CN109292656A - Tower crane real-time system for monitoring and pre-warning and method based on energy monitor and internet of things technology - Google Patents
Tower crane real-time system for monitoring and pre-warning and method based on energy monitor and internet of things technology Download PDFInfo
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- CN109292656A CN109292656A CN201811420200.7A CN201811420200A CN109292656A CN 109292656 A CN109292656 A CN 109292656A CN 201811420200 A CN201811420200 A CN 201811420200A CN 109292656 A CN109292656 A CN 109292656A
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Classifications
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
-
- 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
-
- 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
Abstract
The present invention provides a kind of tower crane real-time system for monitoring and pre-warning and method based on energy monitor and internet of things technology, the system includes: that towering machine information acquires and communication module in real time, it is disposed by way of no intrusion, can acquire the status information of tower crane in real time, and upload by data network；Data aggregate analysis module, can receive the status information of the tower crane, and be converted into tower crane real-time operating conditions information；The real-time security monitoring modular of tower crane can make real-time assessment to tower crane safe operation situation according to the tower crane real-time operating conditions information, and provide real-time visual monitoring information；The information tower crane running state information that data aggregate analysis module generates can be carried out isomeric data classification storage by tower crane running state data library module.System and method of the invention simplify the complexity and installation maintenance difficulty of safety monitoring system, improve tower crane and tower crane group is safely operated the real-time of monitoring.
Description
Technical field
The present invention relates to a kind of tower crane real-time system for monitoring and pre-warning and methods, belong to industrial internet of things field.
Background technique
Derrick crane (tower crane) at work, need to change operating condition according to on-site actual situations and carry out hoisting operation, such as change
Become lifting angular width degree, lifting brachium etc., and the maximum rated weight that can be lifted by crane under different duty parameters and the maximum that works, most
Small luffing is different, it is therefore desirable to which set of system carries out comprehensive monitoring judgement to the above state parameter, makes the normal work of tower crane
The monitoring of working conditions and the corresponding warning note such as work, fully loaded, overload, the super upper limit of luffing, the super lower limit of luffing, to guarantee tower crane
Normal safe operation.
Tower crane safety monitoring system in the prior art is more in the last installation of high altitude platform of tower crane by intrusive mode
A sensor (weight sensor, amplitude sensor, angular transducer, height sensor and obliquity sensor etc.) is to tower crane suspension hook
Working condition is monitored, the higher cost of sensor and system, and sensor installation difficulty is big, and disassembly is inconvenient and installation is dangerous
Degree is high, and installation cost is high.Furthermore the working method of tower crane there are heavy workload, time-consuming for work, factors easily affected by environment etc.,
It needs periodically to eliminate sensor cumulative errors and periodically be demarcated, to guarantee the accuracy of tower crane safety monitoring, therefore mesh
Preceding system maintenance is at high cost.In addition, being positioned in the prior art often through rangefinder to tower crane, need on the screen
Artificial transmission of data, inconvenient for use, precision is low and working efficiency is low.
In addition, heavy construction and group's construction work are more and more as infrastructure scale in various regions constantly expands, more
Tower crane group forked working and tower crane operation plane it is overlapped construction site it is more and more.It is deposited when the adjacent operation of height tower crane
In high collision accident (between high tower crane suspension hook and low tower crane tower arm, low tower crane tower arm and high tower crane tower body etc.) hidden danger.Mesh
Preceding solution, which passes through, installs a large amount of sensor and its system in each tower crane, or depends on each original peace of tower crane
Full monitoring system, but each original safety monitoring system of tower crane is different, model of tower crane and manufacturer also each not phase
Together, it is difficult to realize that low cost integrates, operation safe monitoring system is pitched in effective tower crane flock-mate in real time.
In addition to officially eliminated by the State type is forbidden to use, do not seek unity of standard for the service life of tower crane, advanced age tower
Machine will limit load after identification is repaired and use.The excessive profit-push benefit of unit in charge of construction does not focus on safety, and overload is serious, is
High-incidence one of the main contributor of tower crane accident.Part tower crane manufacturer is in order to cater to the requirements of construction enterprises, by tower crane independence
Extended height lengthens crane arm to increase tower crane covering surface, leads to the reduction of tower crane stability, and rated load weight is reduced, and increases
Insecurity factor.The part tower crane age is more long in the market simultaneously, price itself is lower and is fitted without safety monitoring system, owner
It is unwilling that inject capital into repairs and upgrade safety monitoring system more, thus goes wrong frequently.
In conclusion existing system and method are disadvantageous in that: 1) to realize security monitoring function, single tower crane is needed
Sensor to be mounted is more and complicated, at high cost, 2) sensor installing and dismounting is not convenient, the cost of installation maintenance calibration
It is high, process is complicated, 3) can not easily realize that the tower crane group of interconnection supervises safely between the tower crane in multiple and different brand and model ages
Examining system, 4) old tower crane auto upgrading realizes the at high cost of safety monitoring system.
Summary of the invention
To install the high and at low cost tower crane of simple, easy to use, precision real-time the purpose of the present invention is to provide a kind of
Monitoring and pre-warning system and method.
Technical scheme is as follows.
A kind of tower crane real-time system for monitoring and pre-warning, comprising:
Towering machine information acquires in real time and communication module, is disposed by way of no intrusion, can acquire the state of tower crane in real time
Information, and uploaded by data network；
Data aggregate analysis module, can receive the status information of the tower crane, and be converted into tower crane real-time operating conditions letter
Breath；
The real-time security monitoring modular of tower crane can be safely operated situation to tower crane according to the tower crane real-time operating conditions information
Real-time assessment is made, and real-time visual monitoring information is provided；
Tower crane running state data library module, can be by information tower crane running state information that data aggregate analysis module generates
Carry out isomeric data classification storage.
Preferably, the status information of the tower crane includes tower crane real-time electric power information and boom real-time position information,
Preferably, the towering machine information acquires in real time and communication module further comprises:
Electric power data acquisition submodule, is mounted in the exclusive distribution box of the tower crane, acquires the electric energy of the tower crane in real time
Information；
GPS submodule is mounted on tower crane boom top, acquires the boom position information of this tower crane in real time；
Submodule is communicated, the energy information can be uploaded to the data aggregate analysis module.
Preferably, the towering machine information acquires in real time and communication module further comprises that frequency conversion uploads control submodule,
Can be according to the boom position information stable state and transient state of tower crane the characteristics of, controls the energy information and passes through communication
Module is uploaded to the data aggregate analysis module.
Preferably, the communication submodule GPRS networking mode and LAN networking
Preferably, the data aggregate analysis module, will be from multiple and distributing sources by big data mining analysis tool
Tower crane status information data stream determines the corresponding characteristic action of tower crane；Tower crane operation real-time characteristic motion analysis result is sent out simultaneously
To the real-time security monitoring modular of tower crane and it is stored into tower crane running state data library.
Preferably, the real-time security monitoring modular of the tower crane compares base in the tower crane running state data library module simultaneously
In the characteristic action of the operating status and the tower crane of energy monitor and boom position information, situation is safely operated to tower crane
Make real-time assessment.
Preferably, further include alarm module, can be mentioned when the running state data of the tower crane is more than alarm threshold
For alarm.
Preferably, the alarm threshold includes position threshold value of warning, overload overload threshold value of warning, movement speed early warning threshold
One or more of value, anti-collision early warning threshold value.
Another aspect provides a kind of use tower crane according to any one of above technical scheme is real-time
The tower crane method of real-time of monitoring and warning system, comprising the following steps:
Towering machine information is acquired in real time and communication module is deployed in the tower crane by step S1；
Step S2, acquires the energy information and boom position information of the tower crane in real time, and uploads in real time；
Step S3 converts tower crane real-time operating conditions information for the energy information of the tower crane and boom position information, goes forward side by side
Row isomeric data classification storage；
Step S4 makes real-time assessment to tower crane safe operation situation according to the tower crane real-time operating conditions information, and provides
Real-time visual monitoring information.
The tower crane real-time system for monitoring and pre-warning and method based on energy monitor and internet of things technology in the present invention is invaded by nothing
The mode entered dispose a towering machine information acquire in real time and communication module (an electric power data acquisition submodule is in the exclusive distribution box of tower crane
Interior, a GPS submodule is mounted on tower crane boom top, acquires the power information of this tower crane and the location information of boom in real time), on
Pass through big data analysis digging tool and correlation module after reaching real-time system for monitoring and pre-warning, converts multiple and distributing sources to
Tower crane real-time operating conditions (raising, revolution, luffing etc.) simultaneously carry out misoperation (overload, hypermutation width, collision hidden danger etc.) real
Alarm.By disposing the system individually and in multiple present invention to single and multiple tower cranes, single tower crane and tower crane can be constructed
The real-time system for monitoring and pre-warning of group realizes inexpensive Real-time security monitoring early warning.The system and method for the embodiment of the present invention simplify
The complexity and installation maintenance difficulty of safety monitoring system, improves tower crane and tower crane group is safely operated the real-time of monitoring.
Detailed description of the invention
Fig. 1 is the tower crane real-time system for monitoring and pre-warning structural schematic diagram in the present invention；
Fig. 2 is that the towering machine information in Fig. 1 acquires and communication module structural schematic diagram in real time；
Fig. 3 is the data aggregate analysis module structural schematic diagram in Fig. 1；
Fig. 4 is the boom cylindrical coordinates of single tower crane, suspension hook cylindrical coordinates schematic diagram；
Fig. 5 is the tower crane Monitoring and forecasting system in real-time method flow diagram in the present invention.
Specific embodiment
Technical scheme in the embodiment of the invention is clearly and completely described below, it is clear that described embodiment
It is closely a part of the embodiment in the present invention, rather than whole embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figure 1, the tower crane real-time system for monitoring and pre-warning based on energy monitor and internet of things technology in the present invention mainly by with
Lower functional module composition: towering machine information acquires in real time and the real-time security monitoring mould of communication module, data aggregate analysis module, tower crane
Block, alarm module and tower crane running state data library module.
The towering machine information acquires in real time and communication module, by way of no intrusion (do not change tower crane original structure and
Route) deployment, wherein an electric power data acquisition submodule is installed in the exclusive distribution box of this tower crane, the electricity consumption of acquisition tower crane in real time
With energy information；One GPS submodule is mounted on tower crane boom top, acquires the boom position information of this tower crane in real time.Tower crane is real-time
Operation information is uploaded to data aggregate analysis module by networking modes such as wireless networks.
As shown in Fig. 2, the towering machine information acquires in real time and communication module is made of the several formants of the following figure, electric power number
Tower crane electric current and voltage data are acquired in real time by current transformer and voltage signal sensor according to acquisition submodule, electric energy letter
After breath is by the electric energy chip calculation processing in electric power acquisition submodule, control submodule unit is uploaded by frequency conversion, is believed depending on electric energy
The characteristics of breath, is uploaded to data aggregate analysis module by communicating submodule.GPS submodule leads to the real-time position information of boom
It crosses frequency conversion and uploads control submodule, the characteristics of depending on boom position information stable state and transient state, data are uploaded to by communication submodule
Polymerization analysis module.Frequency conversion uploads control submodule by the transmission quantity of reduction data after edge calculations, in tower crane electrical load
Selection low frequency acquires upload mode when stable and/or tower arm position is relatively fixed, in tower crane electrical load stabilization and/or tower arm
High-frequency is selected to acquire upload mode when position quickly changes.Communicating submodule may be selected GPRS networking mode and the networking side LAN
A variety of networking modes such as formula.
The data aggregate analysis module will come from multi-source heterogeneous number by big datas mining analysis tools such as data minings
Tower crane real-time operating conditions (raising, revolution, luffing are converted into according to the tower crane real-time electric power information and boom real-time position information in source
Deng) etc. information.As shown in figure 3, being acquired in real time from the towering machine information and the real-time power information data of the tower crane of communication module
Stream, determines current characteristic number and characteristic morphology, in turn by electric signal catastrophe point position and type by the method for wavelet analysis
Tower crane corresponding real-time characteristic movement is determined, as raising movement (including start, travel at the uniform speed, stop), luffing movement (including are opened
Move, travel at the uniform speed, stop, carriage amplitude varying formula tower crane and luffing jib formula tower crane), rotational action (start, travel at the uniform speed,
Stop), illumination (open and close) etc..The tower crane operation real-time characteristic motion analysis result will be sent to the real-time security monitoring modular of tower crane
With tower crane running state data library module, to be stored into tower crane running state data library.
Wavelet analysis method in the data aggregate analysis module is prominent using one-dimensional real-time tele-communication number (current or voltage)
Change point detection sorting algorithm.Its input signal is one-dimensional current or voltage signal { f [n] }, and the easy steps of algorithm are as follows.
(1) small echo Ψ, decomposition level J and threshold value T are selected；
(2) Second Wavelet Transform is carried out to one-dimensional current or voltage signal { f [n] }, obtains each level wavelet coefficient；
(3) threshold process is carried out to each layer wavelet coefficient in step (2), if wavelet coefficient absolute value is less than threshold value T, this is small
Wave system number is 0；
(4) the modulus maximum point for monitoring each wavelet coefficient, obtains the maximum point of each decomposition level J；
(5) point that upper step obtains is checked whether one by one be each scale extreme point, obtain singular point；
(6) according to the symmetry of selected small echo (antisymmetric or symmetrical), step marginal point or office when determining obtained point
Portion's extreme point；
(7) electric signal catastrophe point position and type are exported.
The tower crane operation data library module, the information tower crane running state information that data aggregate analysis module is generated into
Row isomeric data classification storage.The history run of provided each tower crane is generated by classification storage data aggregate analysis module
The feature run action of situation information and tower crane constructs operating status and feature fortune based on energy monitor and boom position information
Row action database.
The real-time security monitoring modular of tower crane, for tower crane operational safety supervisor provide tower crane real-time operating conditions and
Real-time security visual control information.Data aggregate analysis module turns tower crane real-time electric power information and boom real-time position information
It is passed to the real-time security monitoring modular of tower crane after turning to tower crane real-time operating conditions and real-time characteristic movement, in the real-time security prison of tower crane
Module is surveyed, while comparing the operating status in tower crane running state data library module based on energy monitor and boom position information,
And the tower crane characteristic action in tower crane running state data library module, real-time assessment is made to tower crane safe operation situation.Such as
Shown in Fig. 4, in the boom cylindrical coordinates M (r, φ, z) of single tower crane, the position z of radius r and height is fixed value, angle position
φ is set to be determined by GPS position information；Suspension hook cylindrical coordinates M (r ', φ ', z ') in, the position of radius and height in this system by using
Power information determines that angle position is determined by GPS position information.By to the opposite of lift hook position and tower crane operated cylinder
Position analysis can determine the actual time safety operating status of tower crane group.
In a preferred embodiment, the tower crane real-time system for monitoring and pre-warning further includes an alarm module.
When occurring tower crane operating condition or tower crane group's operating condition abnormal conditions in the real-time security monitoring modular of tower crane, such as
Overload, abnormal, the tower arm interference of power etc., alarm module will be issued by modes such as short message, mails to tower crane safety manager
Alarm prompts related personnel to intervene and manage, achievees the purpose that real time execution risk management.Simultaneously tower crane security alarm and
Feedback information is handled, can synchronize and pass tower crane running state data library module back, will confirm that and supplemental information is returned and supplemented superb
Through metanetwork recognizer, new training sample and dynamic corrections neural network model are added, generated new tower crane is real
When operating status case be added in tower crane operation data library module.
Equipment and Safety Management department can exist according to the real-time operation and other condition of construction of tower crane and tower crane group
Software interface setting, adjustment alarm threshold (including position early warning, overload overload early warning, movement speed early warning, anti-collision early warning), it is right
Emphasis tower crane reinforces monitoring dynamics.
Embodiment 2
The tower crane real-time monitoring according to any one of above technical scheme that another aspect provides a kind of uses
The tower crane method of real-time of early warning system, includes the following steps, as shown in Figure 5.
Towering machine information is acquired in real time and communication module is deployed in the tower crane by step S1；
Step S2, acquires the energy information and boom position information of the tower crane in real time, and uploads in real time；
Step S3 converts tower crane real-time operating conditions information for the energy information of the tower crane and boom position information, goes forward side by side
Row isomeric data classification storage；
Step S4 makes real-time assessment to tower crane safe operation situation according to the tower crane real-time operating conditions information, and provides
Real-time visual monitoring information.
In the step S1, the towering machine information acquires and communication module in real time, is disposed by way of no intrusion, and
Tower crane original structure and route are not changed.
In the step S2, the towering machine information acquires in real time and the electric power data acquisition submodule of communication module passes through
Current transformer and voltage signal sensor acquire tower crane electric current and voltage data in real time, and energy information is by electric power acquisition submodule
After electric energy chip calculation processing in block, control submodule unit is uploaded by frequency conversion, the characteristics of depending on energy information, passes through communication
Submodule is uploaded to data aggregate analysis module.The real-time position information of boom is uploaded control by frequency conversion by GPS submodule
Module the characteristics of depending on boom position information stable state and transient state, is uploaded to data aggregate analysis module by communicating submodule.
In the step S3, the data aggregate analysis module is by the tower crane real-time electric power from multiple and distributing sources
Information and boom real time position data stream determine electric current by electric signal catastrophe point position and type by the method for wavelet analysis
Characteristic value and characteristic morphology, and then determine the corresponding characteristic action of tower crane, as raising movement (including start, travel at the uniform speed, stop),
Luffing acts (including start, travel at the uniform speed, stop, carriage amplitude varying formula tower crane and luffing jib formula tower crane), rotational action (packet
Include starting, travel at the uniform speed, stop), illumination (including open and close) etc..Tower crane operation real-time characteristic motion analysis will be sent to tower crane simultaneously
Real-time security monitoring modular is simultaneously stored into tower crane running state data library.
In the step S4, the real-time security monitoring modular of tower crane compares base in tower crane operation data library module simultaneously
Tower crane characteristic action in the operating status and feature run action database of energy monitor and boom position information, to tower crane
Safe operation situation makes real-time assessment.
The real-time security monitoring and pre-warning system and method for tower crane in the present invention is believed not in such a way that image obtains analysis
Number source and data source are simply direct, and data processing is simple, binds directly tower crane transient current, consumption information and tower arm position signal
Determine the real-time running state of single tower crane and multiple tower cranes, it can the single tower crane operation exception situation of early warning simultaneously and multiple tower cranes
Between collision accident generation.
The real-time security monitoring and pre-warning system and method for tower crane in the present invention is installed by the electrical power sensor of non-intrusion type
Method, each tower crane only need a GPS positioning device, install and run convenient and quick, do not change the default setting, original of tower crane
Component, route and control tower drivers' cab display system.
The real-time security monitoring and pre-warning system and method for tower crane in the present invention, directly by obtaining the instantaneous electricity of tower crane operation
Stream, consumption information, the real-time running state of single tower crane and multiple tower cranes is determined in conjunction with tower arm position signal, can simultaneously early warning list
A tower crane is operating abnormally the generation of collision accident between situation and multiple tower cranes.
Claims (10)
1. a kind of tower crane real-time system for monitoring and pre-warning, comprising:
Towering machine information acquires in real time and communication module, is disposed by way of no intrusion, can acquire the state of tower crane in real time
Information, and uploaded by data network；
Data aggregate analysis module, can receive the status information of the tower crane, and be converted into tower crane real-time operating conditions letter
Breath；
The real-time security monitoring modular of tower crane can be safely operated situation to tower crane according to the tower crane real-time operating conditions information
Real-time assessment is made, and real-time visual monitoring information is provided；
Tower crane running state data library module, can be by information tower crane running state information that data aggregate analysis module generates
Carry out isomeric data classification storage.
2. tower crane real-time system for monitoring and pre-warning according to claim 1, which is characterized in that the status information packet of the tower crane
Include tower crane real-time electric power information and boom real-time position information.
3. tower crane real-time system for monitoring and pre-warning according to claim 1 or 2, which is characterized in that the towering machine information is real-time
Acquisition and communication module further comprise:
Electric power data acquisition submodule, is mounted in the exclusive distribution box of the tower crane, acquires the electric energy of the tower crane in real time
Information；
GPS submodule is mounted on tower crane boom top, acquires the boom position information of this tower crane in real time；
Submodule is communicated, the energy information can be uploaded to the data aggregate analysis module.
4. tower crane real-time system for monitoring and pre-warning according to claim 3, which is characterized in that the towering machine information acquires in real time
And communication module further comprises that frequency conversion uploads control submodule, can according to the boom position information stable state of the tower crane and
The characteristics of transient state, controls the energy information by the communication submodule and is uploaded to the data aggregate analysis module.
5. tower crane real-time system for monitoring and pre-warning according to claim 3 or 4, which is characterized in that the communication submodule
GPRS networking mode and LAN networking.
6. tower crane real-time system for monitoring and pre-warning according to claim 1 or 2, which is characterized in that the data aggregate analysis
Tower crane status information data stream from multiple and distributing sources is determined tower crane by big data mining analysis tool by module
Corresponding characteristic action；Tower crane operation real-time characteristic motion analysis result is sent to the real-time security monitoring modular of tower crane and stores simultaneously
Enter tower crane running state data library.
7. tower crane real-time system for monitoring and pre-warning according to claim 1 or 2, which is characterized in that the tower crane is real-time security
Monitoring modular compares the operation in the tower crane running state data library module based on energy monitor and boom position information simultaneously
The characteristic action of state and the tower crane makes real-time assessment to tower crane safe operation situation.
8. according to claim 1 or tower crane real-time system for monitoring and pre-warning described in 2, which is characterized in that it further include alarm module,
It can provide alarm when the running state data of the tower crane is more than alarm threshold.
9. tower crane real-time system for monitoring and pre-warning according to claim 8, which is characterized in that the alarm threshold includes position
One or more of threshold value of warning, overload overload threshold value of warning, movement speed threshold value of warning, anti-collision early warning threshold value.
10. a kind of tower crane using tower crane real-time system for monitoring and pre-warning according to claim 1 to 9 is supervised in real time
Survey method, comprising the following steps:
Towering machine information is acquired in real time and communication module is deployed in the tower crane by step S1；
Step S2, acquires the energy information and boom position information of the tower crane in real time, and uploads in real time；
Step S3 converts tower crane real-time operating conditions information for the energy information of the tower crane and boom position information, goes forward side by side
Row isomeric data classification storage；
Step S4 makes real-time assessment to tower crane safe operation situation according to the tower crane real-time operating conditions information, and provides
Real-time visual monitoring information.
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| CN201811420200.7A CN109292656A (en) | 2018-11-27 | 2018-11-27 | Tower crane real-time system for monitoring and pre-warning and method based on energy monitor and internet of things technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110262337A (en) * | 2019-06-20 | 2019-09-20 | 中国南方电网有限责任公司 | Electric Intelligent Monitoring System and method |
| CN111830320A (en) * | 2020-06-05 | 2020-10-27 | 安徽中迅徽软科技有限公司 | Non-invasive energy consumption monitoring system and method based on deep learning |
| CN111824962A (en) * | 2020-07-10 | 2020-10-27 | 义乌恒邦建筑智能科技有限公司 | Device and method for detecting electric energy of tower crane and limiting power operation |
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| CN204508606U (en) * | 2015-02-09 | 2015-07-29 | 沈阳大学 | A kind of tower crane apparatus for monitoring working state |
| US20170107736A1 (en) * | 2015-10-14 | 2017-04-20 | James D. Lockwood | Crane system incorporated into a tower |
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| CN204508606U (en) * | 2015-02-09 | 2015-07-29 | 沈阳大学 | A kind of tower crane apparatus for monitoring working state |
| US20170107736A1 (en) * | 2015-10-14 | 2017-04-20 | James D. Lockwood | Crane system incorporated into a tower |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110262337A (en) * | 2019-06-20 | 2019-09-20 | 中国南方电网有限责任公司 | Electric Intelligent Monitoring System and method |
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