CN108217463A - The tower crane positioning device and method of a kind of assembled architecture prefabricated components - Google Patents
The tower crane positioning device and method of a kind of assembled architecture prefabricated components Download PDFInfo
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- CN108217463A CN108217463A CN201810071726.2A CN201810071726A CN108217463A CN 108217463 A CN108217463 A CN 108217463A CN 201810071726 A CN201810071726 A CN 201810071726A CN 108217463 A CN108217463 A CN 108217463A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000725 suspension Substances 0.000 claims abstract description 44
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims description 30
- 238000005259 measurement Methods 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000004807 localization Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000010276 construction Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000012800 visualization Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to assembled architecture technical fields, disclose the tower crane positioning device and method of a kind of assembled architecture prefabricated components, which includes：Locating base station, positioning label, base station, rover station, mobile terminal, tower crane crane, amplitude variation trolley and suspension hook, the locating base station is fixed at the base station on preset coordinate point, the positioning label and rover station are arranged on tower crane crane, the mobile terminal is arranged in the driver's cabin of tower crane crane, the amplitude variation trolley is set on the arm of tower crane crane, the suspension hook is set to the lower section of arm, the precise positioning for realizing prefabricated components by location technology and precisely lifting, improve production efficiency.
Description
Technical field
The present invention relates to a kind of positioning of the tower crane of assembled architecture technical field more particularly to assembled architecture prefabricated components
Device and method.
Background technology
Assembled architecture is equally put up a house, in particular to now prefabricated just as making automobile as emerging construction method
Manufacturer has produced prefabricated components, then transports to construction site and is assembled.Including prefabricated concrete structure, steel knot
Structure, modern wood structure and other meet assembled architecture technology requirement structural system.Since assembled architecture fills at the scene
Higher lifting positioning accuracy is needed with prefabricated components, therefore more accurately technology requirement, mesh are proposed to the manipulation of tower crane
Preceding main using artificial range estimation, human eye positioning is limited by eye health state and the state of mind, environment influence it is bigger, during operation
Between it is long, deviations easily occur or even crash.
Invention content
It is a primary object of the present invention to propose a kind of tower crane positioning device of assembled architecture prefabricated components and method, lead to
Precise positioning and the precisely lifting that location technology realizes prefabricated components are crossed, improves production efficiency.
To achieve the above object, the tower crane positioning device of a kind of assembled architecture prefabricated components provided by the invention, including：
Locating base station, positioning label, base station, rover station, mobile terminal, tower crane crane, amplitude variation trolley and suspension hook, the positioning base
It stands and the base station is fixed on preset coordinate point, the positioning label and rover station are arranged on tower crane crane,
The mobile terminal is arranged in the driver's cabin of tower crane crane, and the amplitude variation trolley is set on the arm of tower crane crane,
The suspension hook is set to the lower section of arm.
Optionally, length measurement sensor is further included, the positioning label is arranged on prefabricated components, and the rover station is set to
It on the amplitude variation trolley, and is synchronized with the movement with amplitude variation trolley, the length measurement sensor is used to measure between suspension hook and amplitude variation trolley
Elevation difference.
Optionally, the length measurement sensor is：Drawstring displacement sensor, laser range sensor, UWB rangings sensing
Device or ultrasonic range finder sensor.
Optionally, the positioning label is arranged on the suspension hook, and the rover station is set on the hook balancing bar,
The positioning label is correspondingly arranged at least three locating base stations.
Optionally, the positioning label positions label for ultra wide band UWB, and the locating base station is UWB locating base stations.
Optionally, it further includes：Data processing system and application service system, the mobile terminal pass through wireless communication networks
It is connected with each other with the data processing system, application service system.
Optionally, it is all provided in the base station and rover station：Satellite positioning device, antenna, obliquity sensor, electronics
Compass, power supply, data processing module, memory module, data exchange module, communication module and controller.
As another aspect of the present invention, the tower crane localization method of a kind of assembled architecture prefabricated components provided, including：
The real time position of prefabricated components is obtained by positioning label and locating base station；
When the prefabricated components reach preset rigging position, pass through prefabricated components described in tower crane crane hanging component；
The space coordinate of suspension hook is obtained, the prefabricated components are accurately positioned according to the space coordinate.
Optionally, the space coordinate for obtaining suspension hook carries out the prefabricated components according to the space coordinate accurate
Positioning includes：
When the rover station is set on amplitude variation trolley, and be synchronized with the movement with amplitude variation trolley, measured by length measurement sensor
Elevation difference between suspension hook and amplitude variation trolley；The space coordinate of suspension hook is obtained according to the elevation difference, according to the space
Prefabricated components are accurately positioned described in coordinate pair；Or
When the rover station is set on the suspension hook, by least three preset locating base stations, UWB rangings are utilized
Method, the position of measurement and positioning label, and then the space coordinate of suspension hook is calculated, according to the space coordinate to described prefabricated
Component is accurately positioned.
Optionally, the length measurement sensor is：Drawstring displacement sensor, laser range sensor, UWB rangings sensing
Device or ultrasonic range finder sensor.
The tower crane positioning device and method of a kind of assembled architecture prefabricated components proposed by the present invention, the device include：It is fixed
Position base station, positioning label, base station, rover station, mobile terminal, tower crane crane, amplitude variation trolley and suspension hook, the locating base station
It is fixed on preset coordinate point with the base station, the positioning label and rover station are arranged on tower crane crane, institute
It states mobile terminal to be arranged in the driver's cabin of tower crane crane, the amplitude variation trolley is set on the arm of tower crane crane, institute
The lower section that suspension hook is set to arm is stated, the precise positioning for realizing prefabricated components by location technology and precisely lifting improve life
Produce efficiency.
Description of the drawings
Fig. 1 is a kind of tower crane positioning device structure signal for assembled architecture prefabricated components that the embodiment of the present invention one provides
Figure；
Fig. 2 is a kind of tower crane positioning device concrete structure diagram that the embodiment of the present invention one provides；
Fig. 3 is another tower crane positioning device concrete structure diagram that the embodiment of the present invention one provides.
Wherein, the reference numeral of Fig. 2-3 is 1- tower crane cranes, 2- rover stations, 3- amplitude variation trolleys, 4- suspension hooks, and 5- drives
Sail room, 6- length measurement sensors, 7- hook balancing bars, 8- is from antenna, 9- positioning labels.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using for representing that the suffix of such as " module ", " component " or " unit " of element is only
Be conducive to the explanation of the present invention, itself there is no specific meanings.Therefore, " module " can mixedly make with " component "
With.
Embodiment one
As shown in Figure 1, in the present embodiment, a kind of tower crane positioning device of assembled architecture prefabricated components, including：Positioning
Base station, positioning label, base station, rover station, mobile terminal, tower crane crane, amplitude variation trolley and suspension hook, the locating base station with
The base station is fixed on preset coordinate point, and the positioning label and rover station are arranged on tower crane crane, described
Mobile terminal is arranged in the driver's cabin of tower crane crane, and the amplitude variation trolley is set on the arm of tower crane crane, described
Suspension hook is set to the lower section of arm.
In the present embodiment, the precise positioning of prefabricated components is realized by location technology and precisely lifted, improve production
Efficiency；Suitable for high density building environment, it round-the-clock can be accurately positioned, overcome the problem that carries on construction work at night, can realize space
Anti-collision.
In the present embodiment, the installation site of rover station is freer, both may be mounted at the change of tower crane crane arm
It, can also be according on the suspension hook and balancing pole below arm on width trolley.
As shown in Fig. 2, in the present embodiment, tower crane positioning device further includes length measurement sensor, the positioning label setting
On prefabricated components, the rover station is set on the amplitude variation trolley, and is synchronized with the movement with amplitude variation trolley, described to survey long sensing
Device is used to measure the elevation difference between suspension hook and amplitude variation trolley.
In the present embodiment, the length measurement sensor is：Drawstring displacement sensor, laser range sensor, UWB rangings
Sensor or ultrasonic range finder sensor.
In the present embodiment, the quantity of the base station can be multiple, all set upper preset coordinate on construction ground
Point.
In the present embodiment, three-dimensional entirety BIM models are established according to assembled architecture drawing, each prefabricated structure can be extracted
The essential attribute information of part, size and installation site including prefabricated components；According to assembled architecture story height and top
Lifting member vertical dimension and safe distance determine tower crane height, and this information are stored into three-dimensional tower crane model, to play
Space collision accident early warning acts on.
In the present embodiment, during lifting components, rover station is real-time by amplitude variation trolley position data and suspension hook elevation difference data
Data processing system is uploaded to, data processing system obtains lift hook position with building the relationship of object location after processing calculates,
Application service system receives the data after processing of data processing system, and tower crane operating personnel are according to showing in mobile terminal
Hoisting Position (lift hook position) adjusts the horizontal position of amplitude variation trolley and the height and position of suspension hook, and prefabricated member alignment is set
Pre-installed position in meter figure (BIM models)；System records the final lifting elements of a fix, is recorded in internet end data processing
System, and imported by BIM system requirements as construction results and process record.
In the present embodiment, since the distance between suspension hook and prefabricated components are fixed, the spatial position of suspension hook is measured, i.e.,
The distance of prefabricated components is can obtain, this case final purpose is still accurately positioned prefabricated components.
As shown in figure 3, in the present embodiment, the positioning label is arranged on the suspension hook, and the rover station is set to
On the hook balancing bar, the positioning label is correspondingly arranged at least three locating base stations, all sets upper pre- on construction ground
If coordinate points.
In the present embodiment, it is equipped on hook balancing bar from antenna, with auxiliary positioning；It is interior on construction ground, three with
The locating base station of upper known coordinate for broadcast positioning signals, using UWB distance measuring methods, is measured and is set on the hook balancing bar
The positioning label position put.
In the present embodiment, three-dimensional entirety BIM models are established according to assembled architecture drawing, each prefabricated structure can be extracted
The essential attribute information of part, size and installation site including prefabricated components；According to assembled architecture story height and top
Lifting member vertical dimension and safe distance determine tower crane height, and this information are stored into three-dimensional tower crane model, to play
Space collision accident early warning acts on.
In the present embodiment, during lifting components, in the case where normally receiving satellite positioning signal environment, rover station is by hook balancing
Bar position data is uploaded to data processing system in real time；When under high density building environment, the rover station on hook balancing bar
When cannot normally position, auxiliary positioning and uploading position are carried out using live UWB location technologies.Data processing system is at
Reason show that lift hook position receives data processing system after processing with building the relationship of object location, application service system after calculating
Data, tower crane operating personnel set prefabricated member alignment according to the Hoisting Position (lift hook position) shown in mobile terminal
Count the pre-installed position in figure.
In the present embodiment, the positioning label positions label for ultra wide band UWB, and the locating base station positions base for UWB
It stands.
In the present embodiment, it further includes：Data processing system and application service system, the mobile terminal pass through channel radio
Network is interrogated to be connected with each other with the data processing system, application service system.
In the present embodiment, it is all provided in the base station and rover station：Satellite positioning device, antenna, inclination angle sensing
Device, electronic compass, power supply, data processing module, memory module, data exchange module, communication module and controller.
In the present embodiment, RFID label tag is additionally provided on the prefabricated components, is stored in the RFID label tag described
The architecture information of prefabricated components.
In the present embodiment, the architecture information includes：It manufacturer, date of manufacture, quality control information and hangs
Fill information.
In the present embodiment, architecture information is inputted to RFID label tag using RFID reader, and pass through mobile terminal to build
It builds information and is uploaded to BIM visualization central databases；After the completion of prefabricated components production, transport worker is read in RFID label tag
Information, whether verification structure is single consistent with dispatching, if unanimously, being dispensed；BIM visualization central databases will make rational planning for
Prefabricated components transport sequence, generate transportation route, BEI-DOU position system is installed on haulage vehicle, by wireless network with
BIM visualization central database connections can obtain the location information of haulage vehicle and prefabricated components in real time.Prefabricated components enter
During construction site, quickly identified by RFID reader and read and write the prefabricated components into construction site.
In the present embodiment, with BIM technology, the information of prefabricated components Life cycle can be read in real time, and with can
Mode depending on change is integrated in Building Information Model, convenient for each stakeholder's real-time management and decision.It is also logical in the present embodiment
It crosses Big Dipper location technology and length measurement sensor is combined the precise positioning for realizing prefabricated components and precisely lifting.
Embodiment two
In the present embodiment, a kind of tower crane localization method of assembled architecture prefabricated components, including：
S10, the real time position of prefabricated components is obtained by positioning label and locating base station；
S20, when the prefabricated components reach preset rigging position when, pass through structure prefabricated described in tower crane crane hanging component
Part；
S30, the space coordinate for obtaining suspension hook, are accurately positioned the prefabricated components according to the space coordinate.
In the present embodiment, the precise positioning of prefabricated components is realized by location technology and precisely lifted, improve production
Efficiency；Suitable for high density building environment, it round-the-clock can be accurately positioned, overcome the problem that carries on construction work at night, can realize space
Anti-collision.
In the present embodiment, the installation site of rover station is freer, both may be mounted at the change of tower crane crane arm
It, can also be according on the suspension hook and balancing pole below arm on width trolley.
In the present embodiment, the step S30 includes：
When the rover station is set on amplitude variation trolley, and be synchronized with the movement with amplitude variation trolley, measured by length measurement sensor
Elevation difference between suspension hook and amplitude variation trolley；The space coordinate of suspension hook is obtained according to the elevation difference, according to the space
Prefabricated components are accurately positioned described in coordinate pair.
In the present embodiment, the length measurement sensor is：Drawstring displacement sensor, laser range sensor, UWB rangings
Sensor or ultrasonic range finder sensor.
In the present embodiment, the quantity of the base station can be multiple, all set upper preset coordinate on construction ground
Point.
In the present embodiment, three-dimensional entirety BIM models are established according to assembled architecture drawing, each prefabricated structure can be extracted
The essential attribute information of part, size and installation site including prefabricated components；According to assembled architecture story height and top
Lifting member vertical dimension and safe distance determine tower crane height, and this information are stored into three-dimensional tower crane model, to play
Space collision accident early warning acts on.
In the present embodiment, during lifting components, rover station is real-time by amplitude variation trolley position data and suspension hook elevation difference data
Data processing system is uploaded to, data processing system obtains lift hook position with building the relationship of object location after processing calculates,
Application service system receives the data after processing of data processing system, and tower crane operating personnel are according to showing in mobile terminal
Hoisting Position (lift hook position) adjusts the horizontal position of amplitude variation trolley and the height and position of suspension hook, and prefabricated member alignment is set
Pre-installed position in meter figure (BIM models)；System records the final lifting elements of a fix, is recorded in internet end data processing
System, and imported by BIM system requirements as construction results and process record.
In the present embodiment, since the distance between suspension hook and prefabricated components are fixed, the spatial position of suspension hook is measured, i.e.,
The distance of prefabricated components is can obtain, this case final purpose is still accurately positioned prefabricated components.
As another embodiment, when the rover station is set on the suspension hook, pass through at least three preset positioning
Using UWB distance measuring methods, the position of measurement and positioning label, and then the space coordinate of suspension hook is calculated, according to the sky in base station
Between prefabricated components described in coordinate pair be accurately positioned.
In the present embodiment, three-dimensional entirety BIM models are established according to assembled architecture drawing, each prefabricated structure can be extracted
The essential attribute information of part, size and installation site including prefabricated components；According to assembled architecture story height and top
Lifting member vertical dimension and safe distance determine tower crane height, and this information are stored into three-dimensional tower crane model, to play
Space collision accident early warning acts on.
During lifting components, in the case where normally receiving satellite positioning signal environment, rover station by hook balancing bar positional number factually
When be uploaded to data processing system；When under high density building environment, the rover station on hook balancing bar cannot be positioned normally
When, carry out auxiliary positioning and uploading position using live UWB location technologies.Data processing system obtains after processing calculates
The relationship of lift hook position and building object location, application service system receive the data after processing of data processing system, tower crane
Prefabricated member is directed at the pre- peace in design drawing by operating personnel according to the Hoisting Position (lift hook position) shown in mobile terminal
Holding position.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or device institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), used including some instructions so that a station terminal equipment (can be mobile phone, computer takes
Be engaged in device, air conditioner or the network equipment etc.) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of tower crane positioning device of assembled architecture prefabricated components, which is characterized in that including：Locating base station, positioning label,
Base station, rover station, mobile terminal, tower crane crane, amplitude variation trolley and suspension hook, the locating base station are fixed with the base station
It is arranged on preset coordinate point, the positioning label and rover station are arranged on tower crane crane, and the mobile terminal is arranged on
In the driver's cabin of tower crane crane, the amplitude variation trolley is set on the arm of tower crane crane, and the suspension hook is set to arm
Lower section.
2. the tower crane positioning device of a kind of assembled architecture prefabricated components according to claim 1, which is characterized in that also wrap
Length measurement sensor is included, the positioning label is arranged on prefabricated components, and the rover station is set on the amplitude variation trolley, and with
Amplitude variation trolley is synchronized with the movement, and the length measurement sensor is used to measure the elevation difference between suspension hook and amplitude variation trolley.
3. the tower crane positioning device of a kind of assembled architecture prefabricated components according to claim 2, which is characterized in that described
Length measurement sensor is：Drawstring displacement sensor, laser range sensor, UWB distance measuring sensors or ultrasonic range finder sensor.
4. the tower crane positioning device of a kind of assembled architecture prefabricated components according to claim 1, which is characterized in that described
Positioning label is arranged on the hook balancing bar, and the rover station is set on the suspension hook, and the positioning label correspondence is set
It is equipped at least three locating base stations.
5. the tower crane positioning device of a kind of assembled architecture prefabricated components according to claim 1, which is characterized in that described
It positions label and positions label for ultra wide band UWB, the locating base station is UWB locating base stations.
6. the tower crane positioning device of a kind of assembled architecture prefabricated components according to claim 1, which is characterized in that also wrap
It includes：Data processing system and application service system, the mobile terminal by wireless communication networks and the data processing system,
Application service system is connected with each other.
7. the tower crane positioning device of a kind of assembled architecture prefabricated components according to claim 1, which is characterized in that described
It is all provided in base station and rover station：Satellite positioning device, antenna, obliquity sensor, electronic compass, power supply, data processing
Module, memory module, data exchange module, communication module and controller.
8. a kind of tower crane localization method of assembled architecture prefabricated components, which is characterized in that including：
The real time position of prefabricated components is obtained by positioning label and locating base station；
When the prefabricated components reach preset rigging position, pass through prefabricated components described in tower crane crane hanging component；
The space coordinate of suspension hook is obtained, the prefabricated components are accurately positioned according to the space coordinate.
9. the tower crane localization method of a kind of assembled architecture prefabricated components according to claim 8, which is characterized in that described
Obtain suspension hook space coordinate, the prefabricated components are accurately positioned according to the space coordinate including：
When the rover station is set on amplitude variation trolley, and be synchronized with the movement with amplitude variation trolley, suspension hook is measured by length measurement sensor
Elevation difference between amplitude variation trolley；The space coordinate of suspension hook is obtained according to the elevation difference, according to the space coordinate
The prefabricated components are accurately positioned；Or
When the rover station is set on the suspension hook, by least three preset locating base stations, using UWB distance measuring methods,
The position of measurement and positioning label, and then the space coordinate of suspension hook is calculated, according to the space coordinate to the prefabricated components
It is accurately positioned.
A kind of 10. tower crane localization method of assembled architecture prefabricated components according to claim 9, which is characterized in that institute
Stating length measurement sensor is：Drawstring displacement sensor, laser range sensor, UWB distance measuring sensors or ultrasonic range finder sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810071726.2A CN108217463B (en) | 2018-01-25 | 2018-01-25 | Tower crane positioning device and method for prefabricated building components |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810071726.2A CN108217463B (en) | 2018-01-25 | 2018-01-25 | Tower crane positioning device and method for prefabricated building components |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111847287A (en) * | 2020-06-01 | 2020-10-30 | 大器物联科技（广州）有限公司 | Tower crane distance measuring method based on UWB equipment, and dynamic positioning method and equipment for damage position of tower crane steel wire rope |
| CN111885705A (en) * | 2020-07-28 | 2020-11-03 | 广东艾罗照明科技股份有限公司 | UWB-based lamp positioning system, method and device |
| CN112374346A (en) * | 2020-11-12 | 2021-02-19 | 重庆建筑工程职业学院 | Prefabricated component hoisting device for assembly type building |
| CN113184709A (en) * | 2021-05-28 | 2021-07-30 | 中国十七冶集团有限公司 | Application method of space positioning device on intelligent tower crane |
| CN113490272A (en) * | 2021-09-08 | 2021-10-08 | 中铁工程服务有限公司 | UWB positioning-based safe hoisting early warning method, system and medium |
| CN113933881A (en) * | 2021-12-20 | 2022-01-14 | 南京宝和大数据研究院有限公司 | Fusion positioning method for coil steel of outdoor storage yard |
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