CN114609033A - Road roller compaction effect remote intelligent monitoring system based on big dipper - Google Patents
Road roller compaction effect remote intelligent monitoring system based on big dipper Download PDFInfo
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- CN114609033A CN114609033A CN202210223184.2A CN202210223184A CN114609033A CN 114609033 A CN114609033 A CN 114609033A CN 202210223184 A CN202210223184 A CN 202210223184A CN 114609033 A CN114609033 A CN 114609033A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N19/00—Investigating materials by mechanical methods
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/288—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C3/00—Foundations for pavings
- E01C3/04—Foundations produced by soil stabilisation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Civil Engineering (AREA)
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Abstract
The invention relates to the technical field of highway subgrade engineering, and provides a Beidou-based remote intelligent monitoring system for the compaction effect of a road roller, which comprises the following components: the device comprises a positioning module, an automatic driving module, a compaction degree monitoring module, a data acquisition and analysis module and a remote control module. The compaction monitoring module is connected with the positioning module and the automatic driving module, acquires current position data of the road roller, road bed and road surface compaction data of the current position of the road roller, environmental data of a body of the road roller and position data of a remote obstacle, and sends the data to the data acquisition and analysis module; the data acquisition and analysis module is connected with the remote control module and determines whether the compactness of each part meets the requirement or not; and when the requirement is not met, the remote control module sends a compaction working instruction to the automatic driving module to drive the road roller to work until the requirement is met. The invention can remotely monitor the roadbed compaction state of the position of the road roller and control the work of the road roller until each part of the roadbed reaches the compaction degree standard.
Description
Technical Field
The invention relates to the technical field of highway subgrade engineering, in particular to a Beidou-based remote intelligent monitoring system for a road roller compaction effect.
Background
The highway construction is generally long in roadbed line and large in area, and the construction quality of the highway is related to the service life of the highway and even influences the accident rate. In order to ensure the filling quality of the roadbed, the compaction operation of the roadbed generally depends on the selection of parameters such as mechanical equipment, loose paving coefficient, compaction thickness, compaction process, rolling times and the like by test section construction.
At present, in the operation process of a road roller, the compaction quality is controlled mainly by depending on the operation experience of a manipulator through rolling times and rolling tracks, the conditions of pressure leakage and underpressure are easily caused, and the compaction quality of the whole roadbed is difficult to ensure.
Disclosure of Invention
The invention aims to provide a Beidou-based remote intelligent monitoring system for the compaction effect of a road roller, which is used for solving the problems that a manipulator is excessively depended on in the operation process of the road roller, and the compaction quality of a roadbed is uneven, can remotely monitor the compaction degree of the position where the road roller is located, and can control the road roller to compact the current position of the road roller so as to achieve a preset compaction degree value.
In order to achieve the purpose, the invention provides the following scheme:
the utility model provides a road roller compaction effect remote intelligent monitoring system based on big dipper, road roller compaction effect remote intelligent monitoring system based on big dipper includes:
the positioning module is used for acquiring current position data of the road roller;
the automatic driving module is used for acquiring environmental data of the road roller body and position data of a remote obstacle and controlling the work of the road roller;
the compaction monitoring module is connected with the positioning module and the automatic driving module and is used for acquiring current position data of the road roller, roadbed and pavement compaction data of the current position of the road roller, environmental data of a body of the road roller and position data of a remote obstacle;
the data acquisition and analysis module is connected with the compaction degree monitoring module and is used for receiving current position data of the road roller, road bed and road surface compaction degree data of the current position of the road roller, environmental data of a road roller body and position data of a remote obstacle, and determining the compaction degree of each part of a road bed based on the current position data of the road roller, the current position road bed and road surface compaction degree data of the road roller, the environmental data of the road roller body and the position data of the remote obstacle;
the remote control module is connected with the data acquisition and analysis module and is used for receiving the current position data of the road roller, the environment data of the body of the road roller, the position data of a remote obstacle and the compactness of each part of the roadbed and determining whether the requirement is met or not based on the compactness of each part of the roadbed;
and when the requirement is not met, the remote control module sends a compaction working instruction to the automatic driving module to drive the press to work.
Optionally, the road roller compaction effect remote intelligent monitoring system based on big dipper still includes:
the receiving antenna module is connected with the remote control module and the automatic driving module, and the remote control module sends a compaction working instruction to the automatic driving module through the receiving antenna module to drive the road roller to work.
Optionally, the determining whether the requirement is met based on the compaction degree of each part of the roadbed specifically includes the following steps:
judging whether the road bed and road surface compactness of the current position of the road roller reaches a set threshold value or not;
if the preset threshold value is reached, monitoring the next position point;
and if the preset threshold value is not reached, sending a compaction working instruction to the automatic driving module through the remote control module, and enabling the road roller to continue working until the preset threshold value range is reached.
Optionally, the positioning module comprises:
the navigation satellite observation data collection unit is used for collecting navigation satellite observation data;
the receiving unit is connected with the navigation satellite observation data collecting unit and used for receiving the navigation satellite observation data of the current position of the road roller;
and the positioning terminal is connected with the navigation satellite observation data collecting unit and the receiving unit and is used for receiving and displaying the navigation satellite observation data of the current position of the road roller.
Optionally, the navigation satellite observation data collecting unit is specifically: a reference station or a continuously operating reference station unit.
Optionally, the compactness monitoring module comprises:
the compaction degree sensor is used for acquiring compaction data of the road roller;
the data acquisition box is connected with the compactness sensor and used for storing the data obtained by the compactness sensor;
the vehicle-mounted computer is connected with the data acquisition box and is used for recording the traveling speed, the mileage stake number, the elevation and the compaction degree data of the current position of the road roller in real time; and the vehicle-mounted computer is also connected with the positioning terminal and is used for receiving and processing the current position navigation satellite observation data of the road roller.
Optionally, the compactness monitoring module further comprises: and the video monitor is connected with the vehicle-mounted computer and is used for monitoring video data around the road roller.
Optionally, the autopilot module comprises:
the laser radar is connected with the vehicle-mounted computer and used for acquiring three-dimensional map data of the body environment of the road roller;
the automatic radar sensor is connected with the vehicle-mounted computer and used for monitoring the position of a remote obstacle;
the camera is connected with the vehicle-mounted computer and used for identifying the road surface compaction state and the obstacle information;
the position estimator is connected with the vehicle-mounted computer and used for positioning the current position of the road roller on a map;
and the driving unit is connected with the receiving antenna module and used for receiving the compaction working instruction of the road roller and controlling the road roller to work.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a Beidou-based remote intelligent monitoring system for a compaction effect of a road roller, which comprises: the device comprises a positioning module, an automatic driving module, a compaction degree monitoring module, a data acquisition and analysis module and a remote control module. The method comprises the steps that a compaction degree monitoring module is connected with a positioning module and an automatic driving module to obtain current position data of a road roller, road bed and road surface compaction degree data of the current position of the road roller, environment data of a body of the road roller and position data of a remote obstacle and send the data to a data acquisition and analysis module, the data acquisition and analysis module determines the compaction degree of each part of a road bed according to the received data, the remote control module determines whether a requirement is met or not according to the compaction degree of each part of the road bed by receiving the current position data of the road roller, the environment data of the body of the road roller, the position data of the remote obstacle and the compaction degree of each part of the road bed sent by the data acquisition and analysis module, and the remote control module sends a compaction working instruction to the automatic driving module when the requirement is not met and drives the press to work until the requirement is met. The system can remotely monitor the compaction degree condition of the position of the road roller and control each part of the roadbed to reach the compaction degree standard when the road roller works.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a Beidou-based road roller compaction effect remote intelligent monitoring system module in an embodiment of the invention.
Description of the symbols:
the device comprises a positioning module-1, a navigation satellite observation data collecting unit-11, a receiving unit-12, an automatic driving module-2, a compactness monitoring module-3, a data acquisition and analysis module-4, a remote control module-5 and a receiving antenna module-6.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a Beidou-based remote intelligent monitoring system for the compaction effect of a road roller, which can remotely monitor the compaction degree of the position of the road roller and control the road roller to continuously work.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present system includes: the device comprises a positioning module 1, an automatic driving module 2, a compactness monitoring module 3, a data acquisition and analysis module 4 and a remote control module 5.
Specifically, the positioning module 1 is configured to obtain current position data of the road roller. And the automatic driving module 2 is used for acquiring environmental data of the road roller body and position data of a remote obstacle and controlling the work of the road roller. And the compaction monitoring module 3 is connected with the positioning module 1 and the automatic driving module 2 and is used for acquiring current position data of the road roller, current position roadbed pavement compaction data of the road roller, environmental data of a road roller body and remote obstacle position data. And the data acquisition and analysis module 4 is connected with the compaction degree monitoring module 3 and used for receiving the current position data of the road roller, the road bed and road surface compaction degree data of the current position of the road roller, the environmental data of the body of the road roller and the position data of the remote obstacle and determining the compaction degree of each part of the road bed based on the current position data of the road roller, the road bed and road surface compaction degree data of the current position of the road roller, the environmental data of the body of the road roller and the position data of the remote obstacle. And the remote control module 5 is connected with the data acquisition and analysis module 4 and used for receiving the current position data of the road roller, the environment data of the body of the road roller, the position data of a remote obstacle and the compactness of each part of the roadbed, determining whether the requirement is met or not based on the compactness of each part of the roadbed, and when the requirement is not met, the remote control module 5 sends a compaction working instruction to the automatic driving module 2 to drive the press to work.
Specifically, road roller compaction effect remote intelligent monitoring system based on big dipper still includes receiving antenna module 6, receiving antenna module 6 with remote control module 5 and autopilot module 2 are connected, remote control module 5 passes through receiving antenna module 6 sends compaction work instruction to autopilot module 2, drives the work of road roller.
Specifically, whether the requirement is met or not is determined based on the compaction degree of each part of the roadbed: firstly, judging whether the road bed and road surface compactness of the current position of the road roller reaches a set threshold value; if the preset threshold value is reached, monitoring the next position point; if the preset threshold value is not reached, a compaction working instruction is sent to the automatic driving module 2 through the remote control module 5, so that the road roller continues to work until the preset threshold value range is reached.
Specifically, the positioning module 1 includes a navigation satellite observation data collection unit 11, a receiving unit 12, and a positioning terminal. The navigation satellite observation data collecting unit 11 is used for collecting navigation satellite observation data; the receiving unit 12 is connected with the navigation satellite observation data collecting unit 11 and is used for receiving the navigation satellite observation data of the current position of the road roller; and the positioning terminal is connected with the navigation satellite observation data collecting unit 11 and the receiving unit 12 and is used for receiving and displaying the navigation satellite observation data of the current position of the road roller.
Specifically, the positioning terminal adopts a ZDT810 Beidou positioning terminal.
Specifically, the navigation satellite observation data collection unit 11 is specifically a reference station or a continuously operating reference station unit.
Specifically, as shown in fig. 1, the navigation satellite observation data collection unit 11 is a GNSS reference station.
Specifically, as shown in fig. 1, the receiving unit 12 includes a GNSS receiving antenna and a GNSS receiver, and the GNSS receiving antenna receives satellite observation data of the GNSS reference station and transmits the satellite observation data to the GNSS receiver.
Specifically, the GNSS receiver is disposed in a cab of the road roller.
Specifically, the compactness monitoring module 3 comprises a compactness sensor, a data acquisition box and an on-board computer. The compaction degree sensor is used for acquiring compaction data of the road roller; the data acquisition box is connected with the compactness sensor and used for storing data obtained by the compactness sensor; the vehicle-mounted computer is connected with the data acquisition box and is used for recording the traveling speed, the mileage stake number, the elevation and the compaction degree data of the current position of the road roller in real time; and the vehicle-mounted computer is also connected with the positioning terminal and is used for receiving and processing the current position navigation satellite observation data of the road roller.
In particular, the compaction sensor is collected by a vibration acceleration sensor mounted on the road roller steel wheel.
Specifically, the GNSS receiving antenna comprises a radome, a microstrip radiator, a bottom plate and a high-frequency output socket.
Specifically, the GNSS receiving antenna is arranged on the top of the cab of the road roller.
Specifically, the reference station is connected with the receiving unit and the positioning terminal through a 4G network or a radio station.
Specifically, the compaction degree monitoring module 3 further comprises a video monitor, and the video monitor is connected with the vehicle-mounted computer and used for monitoring video data around the road roller.
Specifically, the autopilot module 2 includes a laser radar, an auto radar sensor, a camera, a position estimator, and a drive unit. The laser radar is connected with the vehicle-mounted computer and used for acquiring three-dimensional map data of the body environment of the road roller; the automatic radar sensor is connected with the vehicle-mounted computer and used for monitoring the position of a remote obstacle; the camera is connected with the vehicle-mounted computer and used for identifying the road surface compaction state and the obstacle information; the position estimator is connected with the vehicle-mounted computer and used for positioning the current position of the road roller on a map; the driving unit is connected with the remote control module 5 and used for receiving compaction working instructions of the road roller and controlling the road roller to work.
Specifically, the laser radar is arranged on the roof of the road roller and scans all directions.
Specifically, the camera is arranged at the head of the road roller and used for identifying the road surface compaction state or the remote obstacle data by the vehicle-mounted computer.
Specifically, the automatic radar sensors are arranged on four side surfaces of the road roller body and used for determining the positions of long-distance obstacles.
Specifically, the position estimator is arranged on a rear wheel of the road roller and used for positioning the current position of the road roller on a map.
The system can reduce human errors, can work for 24 hours in all weather, controls the thickness, gradient and flatness of each layer, reduces the use frequency of machinery and improves the pavement compactness quality. The system displays the compaction condition of the working face in real time in the construction process, realizes real-time continuous detection of compaction quality and compaction speed, solves the problems of pressure leakage, undervoltage and overvoltage, and realizes visualization of the compaction quality.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a road roller compaction effect remote intelligent monitoring system based on big dipper, a serial communication port, road roller compaction effect remote intelligent monitoring system based on big dipper includes:
the positioning module is used for acquiring current position data of the road roller;
the automatic driving module is used for acquiring environmental data of the road roller body and position data of a remote obstacle and controlling the work of the road roller;
the compaction monitoring module is connected with the positioning module and the automatic driving module and is used for acquiring current position data of the road roller, roadbed and pavement compaction data of the current position of the road roller, environmental data of a body of the road roller and position data of a remote obstacle;
the data acquisition and analysis module is connected with the compaction degree monitoring module and is used for receiving current position data of the road roller, road bed and road surface compaction degree data of the current position of the road roller, environmental data of a road roller body and position data of a remote obstacle, and determining the compaction degree of each part of a road bed based on the current position data of the road roller, the current position road bed and road surface compaction degree data of the road roller, the environmental data of the road roller body and the position data of the remote obstacle;
the remote control module is connected with the data acquisition and analysis module and is used for receiving the current position data of the road roller, the environment data of the body of the road roller, the position data of a remote obstacle and the compactness of each part of the roadbed and determining whether the requirement is met or not based on the compactness of each part of the roadbed;
and when the requirement is not met, the remote control module sends a compaction working instruction to the automatic driving module to drive the press to work.
2. The Beidou-based remote intelligent monitoring system for the compaction effect of road rollers according to claim 1, further comprising:
the receiving antenna module is connected with the remote control module and the automatic driving module, and the remote control module sends a compaction working instruction to the automatic driving module through the receiving antenna module to drive the road roller to work.
3. The Beidou-based remote intelligent monitoring system for the compaction effect of the road roller according to claim 1, wherein the step of determining whether the compaction degree of each part of the roadbed meets the requirement specifically comprises the following steps:
judging whether the road bed and road surface compactness of the current position of the road roller reaches a set threshold value or not;
if the preset threshold value is reached, monitoring the next position point;
and if the preset threshold value is not reached, sending a compaction working instruction to the automatic driving module through the remote control module, and enabling the road roller to continue working until the preset threshold value range is reached.
4. The Beidou-based remote intelligent monitoring system for compaction effects of road rollers according to claim 1, wherein the positioning module comprises:
the navigation satellite observation data collection unit is used for collecting navigation satellite observation data;
the receiving unit is connected with the navigation satellite observation data collecting unit and used for receiving the navigation satellite observation data of the current position of the road roller;
and the positioning terminal is connected with the navigation satellite observation data collecting unit and the receiving unit and is used for receiving and displaying the navigation satellite observation data of the current position of the road roller.
5. The Beidou-based remote intelligent monitoring system for compaction effect of road rollers according to claim 1, characterized in that the navigation satellite observation data collecting unit is specifically:
a reference station or a continuously operating reference station unit.
6. The Beidou-based remote intelligent monitoring system for compaction effects of road rollers according to claim 4, wherein the compaction degree monitoring module comprises:
the compaction degree sensor is used for acquiring compaction data of the road roller;
the data acquisition box is connected with the compactness sensor and used for storing the data obtained by the compactness sensor;
the vehicle-mounted computer is connected with the data acquisition box and is used for recording the traveling speed, the mileage stake number, the elevation and the compaction degree data of the current position of the road roller in real time; and the vehicle-mounted computer is also connected with the positioning terminal and is used for receiving and processing the current position navigation satellite observation data of the road roller.
7. The Beidou-based remote intelligent monitoring system for compaction effect of road rollers according to claim 6, wherein the compaction degree monitoring module further comprises:
and the video monitor is connected with the vehicle-mounted computer and is used for monitoring video data around the road roller.
8. The Beidou-based remote intelligent monitoring system for compaction effects of road rollers according to claim 6, wherein the autopilot module comprises:
the laser radar is connected with the vehicle-mounted computer and used for acquiring three-dimensional map data of the body environment of the road roller;
the automatic radar sensor is connected with the vehicle-mounted computer and used for monitoring the position of a long-distance obstacle;
the camera is connected with the vehicle-mounted computer and used for identifying the road surface compaction state and the obstacle information;
the position estimator is connected with the vehicle-mounted computer and used for positioning the current position of the road roller on a map;
and the driving unit is connected with the remote control module and used for receiving the compaction working instruction of the road roller and controlling the road roller to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210223184.2A CN114609033A (en) | 2022-03-09 | 2022-03-09 | Road roller compaction effect remote intelligent monitoring system based on big dipper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210223184.2A CN114609033A (en) | 2022-03-09 | 2022-03-09 | Road roller compaction effect remote intelligent monitoring system based on big dipper |
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| CN114609033A true CN114609033A (en) | 2022-06-10 |
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|---|---|---|---|
| CN202210223184.2A Pending CN114609033A (en) | 2022-03-09 | 2022-03-09 | Road roller compaction effect remote intelligent monitoring system based on big dipper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116397614A (en) * | 2023-06-08 | 2023-07-07 | 中国水利水电第七工程局有限公司 | Automatic location compactness nondestructive test car |
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2022
- 2022-03-09 CN CN202210223184.2A patent/CN114609033A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116397614A (en) * | 2023-06-08 | 2023-07-07 | 中国水利水电第七工程局有限公司 | Automatic location compactness nondestructive test car |
| CN116397614B (en) * | 2023-06-08 | 2023-08-29 | 中国水利水电第七工程局有限公司 | Automatic location compactness nondestructive test car |
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