CN111321767A - Power transmission line tower lifting system and method based on intelligent hydraulic technology - Google Patents
Power transmission line tower lifting system and method based on intelligent hydraulic technology Download PDFInfo
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- CN111321767A CN111321767A CN202010186001.5A CN202010186001A CN111321767A CN 111321767 A CN111321767 A CN 111321767A CN 202010186001 A CN202010186001 A CN 202010186001A CN 111321767 A CN111321767 A CN 111321767A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D35/00—Straightening, lifting, or lowering of foundation structures or of constructions erected on foundations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
- B66F7/20—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by several jacks with means for maintaining the platforms horizontal during movement
Abstract
The invention discloses a power transmission line tower lifting system and method based on an intelligent hydraulic technology, wherein the system comprises a state monitoring system, a hydraulic lifting system, a control system and a leveling system, the hydraulic lifting system vertically lifts the whole tower, the state monitoring system detects the inclination information of the tower in real time in the lifting process, and the control system controls the leveling system to level the tower according to the detected inclination information. The system disclosed by the invention is suitable for various construction terrains and conditions, can stably, simply and efficiently integrally lift the tower, solves the actual problems that the tower foundation is buried and the like, solves the problems of low efficiency and poor environmental adaptability of the conventional tower lifting system, and has the advantages of safety and reliability.
Description
Technical Field
The invention relates to the field of tower maintenance, in particular to a transmission line tower lifting system and method based on an intelligent hydraulic technology.
Background
Due to the continuous promotion of the urbanization process, the external force damage trend of the power transmission line is increasingly serious, and the rough construction phenomena such as soil taking, road repairing and foundation filling around the transmission tower foundation are very serious, so that the tower foundation of the tower is sunk, and the whole sinking of the tower can cause the high change of the tower call scale and the stress change, so that the stress of the tower structure can not meet the standard requirement. If the tower foundation is buried to cause foundation inclination and settlement, so that the tower line cannot meet the requirement for continuous operation, the traditional solution is to newly build a tower near the tower and then remove the old tower, so as to thoroughly eliminate the potential safety hazard. However, in most cases, the tower foundation is buried, the foundation is not inclined or settled, and the evaluation feedback still meets the operation requirement, so that the base surface needs to be cleaned, the whole tower needs to be lifted, and the lifted part needs to be poured again through reinforced concrete and the like so as to eliminate hidden troubles.
The whole tower is raised, and at present, two ways exist: firstly, hoisting the whole tower by a crane; secondly, the pole tower is integrally lifted from the four foundations through the holding pole. Both the two solutions have high requirements on the environment and have the defect of long working period.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide the transmission line tower lifting system based on the intelligent hydraulic technology, which is applicable to various construction terrains and conditions, can stably, simply and efficiently integrally lift the tower, solves the practical problems that the tower foundation is buried and the like, solves the problems of low efficiency and poor environmental adaptability of the conventional tower lifting system, and has the advantages of safety and reliability.
The invention also aims to provide a method for lifting the system based on the transmission line tower, which has the advantages of simple control, convenient operation and high control precision.
The purpose of the invention is realized by the following technical scheme: a power transmission line tower lifting system based on an intelligent hydraulic technology comprises a state monitoring system, a hydraulic lifting system, a control system and a leveling system, wherein the hydraulic lifting system vertically jacks the whole tower, the state monitoring system detects the inclination information of the tower in real time in the jacking process, and the control system controls the leveling system to level the tower according to the detected inclination information. The invention utilizes the hydraulic lifting technology and the automatic leveling technology of the lifting system to realize the integral stable lifting of the transmission line tower in the original installation place.
Preferably, the hydraulic lifting system comprises a hydraulic cylinder and a hydraulic pump station, the hydraulic cylinder is controlled to extend or contract to lift and level the tower, and the hydraulic pump station provides hydraulic oil with certain pressure and oil quantity for the hydraulic pump.
Preferably, the leveling system comprises a jacking platform and a leveling mechanism, and the jacking platform finely adjusts the tower.
Preferably, the state monitoring system comprises an inclination monitoring device and a data acquisition device, the inclination monitoring device is installed on a tower and used for measuring the horizontal inclination angle of the jacking platform in the direction X, Y, and the data acquisition device is used for sending data detected by the inclination monitoring device to the control system.
Preferably, the control system comprises a PLC (programmable logic controller) and a control console, a human-computer interaction module is arranged on the control console, the PLC is respectively connected with the state monitoring system, the hydraulic lifting system and the leveling system, the PLC is used for controlling the stroke of the hydraulic cylinder, judging whether the inclination of the current tower exceeds an allowable value according to the data of the state monitoring system, and controlling the leveling system to level.
Preferably, a displacement sensor is arranged on the hydraulic cylinder. The displacement sensor can detect the displacement of the hydraulic cylinder in real time in the leveling process, and displacement feedback is realized.
A method based on the transmission line tower lifting system comprises the following steps:
the hydraulic lifting system vertically lifts the whole pole tower;
the state monitoring system detects the inclination information of the tower in real time in the jacking process, the control system judges whether the leveling is needed or not according to the detected inclination information, and if the leveling is needed, the leveling system is controlled to level the tower until the tower reaches a horizontal state.
Preferably, hydraulic lifting system is to the whole perpendicular jacking of pole tower, and the step is:
connecting and fixing the hydraulic cylinder with the tower body of the tower;
the control system controls the hydraulic cylinder to move upwards to lift the tower;
during the lifting process, the control system adjusts the stroke of the hydraulic cylinder.
Preferably, the leveling system levels the tower, an electro-hydraulic proportional closed-loop control principle is adopted, and the leveling process comprises the following steps: and transmitting horizontal inclination angles of the power tower detected by the inclination monitoring device in X, Y two mutually vertical directions to a PLC (programmable logic controller), comparing the horizontal inclination angles with a preset tower allowable inclination angle, calculating the extension amount of each hydraulic cylinder supporting leg through the PLC if the horizontal inclination angles exceed the tower allowable inclination angle, and transmitting an instruction to an electro-hydraulic proportional reversing valve in each hydraulic cylinder for leveling.
Furthermore, in the leveling process, the extension amount of the supporting leg of the hydraulic cylinder is fed back to the PLC in real time by a displacement sensor arranged on the hydraulic cylinder, so that closed-loop control of the leveling system is formed.
Furthermore, the extension amount of the supporting legs of each hydraulic cylinder is calculated through a PLC (programmable logic controller), and an instruction is sent to be transmitted to the electro-hydraulic proportional directional valves in each hydraulic cylinder for leveling, wherein the method comprises the following steps:
according to the horizontal inclination angles of the power tower in the X, Y two mutually vertical directions, calculating the hydraulic cylinder located at the highest point in the current state, and meanwhile calculating the difference value of other hydraulic cylinders reaching the highest point;
and the difference values of other hydraulic cylinders reaching the highest point are respectively transmitted to the servo control systems of the corresponding hydraulic cylinders, the hydraulic cylinders are driven to extend for a certain distance, and after multiple times of adjustment, all the hydraulic cylinders are at the same height, so that the automatic leveling of the lifting system is realized.
Preferably, the man-machine interaction module in the control system is used for displaying the state parameters of the oil cylinder and the tower body, the leveling process parameters and the tower lifting process parameters.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the automatic leveling system for the tower fully considers the difference of the leveling of the power transmission line tower and the leveling of the common vehicle-mounted platform in structure and control, ensures the safety of the power transmission line tower in the leveling process, and ensures the reliable operation of the system.
2. Compared with the traditional crane and derrick operation mode, the crane and derrick operation mode has the advantages of strong environment applicability and short operation time.
3. After the height of the tower is integrally increased, the distance between the line and the ground is increased, the distance between trees around the tower is also increased, the expected effect is achieved, the in-situ lifting and transformation are carried out, the range of a line protection area does not need to be changed, the procedures of land acquisition removal, foundation reworking, tower stringing construction and the like are avoided, a new tower position is not needed, and the influence on the environment is small.
4. The invention provides an intelligent hydraulic transmission line tower lifting system based on an intelligent hydraulic technology and suitable for various construction terrains and conditions, which can stably, simply and efficiently integrally lift a tower, solve the practical problems that a tower foundation is buried and the like, solve the problems of low efficiency and poor environmental adaptability of the existing tower lifting method and have the advantages of safety and reliability.
Drawings
FIG. 1 is a system block diagram of an embodiment of the invention.
FIG. 2 is a schematic flow chart illustrating the use of an embodiment of the present invention.
FIG. 3 is a diagram of a lifting and leveling hydraulic system according to an embodiment of the present invention.
In the figure, 1-hydraulic pump, 2-first electromagnetic valve, 3-pressure relay, 4-booster, 5-electro-hydraulic servo valve (4), 6-second electromagnetic valve, 7-pressure relay, 8-third electromagnetic valve, 9-hydraulic control one-way valve (4), 10-one-way valve (4), 11-hydraulic lock (4), 12-hydraulic cylinder (4), 13-manual reversing valve, 14-manual pump.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
In this embodiment, as shown in fig. 1, the power transmission line tower lifting system based on the intelligent hydraulic technology mainly includes a state monitoring system, a hydraulic lifting system, a control system, and a leveling system. The state monitoring system comprises an inclination monitoring device and a data acquisition device; the hydraulic lifting system comprises a hydraulic cylinder and a hydraulic pump station; the control system comprises a PLC controller and a console, and operating software is loaded on the control system; the tower automatic leveling system comprises a jacking platform and a leveling mechanism.
In this embodiment, as shown in fig. 2, the using process of the transmission line tower lifting system based on the intelligent hydraulic technology includes: dismantling the tower foot screw; placing a hydraulic cylinder; operating software to level the tower body and standing; fixing a hydraulic cylinder; switching tower rising modes and setting tower rising parameters; the leveling system automatically enters a leveling mode; locking the tower foot screw; dismantling the oil cylinder fixing screw; recovering the oil cylinder; adding tower materials into the oil cylinder; adjusting the position of the oil cylinder, fixing the oil cylinder, and the like.
In the embodiment, the hydraulic lifting system vertically lifts the whole tower, and the hydraulic cylinder extends or contracts to realize the leveling of the lifting platform; the hydraulic pump station provides hydraulic oil with certain pressure and oil quantity, and provides power for lifting and leveling the tower.
In this embodiment, the state monitoring system monitors tower data and early warning information in the in-situ tower lifting operation process in real time. The inclination angle sensor is arranged on a tower, measures the horizontal inclination angle of the jacking platform in the direction of X, Y, comprehensively analyzes the measured data, judges whether the current tower inclination angle causes deformation or not and feeds the result back to the control system; and the displacement sensor is arranged on the hydraulic cylinder and used for displacement feedback.
In this embodiment, the leveling system includes a jacking platform and a leveling mechanism, and the jacking platform finely adjusts the tower. During lifting, all the hydraulic supporting cylinders are at the same height through the jacking platform and the leveling mechanism.
In this embodiment, the control system is configured to receive and process a signal fed back by the state monitoring system, and convert the processed signal into an input signal and transmit the input signal to the leveling mechanism for leveling the system. The device comprises a PLC (programmable logic controller), operation software and a control console, when the inclination monitoring device detects that the inclination of the power transmission line tower exceeds an allowable value, the leveling mechanism is required to automatically enter a leveling mode, and the PLC adjusts the stroke of the oil cylinder. The control console comprises a man-machine interaction module, and the operating software page parameters comprise oil cylinder and tower body state parameters, leveling process parameters and tower lifting process parameters.
The embodiment provides a method for lifting a system based on the transmission line tower, which comprises the following steps:
s1, vertically jacking the whole pole tower by the hydraulic lifting system;
s2, detecting the inclination information of the tower in real time by the state monitoring system in the jacking process, judging whether the leveling is needed or not by the control system according to the detected inclination information, and controlling the leveling system to level the tower if the leveling is needed until the tower reaches the level state.
In this embodiment, in step S1, the hydraulic lifting system lifts the whole mast tower vertically, and the steps are:
s1.1, connecting and fixing a hydraulic cylinder and a tower body;
s1.2, controlling a hydraulic cylinder to move upwards by a control system to lift a tower;
s1.3, in the lifting process, the control system adjusts the stroke of the hydraulic cylinder.
When the inclination monitoring device detects that the inclination of the power transmission line tower exceeds an allowable value, the leveling system is required to automatically enter a leveling mode until the power transmission line tower reaches a horizontal state, and the hydraulic lifting system and the tower automatic leveling system adopt the principle of lifting the whole tower:
s2.1, starting the hydraulic pump, electrifying the electromagnetic directional valve, enabling the supercharger to move right, and generating high-pressure oil. When the set pressure is reached, the hydraulic cylinder is unlocked, and the pressure relay sends an electric signal to power off the electromagnetic valve and power on the reversing valve. The hydraulic pump outputs oil through the electromagnetic directional valve, the one-way valve and the hydraulic control one-way valve are opened, the hydraulic lock is opened, and hydraulic oil enters the hydraulic cylinder. The left position of the electromagnetic directional valve is connected into the system, the two cavities of the hydraulic cylinder are communicated, and the hydraulic cylinder is in differential motion and quickly lands.
S2.2, after the hydraulic cylinders are all grounded, when the pressure of the hydraulic system is gradually increased, the pressure relay sends a signal to enable the electromagnetic directional valve to be powered off, the electro-hydraulic servo valve is signaled, the left position of the servo valve is connected, the hydraulic cylinder is lifted, the weight of a tower is overcome, and the tower platform is driven to lift.
And S2.3, entering a leveling program when the tower platform rises to a set height. According to the signal sent by the level sensor, the PLC in the console controls the corresponding servo valve to generate a certain opening, and the corresponding hydraulic cylinder generates corresponding displacement until the leveling precision is reached.
S2.4, when the stroke of the hydraulic cylinder reaches the set distance and the tower leveling precision, each servo valve returns to the middle position, and the valve port is closed. And closing the hydraulic lock to seal the oil inlet and return of the hydraulic cylinder. When the electromagnetic valve is powered off, the booster is reset, the hydraulic cylinder is locked, and the hydraulic pump stops working.
In this embodiment, the leveling mechanism requires automatic leveling of the power transmission line tower lifting system, and adopts an electro-hydraulic proportional closed-loop control principle, and the leveling process includes the steps of:
high-precision tilt angle sensors are respectively arranged on X, Y two mutually vertical directions of the platform and are respectively used for measuring the horizontal tilt angle of the platform in the X, Y direction;
determining the hydraulic cylinder positioned at the highest point in the current state according to the obtained inclination angle signals transmitted back by the two high-precision inclination angle sensors, and simultaneously calculating the difference value of other hydraulic cylinders reaching the highest point;
and the difference values of other hydraulic cylinders reaching the highest point are respectively transmitted to the servo control systems of the corresponding hydraulic cylinders, the hydraulic cylinders are driven to extend for a certain distance, and after multiple adjustments, all the hydraulic support cylinders are at the same height, so that the automatic leveling of the lifting system is realized, and in the leveling process, the real-time displacement is fed back to the control system through the displacement sensor to form the closed-loop control of the automatic tower leveling system.
In this embodiment, the hydraulic lifting system can realize the vertical jacking of the whole transmission line tower through the detachable lifting frame attached to the transmission line tower. The jacking height of the transmission line tower is not more than 4 meters, the whole process of tower lifting is carried out by 4 sections, and the lifting is carried out by 0.6 meter each time.
The working principle and the operation process of the lifting and leveling hydraulic system of the invention are described below with reference to fig. 3:
1) firstly, the hydraulic pump 1 is started, and the first electromagnetic valve 2 and the second electromagnetic valve 6 are electrified simultaneously, so that the supercharger 4 moves rightwards, and high-pressure oil is generated. When the set pressure is reached, the hydraulic cylinder 12 is unlocked and the pressure relay 3 sends an electrical signal to de-energise the second solenoid valve 6 and energise the third solenoid valve 8. At this time, the oil output by the pump passes through the second electromagnetic valve 6 and the third electromagnetic valve 8, the hydraulic control one-way valve 9 and the one-way valve 10 are opened, the hydraulic lock 11 is opened, and the hydraulic oil enters the hydraulic cylinder 12. At the moment, the third electromagnetic valve 8 is connected to the system at the left position, and the two cavities of the hydraulic cylinder 12 are communicated, so that the differential motion is realized, and the ground is rapidly landed.
2) After the cylinders 12 are all grounded, compaction of the foundation contact point is started. When the pressure of the hydraulic system gradually rises, the pressure relay 7 sends a signal to power off the third electromagnetic valve 8, and simultaneously, a signal is sent to the electro-hydraulic servo valve 5 to enable the servo valve to be connected at the left position, the hydraulic cylinder rises, the weight of the tower is overcome, and the tower platform is driven to rise.
3) And when the tower platform rises to a set height, entering a leveling procedure. According to the signal sent by the level sensor, the PLC in the control console controls the corresponding servo valve to generate a certain opening, and the corresponding hydraulic cylinder generates corresponding displacement until the leveling precision is reached.
4) After the 200mm stroke leveling is finished each time, signals are sent to the electro-hydraulic servo valves 5 again, the left positions of the servo valves are connected, all the hydraulic cylinders 12 are enabled to ascend simultaneously, the weight of the tower is overcome, the tower platform is driven to ascend, and the next 200mm stroke is finished.
5) The above lifting-leveling process was circulated 4 times in total during each lifting of 600mm stroke. Finally, the leveling precision at the stroke of 600mm is realized.
6) When the stroke of the hydraulic cylinder reaches 600mm and the tower leveling precision is reached, each servo valve returns to the middle position, and the valve port is closed. Meanwhile, the hydraulic lock 11 is closed to seal the oil inlet and return of the hydraulic cylinder. The first solenoid valve 2 is de-energized, the intensifier 4 is reset and the hydraulic cylinder 12 is locked. At this time, the hydraulic pump 1 also stops operating.
7) A manual pump 14 is added in the system, when special conditions occur in the system, the manual reversing valve 13 is located at the right position, the manual pump 14 provides energy, the hydraulic cylinder 12 is unlocked and recycled, and therefore the hydraulic lifting system can be detached and transferred conveniently.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A power transmission line tower lifting system based on an intelligent hydraulic technology is characterized by comprising a state monitoring system, a hydraulic lifting system, a control system and a leveling system, wherein the hydraulic lifting system vertically jacks the whole tower, the state monitoring system detects the inclination information of the tower in real time in the jacking process, and the control system controls the leveling system to level the tower according to the detected inclination information.
2. The power transmission line tower lifting system based on the intelligent hydraulic technology as claimed in claim 1, wherein the hydraulic lifting system comprises a hydraulic cylinder and a hydraulic pump station, the hydraulic cylinder is controlled to extend or contract to lift and level the tower, and the hydraulic pump station provides hydraulic oil with certain pressure and oil quantity for the hydraulic pump.
3. The power transmission line tower lifting system based on the intelligent hydraulic technology as claimed in claim 1, wherein the leveling system comprises a jacking platform and a leveling mechanism, and the jacking platform finely adjusts the tower.
4. The power transmission line tower lifting system based on the intelligent hydraulic technology as claimed in claim 1, wherein the state monitoring system comprises an inclination monitoring device and a data acquisition device, the inclination monitoring device is installed on the tower to measure the horizontal inclination angle of the jacking platform in the direction X, Y, and the data acquisition device is used for sending data detected by the inclination monitoring device to the control system;
the control system comprises a PLC (programmable logic controller) and a control console, a human-computer interaction module is arranged on the control console, the PLC is respectively connected with the state monitoring system, the hydraulic lifting system and the leveling system, the PLC is used for controlling the stroke of the hydraulic cylinder, judging whether the inclination of the current tower exceeds an allowable value according to the data of the state monitoring system, and controlling the leveling system to level.
5. The power transmission line tower lifting system based on the intelligent hydraulic technology as claimed in claim 1, wherein a displacement sensor is arranged on the hydraulic cylinder.
6. A lifting method based on the transmission line tower lifting system of any one of claims 1-5 is characterized by comprising the following steps:
the hydraulic lifting system vertically lifts the whole pole tower;
the state monitoring system detects the inclination information of the tower in real time in the jacking process, the control system judges whether the leveling is needed or not according to the detected inclination information, and if the leveling is needed, the leveling system is controlled to level the tower until the tower reaches a horizontal state.
7. The lifting method according to claim 6, wherein the hydraulic lifting system vertically lifts the whole tower, and the steps are as follows:
connecting and fixing the hydraulic cylinder with the tower body of the tower;
the control system controls the hydraulic cylinder to move upwards to lift the tower;
during the lifting process, the control system adjusts the stroke of the hydraulic cylinder.
8. The lifting method according to claim 6, wherein the leveling system levels the tower, and an electro-hydraulic proportional closed-loop control principle is adopted, and the leveling process comprises the following steps: transmitting horizontal inclination angles of the power tower detected by the inclination monitoring device in X, Y two mutually perpendicular directions to a PLC (programmable logic controller), comparing the horizontal inclination angles with a preset tower allowable inclination angle, calculating the extension amount of each hydraulic cylinder supporting leg through the PLC if the horizontal inclination angles exceed the tower allowable inclination angle, and transmitting an instruction to an electro-hydraulic proportional directional valve in each hydraulic cylinder for leveling;
and in the leveling process, the extension amount of the support leg of the hydraulic cylinder is fed back to the PLC in real time by a displacement sensor arranged on the hydraulic cylinder, so that closed-loop control of a leveling system is formed.
9. The lifting method according to claim 8, wherein the elongation of the supporting legs of each hydraulic cylinder is calculated by a PLC (programmable logic controller), and a command is sent to an electro-hydraulic proportional directional valve in each hydraulic cylinder for leveling, and the method comprises the following steps:
according to the horizontal inclination angles of the power tower in the X, Y two mutually vertical directions, calculating the hydraulic cylinder located at the highest point in the current state, and meanwhile calculating the difference value of other hydraulic cylinders reaching the highest point;
and the difference values of other hydraulic cylinders reaching the highest point are respectively transmitted to the servo control systems of the corresponding hydraulic cylinders, the hydraulic cylinders are driven to extend for a certain distance, and after multiple times of adjustment, all the hydraulic cylinders are at the same height, so that the automatic leveling of the lifting system is realized.
10. The lifting method according to claim 8, wherein a human-computer interaction module in the control system is used for displaying the oil cylinder and tower body state parameters, the leveling process parameters and the tower lifting process parameters.
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| CN202010186001.5A CN111321767A (en) | 2020-03-17 | 2020-03-17 | Power transmission line tower lifting system and method based on intelligent hydraulic technology |
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| CN111912382A (en) * | 2020-08-11 | 2020-11-10 | 广东电网有限责任公司广州供电局 | Kalman filtering deflection angle monitoring system and method applied to hydraulic lifting of power transmission tower |
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| CN113466891A (en) * | 2021-05-31 | 2021-10-01 | 中国南方电网有限责任公司超高压输电公司 | Integral lifting construction process monitoring system and method based on image recognition technology |
| CN114436164A (en) * | 2021-11-24 | 2022-05-06 | 广西电网有限责任公司北海供电局 | Electric first-aid repair tower top lifting leveling device and method |
| CN114436164B (en) * | 2021-11-24 | 2023-09-08 | 广西电网有限责任公司北海供电局 | Electric repair tower lifting leveling device and method |
| CN117451006A (en) * | 2023-12-19 | 2024-01-26 | 广东电网有限责任公司广州供电局 | Electric power tower inclination monitoring analysis system based on Kalman filtering |
| CN117451006B (en) * | 2023-12-19 | 2024-04-12 | 广东电网有限责任公司广州供电局 | Electric power tower inclination monitoring analysis system based on Kalman filtering |
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Application publication date: 20200623 |