EP4112530A1 - Appareil portatif mobile destiné à la planification d'un déploiement de levage d'une charge à l'aide d'une grue - Google Patents

Appareil portatif mobile destiné à la planification d'un déploiement de levage d'une charge à l'aide d'une grue Download PDF

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Publication number
EP4112530A1
EP4112530A1 EP22181636.6A EP22181636A EP4112530A1 EP 4112530 A1 EP4112530 A1 EP 4112530A1 EP 22181636 A EP22181636 A EP 22181636A EP 4112530 A1 EP4112530 A1 EP 4112530A1
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EP
European Patent Office
Prior art keywords
load
crane
held device
parameters
mobile hand
Prior art date
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Pending
Application number
EP22181636.6A
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German (de)
English (en)
Inventor
Philipp HÖFLER
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Prosimpl GmbH
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Prosimpl GmbH
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Filing date
Publication date
Priority claimed from DE102021128317.5A external-priority patent/DE102021128317A1/de
Application filed by Prosimpl GmbH filed Critical Prosimpl GmbH
Publication of EP4112530A1 publication Critical patent/EP4112530A1/fr
Pending legal-status Critical Current

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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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the present invention relates to a mobile hand-held device for planning an application for lifting a load with a crane, in particular a mobile crane.
  • Cranes are used to lift and move heavy loads, and their application parameters must be selected depending on the application.
  • information on the approach route, on investigating the operating conditions on site, on the coordinates of the load transport and the properties and attachment possibilities of the load are obtained in advance. This information serves as an important basis for a safe and smooth operation.
  • the appropriate crane is selected depending on the weight of the load, the required lifting height and radius as well as the local conditions at the place of use and the type of crane use.
  • it When choosing the stand, it must be ensured that there is sufficient space to extend and support the supports while maintaining the safety distances to excavation pits, slopes and buildings.
  • Prior planning is therefore essential to check the feasibility of the crane work. For this purpose, use planners are already known, which simulate the upcoming use of the crane.
  • a crane deployment planner with a central planning unit, with a central database with data on the cranes that can be used, and a calculation module for calculating the load moments occurring during use.
  • the simulation and calculation of the operations is carried out by a central planning unit and the input and output of data takes place via clients, with the clients communicating with the central planning unit via the Internet.
  • the DE11 2012 0001 69 T5 describes the modeling and tracking of a crane on a construction site.
  • 3D three-dimensional
  • the DE 197 31 633 B4 a display for an aerial rescue vehicle that can be used to locate a target, measure the distance to that target, and calculate and report whether the target can be reached.
  • the WO 2017/063015 A1 describes an arrangement for assessing the feasibility of transferring the lifting device into a further position using a mobile control module.
  • German patent DE 10 2012 011 726 B4 describes a method for operating a crane with a monitoring unit that calculates a permissible load capacity that depends on one or more changeable parameters during crane operation and a sensor system that records the currently changeable parameters during crane operation and makes them available to the monitoring unit.
  • a sensor system that records the currently changeable parameters during crane operation and makes them available to the monitoring unit.
  • one or more sensor values are modified before the calculation of the permissible load, so that the permissible load can be determined for one or more future parameters, which should enable a forward-looking calculation of the possible permissible load for future crane movements.
  • a mobile crane for example a fire brigade crane during a rescue operation
  • complex and detailed advance planning of the crane operation is not possible due to time constraints.
  • set-up data sheets for commercial cranes that specify the permissible load capacities in certain configurations of the crane.
  • An experienced crane driver can select the optimal crane configuration based on a few parameters using the corresponding set-up data sheet.
  • One of the main questions when using a mobile crane is, for example, where the crane has to be positioned in order to be able to reliably carry out a given lifting task. Making the right decision here is of crucial importance, especially in emergency operations such as the operation of a fire brigade crane.
  • the present invention is therefore based on the technical problem of providing the operating personnel of a crane with a device that enables the crane to be positioned reliably and quickly, taking into account the corresponding crane configuration.
  • the present invention thus relates to a mobile hand-held device for planning an application for lifting a load with a crane, in particular a mobile crane, which comprises a microcomputer with a data memory and a user interface, a method being implemented in the microcomputer in which set-up data of at least one usable Cranes are stored in the data memory and values for situation-specific input parameters for raising a load are entered via the user interface
  • a prognosis for the feasibility of lifting the load is created from the entered values of the input parameters and from the stored set-up data of the at least one crane , or, in the case of a negative prognosis, issues instructions for changing the input parameters so that the load can be lifted by this change.
  • a prognosis is thus created which, on the one hand, determines whether the load can be lifted or not and, in addition, automatically outputs operational parameters that are advantageously optimized or to be changed for the crane operator.
  • the prognosis and, if necessary, the optimized or changed application parameters are output via the user interface.
  • the crane driver therefore does not have to manually search through the load charts of the crane and independently find an optimized solution or recognize that the load cannot be lifted with the selected application parameters and search for new application parameters.
  • Input parameters are understood to mean those parameters which the program/method implemented in the mobile hand-held device requires to determine the prognosis.
  • the set-up data of a crane are crane-specific data sheets that list all options for setting the application parameters for a given load. In order to use the method implemented in the mobile hand-held device, the set-up data required for the respective crane are stored.
  • the application parameters are the changeable parameters of the crane components or the crane environment.
  • the crane operator can adjust these based on the forecast to carry out the procedure.
  • time-optimized lifting can be optimized for the set-up time for setting the application parameters of the crane and/or for the total working time of a project.
  • the set-up time is the time for choosing the location and setting the application parameters in order to be able to lift the load. This optimization is useful, for example, if a load is only to be lifted once with the set parameters.
  • the set-up data can include values depending on the load, which are made up of the following parameters: a hoist rope reeving, a telescopic boom length, a radius, a counterweight, a measure of the extended sliding beams of the support, as well as a working area and a set-up code.
  • the method implemented in the mobile hand-held device depends on the choice of crane type and is advantageously optimally adapted to the respective available parameters.
  • Hoist rope reeving is the process and the way in which the hoist rope is threaded into the sheave blocks of the sheave head and bottom hook block to which the load is attached.
  • the telescopic boom is a telescopic construction; which consists of the boom body and several nested telescopic stages, which can be extended.
  • the telescopic stages can be extended either manually using a cable pull or automatically using a hydraulic ram, or a combination of the two methods.
  • the telescopic boom length describes the total length of the construction depending on the extended telescopic stages.
  • Discrete percentage values for the proportion of the individual extended telescopic stages can be specified for the telescopic stages in the set-up data. For example, with three telescope stages, an indication of 33/33/33 means that each telescope stage is extended to a third.
  • the outreach is the area on the crane boom that can be reached using the set angle and the selected length of the telescopic boom.
  • the smallest radius is close to the vertical part of the crane, while the largest radius is at the outer end of the crane boom.
  • the counterweight is attached to compensate for the one-sided forces or torques due to the geometrically asymmetrical designs or weight distributions of the crane boom with weight to stabilize and prevent the crane from tipping over.
  • the outriggers can be extended either manually or hydraulically.
  • the extent of the extended sliding bars of the outrigger indicates a value in meters that describes the distance from the left-hand support to the right-hand support. Load tables with the required support width can be saved in the set-up data.
  • the values of the working range i.e. the portion of the area around the crane in which the lifting process can take place, can be 360°, plus minus 60° or 0°. With a working range of 0° only a radius over the rear is possible. This setting is used, for example, with high loads when additional support is required on the other sides of the crane.
  • the calculated working range is less than 360°, a warning is issued so that it can be considered whether, for example, a change of location is desired to change the parameters, or whether the limited working range should be retained.
  • a warning is also issued if the distance between the load and the crane is so close that movement of the load could result in contact with components of the crane. As a result, the problem is pointed out before the crane movement is carried out and a possible collision is avoided.
  • a warning is also given if the distance between the load and the outreach from the load table is greater than a configurable threshold, i.e. if the load swings too much. This prevents the swinging from developing excessive lever forces that endanger the stability of the crane.
  • the setup code specifies the crane-specific data sheet, the load table sheet, on which the table with the application parameters selected for the application can be found.
  • the setup code defines the setup status of the crane.
  • the input parameters include a weight of the load to be lifted, a distance, the extent of the extended sliding beams of the outrigger and a height to the load.
  • the crane driver enters the parameters given directly by the problem, in particular the choice of location and the load to be lifted, into the system.
  • the input parameters define the problem to be solved for the method.
  • the dimension of the extended sliding bars of the support can be selected as large as possible if space permits. Unless there are environmental constraints, maximum footprint is preferred for increased stability.
  • weather data can be determined and a correction of the weight of the load to be lifted can be calculated based on the weather data.
  • the actual weight of the load to be lifted is influenced by the weather and wind conditions.
  • the calculation of a correction value allows the application parameters to be adjusted if necessary and thus prevents incorrect settings.
  • the weather data can be determined and entered automatically by measuring with an anemometer, by manually entering the wind speeds or by querying the relevant data online.
  • the maximum permissible wind speed for lifting the load can be stored in the set-up data.
  • the method implemented in the mobile hand-held device advantageously advises against lifting the load.
  • the input parameters distance and/or height from the load are determined.
  • a distance measuring device for example. It does this by measuring the hypotenuse of a triangle, which is the distance from the gauge to the tip of the load, and the angle from the gauge to the tip of the load. From this, the distance and the height can be determined.
  • Various methods can be used to measure the distance, for example a measuring device with a laser or a drone.
  • the application parameters can include at least values for the hoist cable reeving, counterweight, telescopic boom length, radius and telescopic boom locking.
  • the set-up code can also be output, which can then be automatically transmitted to the crane. This can enable automated setting of the determined application parameters on the crane.
  • certain application parameters such as the hoist rope reeving, the counterweight and the telescopic boom lock, are preassigned with standard values and are only subsequently adjusted.
  • the default settings are initially retained and an attempt is made to adapt the other application parameters for lifting the load.
  • the application parameters mentioned require a lot of time to adapt. It is therefore advantageous in the standard case to leave the default values for a time optimization and to change other application parameters.
  • the application parameters are optimized for the shortest telescopic boom length with which the load can be lifted.
  • the extended length is usually specified as a percentage of the maximum extension length and can also be found in the load charts.
  • the application parameters are optimized for the lowest number of hoist rope reevings with which the load can be lifted.
  • a lower number of hoisting rope reeves than the standard can be chosen if the length of the rope is not sufficient to carry out the procedure.
  • the length of the rope can be determined from the number of hoist rope reevings and from the determined height.
  • the application parameters can be optimized for the smallest counterweight with which the load can be lifted.
  • the load can be lifted with the standard counterweight then this is preferred as changing the counterweight is time consuming.
  • the first counterweight is fixed and unchangeable. However, if the standard counterweight is not enough to lift the load or, on the contrary, if there is not enough space for the chosen number of counterweights, the parameter can be adjusted.
  • the application parameters can be optimized for the lowest number of telescopic boom locks with which the load can be lifted.
  • the application parameters are optimized for the minimum difference between the measured distance from the load and the radius.
  • the vibration of the load increases as the difference between the distance to the load and the outreach increases.
  • the positive prognosis consists of the distance to the load, the actual maximum load, the maximum achievable height above the load, the number of hoist rope reevings, the telescopic boom lengths, the setup code and the counterweight.
  • the crane operator receives all the operational parameters required for smooth operation, as well as the set-up code to be able to understand the decision, if necessary, or for automated transmission to the crane's software.
  • the maximum achievable height above the load can either be output in meters or it is output whether the load can or cannot be lifted with the present crane positioning due to the height.
  • the length of the telescopic boom determines the hypotenuse of a right-angled triangle that it spans. Its height can be calculated from the telescopic boom length. The height of the bottle must be subtracted from this height in order to determine the height of the crane hook. Since the load has to be attached to the sick hook, the load usually hangs a little lower.
  • the user interface of the mobile hand-held device can include a display, with the display of the prognosis and/or the usage parameters being output via a display on the display.
  • the result of the deployment planning is immediately displayed in a simple and clear manner during deployment planning, both before and during the deployment.
  • the set-up code determined with the details of the application parameters is not or not only output via the user interface of the mobile hand-held device, but rather is transmitted from the mobile hand-held device directly to the crane.
  • the transmission can take place both wired and wireless.
  • a mount can be provided in the crane, with which the mobile device is connected and transmits the application parameters to the software of the crane.
  • the set-up data for the desired crane type is stored in the data memory of the mobile hand-held device.
  • Data can be input and output via the user interface of the mobile hand-held device, which typically includes an input unit and an output unit.
  • the application parameters can be entered via the input unit.
  • the mobile hand-held device also includes a measuring unit, by means of which the distance and the height to the load can be determined, for example with a laser via a distance and angle measurement.
  • An embodiment of the invention includes a further measuring unit for determining the wind speed.
  • a calculation unit calculates from the input parameters and the set-up data, the forecast and, in the case of a negative forecast, the usage parameters, and in the case of a negative forecast, the change proposals. It transmits this to an output unit.
  • the output unit outputs the result to the user via a display and/or transmits it to the crane software.
  • the distance to the load using the measuring unit only detects the distance to the edge of the load, while the distance to the center of gravity of the load is essential for determining the application parameters.
  • a specific predetermined offset value is added, for example an offset value of 1.5 m, which in many cases fits quite well for the application of lifting a vehicle, which is quite common with fire brigade cranes, for example.
  • the input unit offers the possibility of changing the offset value manually.
  • the data memory not only includes the set-up data of a single crane, but also the set-up data of a number of cranes, which can, for example, depict the vehicle fleet of a specific user.
  • the method implemented in the mobile handheld device for planning the use of lifting a load can therefore be configured in such a way that not only specific operating parameters of a crane are determined, but that a list of the cranes that can be used is first output so that the user can select them in the next step which of the actually available cranes will be used for the respective task. Considerations such as cost, distance to the job site of each crane, and actual availability of the crane in question can all play a role.
  • the mobile hand-held device it can also be provided that one first selects those cranes from the list of stored cranes that are actually available, so that the selection based on the specific application data is somewhat limited.
  • Mobile crane 10 shown schematically in a perspective side view has an undercarriage 11 and an uppercarriage 12 which are connected to one another via a slewing ring 13 .
  • the superstructure 12 comprises a main boom body 14 with a telescopic boom 15, which consists of individual extendable or telescopic stages 16, 17, 18, 19, and a counterweight 20.
  • the telescopic boom 15 is set up and the telescopic stages 16, 17, 18 and 19 are at least partially extended.
  • a hoist rope 21 is guided, at the free end of which a bottom hook block 22 is mounted.
  • roller blocks are provided which allow the hoist rope 21 to be reeved in different ways.
  • the load 24 to be lifted is mounted on the bottom hook block 22 .
  • the undercarriage 11 has extendable lateral supports 25 .
  • the telescopic stages 16 and 17 or 17 and 18 can be secured by means of a mechanical telescopic boom lock 26.
  • an exemplary setup data sheet 30 is shown, which can be identified via a setup code 31 .
  • configuration sheets of a crane are searched through in digitized form in order to determine the optimal application parameters for a specific application.
  • FIG. 4 an exemplary embodiment of the system according to the invention for planning an application for lifting a load with a crane is explained in more detail:
  • the system according to the invention shown can create a prognosis for the feasibility of lifting a load and output it to the user.
  • the system can be a mobile hand-held device 40, for example, which the user can use independently of the crane to plan an operation. For example, deployment planning can be done before the crane arrives.
  • the device 40 includes an input unit, for example input keys 41 or a touch-sensitive display 42, via which the user can enter the input parameters.
  • the mobile hand-held device 40 can also include a distance measuring device 43 , for example a laser system, and an anemometer 44 . These gauges can replace manually entering distance/height to load and wind speed input parameters.
  • the system also includes a data memory in which setup data for the crane is stored, which consists of crane-specific components and information from the setup sheets, as shown in figure 3 shown, exist.
  • a (not shown) calculation unit of the hand-held device 40 for example a microcontroller on which software for determining the optimal application parameters is located, is set up to use the input parameters as start parameters of the software and, in combination with the data stored in the data memory, to calculate the application parameters and/or or calculate a forecast.
  • the mobile handset has, as in figure 4 shown, also has an output unit which is connected to the calculation unit and which is set up to output the result of the software as a display, for example on display 42.
  • the Figures 4 b) and c) 12 show typical results of the method shown on the display 42.
  • a positive result is displayed, after which the load can be lifted with the input parameters.
  • the measured height and distance of the load, the percentage extension of the individual telescopic stages and the setup code of the relevant setup data sheet are displayed.
  • Fig. 4 c) it is not possible to lift the load with the input parameters. However, a solution was found here that would enable the load to be lifted if the distance between the crane and the load was reduced by a certain minimum value (here 2.19 m). This forecast is also displayed.
  • FIG figure 5 flow chart of a first embodiment of the method is to take place a time-optimized lifting to the set-up time for setting the application parameters of the crane.
  • the procedure begins at the starting point P0.
  • a first step S1 the data of the load tables and crane-specific parameters are stored in advance, typically once before delivery, in the data memory in the device.
  • a third step S3 the weight of the load to be lifted, the distance to the load, the extent of the extended sliding beams of the outrigger and the height to the load are input as situation-specific input parameters.
  • the entry can be made manually.
  • the distance and/or height from the load can be determined by measuring with a distance measuring device. For example, the hypotenuse of a triangle, which corresponds to the distance from the measuring device to the tip of the load, is measured with a laser integrated in the device. Together with the angle, the distance and the height can be derived from this to be determined. Another possibility is, for example, measuring with a drone.
  • the wind speed can also be entered or measured with an anemometer integrated in the device.
  • a sixth step S6 the set-up data stored in the data memory are searched to find configurations of the application parameters that allow the specified load to be lifted with the support selected and do not exceed the maximum height.
  • Configurations for the hoist rope reeving, the telescopic boom length, the outreach, the counterweight, the extent of the extended sliding beams of the outriggers and a working area are stored in the set-up data for given loads, which enable the load to be lifted.
  • step S6 the method branches depending on the search of step S6.
  • the right branch (“No") is followed up if no configuration can be found.
  • a negative prognosis is then made in the seventh step S7, and the method ends at point P3.
  • step S8 all configurations are first determined in which the load can theoretically be lifted given the determined distance and height.
  • step S9 searches for a load with a distance closest to the measured distance.
  • a negative prognosis with a proposal to change the application parameters such as a proposal for a change distance to the load by moving the crane.
  • the method then ends at point P3.
  • step S8 If possible configurations are found in step S8, the process is continued in point S2 in the downward branch and in an eleventh step S11 it is checked whether the load can be lifted without changing the default values of certain application parameters, such as the hoist rope reeving, the counterweight and the Telescopic boom lock, is possible.
  • certain application parameters such as the hoist rope reeving, the counterweight and the Telescopic boom lock
  • the load is lifted by adjusting the length of the telescopic boom. If there are several options, the smallest telescopic boom length is selected from a potential selection.
  • a suitable configuration is searched for in the set-up data in a thirteenth step S13 by adjusting the counterweight. The smallest counterweight that can lift the load is selected.
  • the telescopic boom locks are adjusted in a fourteenth step S14.
  • a configuration is sought that has the fewest number of telescopic boom locks that can lift the load.
  • a fifteenth step S15 the configuration in which there is a minimal difference between the measured distance to the load and the overhang is selected from the set of possible configurations.
  • a positive prognosis is made according to a sixteenth step S16 and the result of the prognosis and/or the usage parameters are output to the user.
  • the prognosis and/or the usage parameters can be displayed, for example, via a display on the mobile planning unit.
  • the prognosis is positive, the distance to the load, the actual maximum load, the maximum achievable height above the load, the number of hoist rope reevings, the telescopic boom lengths, the setup code and the counterweight are output.
  • lifting is optimized for the total work time of a project. For example, several loads are to be lifted one after the other from the same position. Before the start of the calculation, the procedure is switched to the changed requirement. For example, instead of the standard hoist rope reeving, the minimum reeving is preferred for lifting the load, as this has a significant influence on the driving speed
  • the set-up code and the selected configuration of the application parameters can be automatically transmitted to the software of the crane, so that the application parameters can—if possible—be set automatically.
  • the transmission can take place both wired and wireless.
  • a mount can be provided in the crane, with which the mobile device is connected and transmits the application parameters to the software of the crane.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
EP22181636.6A 2021-06-28 2022-06-28 Appareil portatif mobile destiné à la planification d'un déploiement de levage d'une charge à l'aide d'une grue Pending EP4112530A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021116644 2021-06-28
DE102021128317.5A DE102021128317A1 (de) 2021-10-29 2021-10-29 Verfahren und System zur Planung eines Einsatzes zum Heben einer Last mit einem Kran

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EP4112530A1 true EP4112530A1 (fr) 2023-01-04

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EP1868150B1 (fr) 2006-06-12 2011-08-10 Liebherr-Werk Nenzing GmbH Planificateur d'utilisation de grue
DE112012000169T5 (de) 2011-07-05 2013-07-18 Trimble Navigation Limited Kranmanöverunterstützung
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DE102015112194B4 (de) 2015-07-27 2019-01-03 Manitowoc Crane Group France Sas Verfahren zur Planung oder Überwachung der Bewegung eines Kranes sowie Kran
KR102003198B1 (ko) * 2018-09-21 2019-07-24 한국리깅기술연구소(주) 이동식 크레인 선정 시스템 및 그 방법
DE102012011726B4 (de) 2012-06-13 2020-07-09 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans mit Überwachungseinheit sowie Kran
CN112818519A (zh) * 2021-01-15 2021-05-18 广州穗能通能源科技有限责任公司 变电设施吊装施工的三维仿真方法、装置和计算机设备

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19731633B4 (de) 1996-07-23 2006-06-01 Wagner, Mario, Dipl.-Ing. Anzeige für ein Hubrettungsfahrzeug
DE102005059786A1 (de) 2005-06-03 2006-12-07 Lg. Philips Lcd Co., Ltd. Flüssigkristallanzeigevorrichtung
EP1868150B1 (fr) 2006-06-12 2011-08-10 Liebherr-Werk Nenzing GmbH Planificateur d'utilisation de grue
DE112012000169T5 (de) 2011-07-05 2013-07-18 Trimble Navigation Limited Kranmanöverunterstützung
DE102012011726B4 (de) 2012-06-13 2020-07-09 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans mit Überwachungseinheit sowie Kran
US9227821B1 (en) * 2014-07-31 2016-01-05 Trimble Navigation Limited Crane operation simulation
DE102015112194B4 (de) 2015-07-27 2019-01-03 Manitowoc Crane Group France Sas Verfahren zur Planung oder Überwachung der Bewegung eines Kranes sowie Kran
WO2017063015A1 (fr) 2015-10-16 2017-04-20 Palfinger Ag Ensemble constitué d'un dispositif de commande et d'un module de commande mobile
WO2017221198A1 (fr) * 2016-06-22 2017-12-28 Iveco Magirus Ag Système de positionnement et procédé pour déterminer la position de fonctionnement d'un dispositif aérien
JP2018095434A (ja) * 2016-12-14 2018-06-21 株式会社加藤製作所 ブーム伸縮状態設定装置
KR102003198B1 (ko) * 2018-09-21 2019-07-24 한국리깅기술연구소(주) 이동식 크레인 선정 시스템 및 그 방법
CN112818519A (zh) * 2021-01-15 2021-05-18 广州穗能通能源科技有限责任公司 变电设施吊装施工的三维仿真方法、装置和计算机设备

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