, virtual interacting touch technology, Yi Jitu
Picture/interactive voice technology, intelligent glasses can instruct, guide the assembly of field personnel by the identification of flow and accessory
Work, from the both hands for truly discharging worker.
A kind of fabricated construction hoist controlling provided in this embodiment manages system, including：User terminal, Cloud Server,
Control gateway and terminal device；The terminal device includes intelligent glasses, alignment and fine motion detection device and hoist controlling device；Institute
User terminal is stated for inquiring construction information and sending control data instruction；The Cloud Server is used for according to the control data
Instruction generates control instruction and is sent to the control gateway, and obtains detection data and preserved；The control gateway is used
It is carried out with fine motion detection device and the hoist controlling device according to relevant control instruction and the intelligent glasses, described be aligned
Interaction, to be monitored, be obtained the alignment in real time to construction site by the intelligent glasses with fine motion detection device to pre-
If the detection data of point of observation and hoist controlling device realization is made to automatically control.The present invention can realize the intelligence of assembly work
Automatic Dock With Precision Position between guidance and accessory improves installation accuracy and tracks construction speed.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principle of the present invention, several improvement and deformations can also be made, these improvement and deformations are also considered as
Protection scope of the present invention.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Claims (10)
1. a kind of fabricated construction hoist controlling manages system, which is characterized in that including：User terminal, Cloud Server, control net
Pass and terminal device；The terminal device includes at least one intelligent glasses, at least one alignment and fine motion detection device and extremely
A few hoist controlling device；Wherein,
The user terminal, what is stored in the database for obtaining the Cloud Server according to dependent instruction input by user applies
Work information, and relevant control data is sent to the Cloud Server according to the construction information and is instructed；
The Cloud Server is connected by internetwork connection mode with the control gateway, for being referred to according to the control data
It enables and generates control instruction, and the control instruction is sent to the control gateway, and the inspection to the control gateway feedback
Measured data is preserved；
The control gateway is connected by internetwork connection mode with the terminal device, for according to relevant control instruction
The construction information is sent to the intelligent glasses so that the intelligent glasses according to the construction information to the hoist controlling
The construction action of device is monitored in real time, and is generated monitoring report according to preset condition and carried out real-time broadcasting；For according to correlation
Control instruction obtain the alignment with fine motion detection device to the detection data of predetermined view point；And for according to relevant
Control instruction sends the construction information to the hoist controlling device, so that the hoist controlling device is carried according to the construction information
Take X, Y, Z axis mobile and the control signal of rotation, and lifting action is executed according to the control signal.
2. fabricated construction hoist controlling according to claim 1 manages system, which is characterized in that the control gateway is
It is installed on construction site and the intelligent control device of built-in Linux can be run.
3. fabricated construction hoist controlling according to claim 1 manages system, which is characterized in that the construction information packet
Include project information, construction drawing, construction speed information, accessory information and lifting information.
4. fabricated construction hoist controlling according to claim 1 manages system, which is characterized in that the Cloud Server,
It is additionally operable to analyze the detection data according to the construction information, and generates and preserve analysis report, and according to institute
It states analysis report and updates the construction information.
5. fabricated construction hoist controlling according to claim 4 manages system, which is characterized in that the Cloud Server,
It is additionally operable to when judging that the analysis report includes preset dangerous information, triggers alarm, and generate and be sent to user's end
The warning information at end.
6. fabricated construction hoist controlling according to claim 1 manages system, which is characterized in that further include matching
Part, it is described to assemble the Quick Response Code for having the accessory information comprising the assembly accessory on accessory；The assembly accessory includes that lifting is matched
Part and target combination accessory.
7. fabricated construction hoist controlling according to claim 1 manages system, which is characterized in that the intelligent glasses root
The construction action of the hoist controlling device is monitored in real time according to the construction information, and monitoring report is generated according to preset condition
It accuses and carries out real-time broadcasting, specially：
The intelligent glasses, built-in barcode scanning module and voice module；Wherein,
The barcode scanning module scans the Quick Response Code on assembly accessory to obtain assembly accessory correspondence according to relevant control instruction
Accessory information；
The voice module supervises the construction action of the terminal device according to the accessory information and construction information in real time
It surveys, and monitoring report is generated according to preset condition and carries out real-time broadcasting；The preset condition is to be carried out according to the construction information
Setting.
8. fabricated construction hoist controlling according to claim 7 manages system, which is characterized in that the intelligent glasses,
It is additionally operable to the relevant operation instruction of response user, the Quick Response Code on scanning assembly accessory is to obtain the corresponding accessory of assembly accessory
Information, or send construction information to the control gateway and obtain request to obtain the construction information.
9. fabricated construction hoist controlling according to claim 1 manages system, which is characterized in that described according to relevant
Control instruction obtains detection data of the alignment with fine motion detection device to predetermined view point, specially：
The control gateway will send relevant control instruction to the alignment and fine motion detection device；The alignment is examined with fine motion
Survey device, including video camera and target；The video camera includes taking module and detection module；
The alignment and fine motion detection device phase should control instruction, so that the taking module is acquired current target image, and
So that the detection module is obtained the detection data of predetermined view point in real time according to the target image, and the detection data is sent out
It send to the control gateway；Wherein,
The detection data includes the vertical range and micro-displacement of predetermined view point, and lifting accessory and target combination accessory it
Between distance.
10. fabricated construction hoist controlling according to claim 1 manages system, which is characterized in that the hoist controlling
Device extracts the control signal that X, Y, Z axis is mobile and rotates according to the construction information, specially：
According to construction information extraction lifting information corresponding with current assembly accessory；The lifting information include it is described alignment with
The information of fine motion detection device；
Convert the lifting information to the control signal of the X, Y, Z axis movement and rotation of the assembly accessory.
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| CN201810285755.9A CN108427346B (en) | 2018-04-02 | 2018-04-02 | Assembled structure hoist and mount control management system |
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| CN110299138A (en) * | 2019-06-28 | 2019-10-01 | 北京机械设备研究所 | A kind of augmented reality assembly technology instructs system and method |
| CN110617856A (en) * | 2019-10-30 | 2019-12-27 | 国网山西省电力公司忻州供电公司 | Intelligent operation and inspection system |
| CN111862771A (en) * | 2020-07-30 | 2020-10-30 | 江苏建筑职业技术学院 | Prefabricated structure construction synchronous guidance system and method based on building information model |
| CN112468561A (en) * | 2020-11-18 | 2021-03-09 | 山东省科学院海洋仪器仪表研究所 | Remote control system suitable for ice rink handling system |
| CN113565011A (en) * | 2021-07-28 | 2021-10-29 | 中建八局第二建设有限公司 | Auxiliary positioning device for installation of large-span prefabricated high-speed rail bridge prefabricated pier column |
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