CN115165266A - Digital twinning-based contactless tower deflection monitoring system - Google Patents

Digital twinning-based contactless tower deflection monitoring system Download PDF

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CN115165266A
CN115165266A CN202210870764.0A CN202210870764A CN115165266A CN 115165266 A CN115165266 A CN 115165266A CN 202210870764 A CN202210870764 A CN 202210870764A CN 115165266 A CN115165266 A CN 115165266A
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张龙斌
唐波
蔡晨林
刘思煜
王玥
尚智宇
陈国庆
姚宇珊
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China Three Gorges University CTGU
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Abstract

A contactless tower deflection monitoring system based on digital twinning is characterized in that: the invention provides a digital twin-based contactless tower deflection monitoring system, which consists of 4 subsystems of a physical measuring platform, a virtual-real data integrator and a measuring and monitoring platform, and has the following advantages: 1. the deflection state of the tower can be monitored in real time through a digital twinning technology, and great guarantee is provided for the safety of the tower; 2. the non-contact measurement saves manpower and material resources, greatly improves the working efficiency and ensures the safety of monitoring constructors.

Description

Contactless tower deflection monitoring system based on digital twinning
Technical Field
The invention relates to the field of monitoring of deflection of a power transmission line tower, in particular to a digital twinning-based contactless tower deflection monitoring system.
Background
With the continuous growth of the power industry and the continuous increase of power supply in China, the requirements of people on the quality of electric energy are higher and higher. In order to meet the requirements of daily production and life of people, the electric energy capacity required to be transmitted by a power line is more and more, the voltage level is higher and higher, the transmission distance is longer and longer, and the load borne by a tower is gradually increased. However, most towers are often deflected due to unbalanced tension, and the deflection monitoring of the towers is very important. However, in the conventional tower deflection measuring method, a technician is required to arrange a heavy hammer at the top end of the tower, and measure the tower deflection through a theodolite or a total station by taking the heavy hammer as a reference. The method is time-consuming and labor-consuming, requires tower climbing operation to contact with the tower, and is low in safety coefficient and large in measurement result error.
The digital twin contactless tower deflection monitoring system can get rid of the constraint of the traditional tower climbing measuring mode. And integrating multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation processes by using data such as a physical model, sensor data updating, operation history and the like, completing mapping in a virtual space, and reflecting the full life cycle process of the corresponding tower. A virtual model is constructed according to a physical entity by using a digital twin technology, the virtual model continuously receives real-time data sent by the physical entity in a virtual space, and the state and the performance of the physical entity are simulated, so that the physical entity is analyzed, predicted, optimized and fed back.
Disclosure of Invention
The invention aims to solve the technical problem of providing a digital twin-based non-contact tower deflection monitoring system, and solves the problems of complicated tower deflection monitoring process and low accuracy in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a contactless tower deflection monitoring system based on digital twins is characterized in that: consists of 4 subsystems of a physical measuring platform, a virtual and real data integrator and a measuring and monitoring platform,
the physical measurement platform monitors the real-time state of the tower by using a height sensor, a distance sensor, an inclination angle sensor and an industrial camera, takes a PLC (programmable logic controller) as a control system of the physical measurement platform, and realizes remote data transmission through a reserved data interface;
the virtual measurement platform comprises a tower model, a measurement system and an auxiliary measurement system, wherein the tower model is mapped by the physical measurement platform, and the digital twinning characteristic is embodied by organically combining the physical measurement platform and the virtual measurement platform;
the virtual and real data integrator samples and stores real-time data generated by the physical measurement platform into a database, and the data in the database drives the virtual measurement platform to operate;
the measuring and monitoring platform consists of a system management module, a measuring and controlling module, a measuring and monitoring module and a data management module, and when the deflection of the tower exceeds a set value, the system automatically alarms, so that technicians can conveniently overhaul the tower.
Preferably, the virtual measurement platform data is mapped by actual measurement of a physical platform, the deflection of the tower is measured in the virtual platform, and a measurement data model is defined as:
DM wl ＝(DM ls ∪DM yy ) (1)
wherein DM wl For digital models, DM, in the course of measurements on towers of physical platforms ls Tower digital model, DM, for virtual measurement platform twinning yy A digital model for completing the working hours of the tower;
the measurement system in the virtual measurement platform is uniformly defined as follows:
DM ls ＝{FunctionM,MInterface,MService} (2)
the function model is used for simulating the working condition of the tower in real time, wherein the function nM represents a function model of the tower in a virtual digital space, and a function model corresponding to the function model is established according to the actual stress condition of the tower; the MINterface represents a virtual-real communication interface, and adopts a PLC interface, a measuring equipment data interface and a virtual platform to carry out data interaction with an entity so as to achieve the purposes of data interaction and real-time data driving; MService represents a virtual monitoring service function model, the organic connection and operation of the system comprise the functions of realizing measuring equipment, processing signals, monitoring the behavior of a pole tower model, limiting the excessive deflection rule of the pole tower,
DM yy ＝{StructY,YInterface,YService} (3)
the structure Y is a three-dimensional geometric model of a tower, YInterface is a data interface between a physical measurement platform and a virtual measurement platform, and YService is a tower state rehearsal mode;
the mapping of the digital space of the virtual measuring platform and the entity space of the physical measuring platform is the basis for data fusion and interaction, and the virtual-real mapping relation and the fusion mechanism of entity information are further constructed on the basis, so that the problems of asynchrony and poor consistency of the existing entity and virtual space information are solved; the digital space of the virtual measurement platform is defined as:
CS＝SY∪SL (4)
SY＝{DM yy1 ,DM yy2 ,DM yy3 } (5)
SL＝{DM ls1 ,DM ls2 ,DM ls3 } (6)
where CS denotes the digital space of the virtual measurement platform, SY, SL being the digital space and the physical space DM yy 、DM ls A set of corresponding digital models.
Preferably, the deflection measurement of the tower comprises the following steps of remotely transmitting measurement data to a virtual measurement platform through a physical measurement platform; firstly, considering the horizontal displacement of a tower, a measuring point a on the tower in a virtual space is composed of (x) 1 ,y 1 ,z 1 ) Move to the measurement point a' (x) 2 ,y 2 ,z 2 ) The variation of the measuring point on the x-axis, the y-axis and the z-axisThe chemical quantities are respectively delta x, delta y and delta z, and the whole moving process is described as follows by a coordinate transformation matrix:
Figure BDA0003761130060000031
in the formula, x 1 For measuring the horizontal distance of point a along the x-axis, y 1 For measuring the horizontal distance of point a along the y-axis, z 1 For measuring the horizontal distance of point a along the z-axis, x 2 Is the horizontal distance, y, of the shifted measuring point a' along the x-axis 2 Is the horizontal distance, z, of the shifted measuring point a' along the y-axis 2 Is the horizontal distance of the shifted measuring point a' along the z-axis direction, and Δ x is x 1 And x 2 The difference between the horizontal distances along the x-axis, and y is 1 And y 2 The difference between the horizontal distances along the y-axis, and Δ z is z 1 And z 2 The difference between the horizontal distances along the z-axis.
Preferably, the deflection of the tower also needs to consider the bending displacement and assume that the starting angle of the measurement point a is (alpha) 2 ,β 2 ,γ 2 ) The angle after rotating to the point a' becomes (alpha) 2 ,β 2 ,γ 2 ) The rotation angles of the measuring point on the x axis, the y axis and the z axis are respectively delta alpha, delta beta and delta gamma, and the whole moving process is described as follows by a coordinate transformation matrix:
Figure BDA0003761130060000032
in the formula, alpha 1 To measure the angle of point a along the x-axis, β 1 To measure the angle of point a along the y-axis, γ 1 To measure the angle of point a along the z-axis, α 2 Is the angle, beta, of the offset measurement point a' along the x-axis 2 Is the angle of the offset measurement point a' along the y-axis, gamma 2 The angle of the offset measurement point a' along the z-axis is shown, and Δ α is α 1 And alpha 2 The difference between them along the x-axis, Δ β is β 1 And beta 2 The difference between the angles along the y-axis, Δ γ being γ 1 And gamma 2 The difference in angle between them along the z-axis.
Preferably, in order to facilitate monitoring that the twin tower needs to be scaled in the virtual measurement platform, scaling is performed according to a ratio, the x axis, the y axis, and the z axis are scaled simultaneously, and if the scaling ratio is K, the scaling ratio can be expressed as:
Figure BDA0003761130060000041
where K is the scaling.
Preferably, the physical measurement platform height sensor is responsible for monitoring the plumb distance of the tower; the distance sensor is used for monitoring the distance between different monitoring points on the tower; the inclination angle sensor is used for monitoring the inclination angle of the tower in the running state; the industrial camera monitors the whole pole tower and is matched with the height sensor, the distance sensor and the inclination angle sensor, so that the accuracy of data is ensured. And carrying out data remote transmission through the PLC control platform.
Preferably, the virtual and real data integrator samples and stores the acquired data into a database, and the data in the database drives the virtual measurement platform to operate.
Preferably, the virtual measurement platform receives real-time monitoring data of the physical measurement platform through the reserved data interface. The tower is in a natural environment, the stress condition is complex, the tower changes at any time and any place, and in order to truly simulate the deflection of the tower under various conditions, a tower deflection displacement model needs to be established.
Preferably, the measurement monitoring platform monitors the height of the tower, the deformation of the tower material and the inclination angle in real time, so that the deflection displacement of the tower in the running state can be accurately obtained. If the deflection of the tower exceeds a specified value, the measuring and monitoring platform gives an alarm.
The invention provides a digital twin-based non-contact tower deflection monitoring system, which has the following advantages:
1. the deflection state of the tower can be monitored in real time through a digital twinning technology, and great guarantee is provided for the safety of the tower;
2. the non-contact measurement saves manpower and material resources, greatly reduces and improves the working efficiency and ensures the safety of monitoring constructors.
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The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a virtual-real mapping process of the physical measurement platform and the virtual measurement platform according to the present invention.
Detailed Description
As shown in figure 1, a digital twin-based non-contact tower deflection monitoring system is characterized in that: comprises a physical measuring platform, a virtual and real data integrator and a measuring and monitoring platform 4 subsystems,
the physical measurement platform monitors the real-time state of the tower by using a height sensor, a distance sensor, an inclination angle sensor and an industrial camera, takes a PLC (programmable logic controller) as a control system of the physical measurement platform, and realizes remote data transmission by reserving a data interface;
the virtual measurement platform comprises a tower model, a measurement system and an auxiliary measurement system, wherein the tower model is mapped by the physical measurement platform, and the digital twinning characteristic is embodied by organically combining the physical measurement platform and the virtual measurement platform;
the virtual and real data integrator samples and stores real-time data generated by the physical measurement platform into a database, and the data in the database drives the virtual measurement platform to operate;
the measurement monitoring platform consists of a system management module, a measurement control module, a measurement monitoring module and a data management module, and when the deflection of the tower exceeds a set value, the system automatically alarms, so that technicians can conveniently overhaul the tower.
Preferably, the virtual measurement platform data is mapped by actual measurement of a physical platform, as shown in the formula of fig. 2, the deflection of the tower is measured in the virtual platform, and a measurement data model is defined as:
DM wl ＝(DM ls ∪DM yy ) (1)
wherein DM wl For digital models, DM, in the course of measurements on towers of physical platforms ls Tower digital model, DM, twinborn as a virtual measuring platform yy A digital model for completing the working hours of the tower;
the measurement system in the virtual measurement platform is uniformly defined as follows:
DM ls ＝{FunctionM,MInterface,MService} (2)
the functional model of the tower in the virtual digital space is represented by FunctionM, and the functional model corresponding to the functional model is established according to the actual stress condition of the tower, so that the working condition of the tower is simulated in a one-to-one real mode; the MINterface represents a virtual-real communication interface, and adopts a PLC interface, a measuring equipment data interface and a virtual platform to carry out data interaction with an entity so as to achieve the purposes of data interaction and real-time data driving; MService represents a virtual monitoring service function model, the organic connection and operation of the system comprise the functions of realizing measuring equipment, processing signals, monitoring the behavior of a tower model, limiting the excessive deflection rule of the tower,
DM yy ＝{StructY,YInterface,YService} (3)
the structure Y is a three-dimensional geometric model of a tower, YInterface is a data interface between a physical measurement platform and a virtual measurement platform, and YService is a tower state rehearsal mode;
the mapping of the digital space of the virtual measuring platform and the entity space of the physical measuring platform is the basis for data fusion and interaction, and the virtual-real mapping relation and the fusion mechanism of entity information are further constructed on the basis, so that the problems of asynchrony and poor consistency of the existing entity and virtual space information are solved; the digital space of the virtual measurement platform is defined as:
CS＝SY∪SL (4)
SY＝{DM yy1 ,DM yy2 ,DM yy3 } (5)
SL＝{DM ls1 ,DM ls2 ,DM ls3 } (6)
wherein CS represents a virtual measurement planeDigital space of the station, SY, SL being digital space and physical space DM yy 、DM ls A set of corresponding digital models.
Preferably, when the tower deflects, the tower material bends under the action of force, and the deflection measurement of the tower comprises the following steps of remotely transmitting measurement data to a virtual measurement platform through a physical measurement platform; firstly, considering the horizontal displacement of a tower, a measuring point a on the tower in a virtual space is composed of (x) 1 ,y 1 ,z 1 ) Move to the measurement point a' (x) 2 ,y 2 ,z 2 ) The variation of the measuring point on the x axis, the y axis and the z axis is respectively delta x, delta y and delta z, and the whole moving process is described as follows by a coordinate transformation matrix:
Figure BDA0003761130060000061
in the formula, x 1 For measuring the horizontal distance of point a along the x-axis, y 1 For measuring the horizontal distance of point a along the y-axis, z 1 For measuring the horizontal distance of point a along the z-axis, x 2 Is the horizontal distance, y, of the shifted measuring point a' along the x-axis 2 Is the horizontal distance, z, of the shifted measuring point a' along the y-axis 2 The horizontal distance of the offset measuring point a' along the z-axis direction, and the delta x is x 1 And x 2 The difference between the horizontal distances along the x-axis, and y is 1 And y 2 The difference between the horizontal distances along the y-axis, and Δ z is z 1 And z 2 The difference between the horizontal distances along the z-axis.
Preferably, the deflection of the tower also needs to consider the bending displacement and assume that the starting angle of the measurement point a is (alpha) 2 ,β 2 ,γ 2 ) The angle after rotating to the point a' becomes (alpha) 2 ,β 2 ,γ 2 ) The rotation angles of the measuring point on the x axis, the y axis and the z axis are respectively delta alpha, delta beta and delta gamma, and the whole moving process is described as follows by a coordinate transformation matrix:
Figure BDA0003761130060000062
in the formula, alpha 1 To measure the angle of point a along the x-axis, β 1 To measure the angle of point a along the y-axis, γ 1 To measure the angle of point a along the z-axis, α 2 Is the angle, beta, of the offset measurement point a' along the x-axis 2 Is the angle of the offset measurement point a' along the y-axis, gamma 2 The angle of the offset measurement point a' along the z-axis is shown, and Δ α is α 1 And alpha 2 A difference between the angles along the x-axis, Δ β is β 1 And beta 2 The difference between the angles along the y-axis, where Δ γ is γ 1 And gamma 2 The difference in angle between them along the z-axis.
Preferably, in order to facilitate monitoring that the twin tower needs to be scaled in the virtual measurement platform, scaling is performed according to a ratio, the x axis, the y axis, and the z axis are scaled simultaneously, and if the scaling is K, the scaling can be expressed as:
Figure BDA0003761130060000071
where K is the scaling.
Preferably, the physical measurement platform height sensor is responsible for monitoring the plumb distance of the tower; the distance sensor is used for monitoring the distance between different monitoring points on the tower; the inclination angle sensor is used for monitoring the inclination angle of the tower in the running state; the industrial camera monitors the whole pole tower and is matched with the height sensor, the distance sensor and the inclination angle sensor, so that the accuracy of data is ensured. And carrying out data remote transmission through the PLC control platform.
Preferably, the virtual and real data integrator samples and stores the acquired data into a database, and the data in the database drives the virtual measurement platform to operate.
Preferably, the virtual measurement platform receives real-time monitoring data of the physical measurement platform through the reserved data interface. The tower is in a natural environment, the stress condition is complex, the tower changes anytime and anywhere, and a tower deflection displacement model needs to be established in order to truly simulate the deflection of the tower under various conditions.
Preferably, the measurement monitoring platform monitors the height of the tower, the deformation of the tower material and the inclination angle in real time, so that the deflection displacement of the tower in the operating state can be accurately obtained. If the deflection of the tower exceeds a specified value, the measuring and monitoring platform gives an alarm.
When the system is used, the tower information is collected in real time through physical platform measuring equipment such as a height sensor, a distance sensor, an inclination angle sensor and an industrial camera. Taking the normal operation state of the tower as an example, the tower structure can slightly deform due to the unbalanced tension of the overhead line and other external forces, and real-time monitoring data is transmitted to the virtual measurement platform through the physical measurement platform.
If the deflection angles of the tower on the x axis, the y axis and the z axis are h respectively 1 、h 2 、h 3 . The measurement point a is composed of (x) 1 ,y 1 ,z 1 ) Deflection h along the X-axis 1 Angle to b (x) 2 ,y 2 ,z 2 ) At this time:
Figure BDA0003761130060000081
the measurement point a is composed of (x) 1 ,y 1 ,z 1 ) Deflection h along Y axis 2 Angle to b (x) 3 ,y 3 ,z 3 ) At this time:
Figure BDA0003761130060000082
the measurement point a is composed of (x) 1 ,y 1 ,z 1 ) Deflection h along Z axis 3 Angle to b (x) 4 ,y 4 ,z 4 ) At this time:
Figure BDA0003761130060000083
and the deflection angles of an X axis, a Y axis and a Z axis and the horizontal displacement of the tower are combined, so that the deflection of the tower is monitored in real time. And transmitting the data to a database through PLC remote data transmission. The data in the database drives the virtual measuring platform to measure, so that the measured data and the data analysis result are displayed through the three-dimensional tower model, and a technician can conveniently monitor the deflection of the tower in real time.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention is defined by the claims, and equivalents including technical features described in the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.

Claims (5)

1. A contactless tower deflection monitoring system based on digital twinning is characterized in that: comprises a physical measuring platform, a virtual and real data integrator and a measuring and monitoring platform 4 subsystems,
the physical measurement platform monitors the real-time state of the tower by using a height sensor, a distance sensor, an inclination angle sensor and an industrial camera, takes a PLC (programmable logic controller) as a control system of the physical measurement platform, and realizes remote data transmission through a reserved data interface;
the virtual measurement platform comprises a tower model, a measurement system and an auxiliary measurement system, wherein the tower model is mapped by the physical measurement platform, and the digital twinning characteristic is embodied by organically combining the physical measurement platform and the virtual measurement platform;
the virtual and real data integrator samples and stores real-time data generated by the physical measurement platform into a database, and the data in the database drives the virtual measurement platform to operate;
the measuring and monitoring platform consists of a system management module, a measuring and controlling module, a measuring and monitoring module and a data management module, and when the deflection of the tower exceeds a set value, the system automatically alarms, so that technicians can conveniently overhaul the tower.
2. The system for monitoring the deflection of the tower in a non-contact manner based on the digital twin as claimed in claim 1, wherein: the virtual measurement platform data is mapped by the actual measurement of a physical platform, the deflection of the tower is measured in the virtual platform, and a measurement data model is defined as follows:
DM wl ＝(DM ls ∪DM yy ) (1)
wherein, DM wl For digital models, DM, in the course of measurements on towers of physical platforms ls Tower digital model, DM, twinborn as a virtual measuring platform yy A digital model for completing the working hours of the tower;
the measurement system in the virtual measurement platform is uniformly defined as follows:
DM ls ＝{FunctionM,MInterface,MService} (2)
the function model is used for simulating the working condition of the tower in real time, wherein the function nM represents a function model of the tower in a virtual digital space, and a function model corresponding to the function model is established according to the actual stress condition of the tower; the MINterface represents a virtual-real communication interface, and adopts a PLC interface, a measuring equipment data interface and a virtual platform to carry out data interaction with an entity so as to achieve the purposes of data interaction and real-time data driving; MService represents a virtual monitoring service function model, the organic connection and operation of the system comprise the functions of realizing measuring equipment, processing signals, monitoring the behavior of a tower model, limiting the excessive deflection rule of the tower,
DM yy ＝{StructY,YInterface,YService} (3)
the structure Y is a three-dimensional geometric model of a tower, YInterface is a data interface between a physical measurement platform and a virtual measurement platform, and YService is a tower state rehearsal mode;
the mapping of the digital space of the virtual measuring platform and the entity space of the physical measuring platform is the basis for data fusion and interaction, and the virtual-real mapping relation and the fusion mechanism of entity information are further constructed on the basis, so that the problems of asynchrony and poor consistency of the existing entity and virtual space information are solved; the digital space of the virtual measurement platform is defined as:
CS＝SY∪SL (4)
SY＝{DM yy1 ,DM yy2 ,DM yy3 } (5)
SL＝{DM ls1 ,DM ls2 ,DM ls3 } (6)
where CS represents the digital space of the virtual measurement platform, SY, SL are the digital space and the physical space DM yy 、DM ls A set of corresponding digital models.
3. The system for monitoring the deflection of the tower in a non-contact manner based on the digital twin as claimed in claim 1, wherein: the deflection measurement of the tower comprises the following steps of remotely transmitting measurement data to a virtual measurement platform through a physical measurement platform; firstly, considering the horizontal displacement of a tower, a measuring point a on the tower in a virtual space is composed of (x) 1 ,y 1 ,z 1 ) Move to the measurement point a' (x) 2 ,y 2 ,z 2 ) The variation of the measuring point on the x-axis, the y-axis and the z-axis is Δ x, Δ y and Δ z, and the whole moving process is described by a coordinate transformation matrix as follows:
Figure FDA0003761130050000021
in the formula, x 1 For measuring the horizontal distance of point a along the x-axis, y 1 For measuring the horizontal distance of point a along the y-axis, z 1 For measuring the horizontal distance of point a along the z-axis, x 2 Is the horizontal distance of the shifted measuring point a' along the x-axis direction, y 2 Is the horizontal distance, z, of the shifted measuring point a' along the y-axis 2 Is the horizontal distance of the shifted measuring point a' along the z-axis direction, and Δ x is x 1 And x 2 The difference between the horizontal distances along the x-axis, and y is 1 And y 2 The difference between the horizontal distances along the y-axis, and Δ z is z 1 And z 2 The difference between the horizontal distances along the z-axis.
4. A method according to claim 3Word twin's contactless shaft tower amount of deflection monitoring system, its characterized in that: the deflection of the tower also needs to consider the initial angle (alpha) of the measurement point a assumed by the bending displacement 1 ,β 1 ,γ 1 ) The angle after rotating to the point a' becomes (alpha) 2 ,β 2 ,γ 2 ) The rotation angles of the measuring point on the x axis, the y axis and the z axis are respectively delta alpha, delta beta and delta gamma, and the whole moving process is described as follows by a coordinate transformation matrix:
Figure FDA0003761130050000031
in the formula, alpha 1 To measure the angle of point a along the x-axis, β 1 To measure the angle of point a along the y-axis, γ 1 To measure the angle of point a along the z-axis, α 2 Angle, β, along the x-axis for the displaced measurement point a 2 Is the angle of the offset measurement point a' along the y-axis, gamma 2 Is the angle of the shifted measurement point a' along the z-axis, and Δ α is α 1 And alpha 2 The difference between them along the x-axis, Δ β is β 1 And beta 2 The difference between the angles along the y-axis, where Δ γ is γ 1 And gamma 2 The difference in angle between them along the z-axis.
5. The system for monitoring the deflection of the tower in a non-contact manner based on the digital twin according to claim 3 or 4, wherein: in order to facilitate monitoring that the twin tower needs to be zoomed in the virtual measurement platform, zooming is carried out according to the proportion, the x axis, the y axis and the z axis are zoomed simultaneously, and if the zooming proportion is K, the matrix can be used for being expressed as follows:
Figure FDA0003761130050000032
where K is the scaling.
CN202210870764.0A 2022-07-22 2022-07-22 Digital twinning-based contactless tower deflection monitoring system Pending CN115165266A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115824318A (en) * 2023-02-27 2023-03-21 国网江西省电力有限公司电力科学研究院 Dynamic monitoring system and method for digital control of working state of pole erecting machine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115824318A (en) * 2023-02-27 2023-03-21 国网江西省电力有限公司电力科学研究院 Dynamic monitoring system and method for digital control of working state of pole erecting machine
CN115824318B (en) * 2023-02-27 2023-08-15 国网江西省电力有限公司电力科学研究院 Dynamic monitoring system and method for digital control of working state of pole erecting machine

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