Cable crane management and control method and system based on digital twinning

Abstract

The invention discloses a cable crane management and control method and system based on digital twinning, and relates to the technical field of bridge construction intelligent monitoring, and the method comprises the following steps: preprocessing different types of monitoring data to obtain different types of preprocessed monitoring data; constructing a twinborn model based on the on-site live-action data, and performing real-time rendering based on the preprocessed monitoring data to construct a real-time twinborn model; based on the real-time twinborn model, constructing an AR auxiliary hoisting schematic diagram; and planning an optimal path of the crown block based on the AR auxiliary hoisting schematic diagram. Through multi-source data acquisition, real-time analysis, safety early warning and visual display, comprehensive monitoring and risk pre-control of the operation state of the cable crane are realized.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent monitoring of bridge construction, and specifically to a cable crane control method and system based on digital twins. Background Art

[0002] Cable cranes are large-scale lifting equipment primarily used for lifting steel beam segments in complex terrain, such as mountainous areas and across rivers and canyons. They utilize a system of load-bearing cables strung across the banks to carry the load, enabling large-span, high-precision material transport. Typical applications include installing stiffening girders on suspension bridges, lifting arch bridge segments, and transporting large components.

[0003] As core equipment in long-span bridge construction, its safety directly impacts project progress and personnel safety. Traditional monitoring methods rely on manual inspections and single-sensor monitoring, resulting in fragmented data, delayed early warnings, and insufficient visualization. While digital twin and BIM technologies have been applied in construction, a multi-dimensional, full-process intelligent monitoring system for cable cranes has yet to be established. In particular, there are technical gaps in multi-sensor data fusion, dynamic risk prediction, and coordinated construction management.

[0004] In order to meet actual needs, a cable crane control technology based on digital twin is proposed. Summary of the Invention

[0005] In response to the defects in the existing technology, the purpose of this application is to provide a cable crane management and control method and system based on digital twins, which can achieve comprehensive monitoring and risk prevention of the cable crane's operating status through multi-source data collection, real-time analysis, safety warning and visual display.

[0006] In order to achieve the above objectives, the technical solution adopted by this application is: In a first aspect, the present application provides a cable crane control method based on digital twins, the method comprising the following steps: Preprocess different types of monitoring data to obtain different types of preprocessed monitoring data; Building a twin model based on on-site real-scene data, and performing real-time rendering based on the pre-processed monitoring data to build a real-time twin model; Based on the real-time twin model, construct an AR-assisted lifting schematic diagram; Based on the AR-assisted lifting schematic diagram, the optimal path of the overhead crane is planned.

[0007] On the basis of the above technical solution, the method further comprises the following steps: Monitor and obtain the real-time movement path of the overhead crane; Based on the real-time moving path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram, a construction early warning is performed.

[0008] On the basis of the above technical solution, the construction early warning is performed based on the real-time movement path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting diagram, including the following steps: Based on the real-time movement path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram, each construction safety parameter is compared with a preset safety indicator threshold; When any of the construction safety parameters exceeds the corresponding safety index threshold, a construction warning is issued.

[0009] On the basis of the above technical solution, the preprocessing of different types of monitoring data to obtain different types of preprocessed monitoring data includes the following steps: performing noise cleaning on different types of monitoring data obtained in real time to obtain different types of cleaned monitoring data; Based on the different types of post-cleaning monitoring data, data standardization is performed to obtain different types of standardized monitoring data; Based on the different types of standardized monitoring data, data outliers are eliminated to obtain different types of preprocessed monitoring data.

[0010] Based on the above technical solution, the AR-assisted lifting schematic diagram includes a virtual cable tension curve and a risk heat map.

[0011] In a second aspect, the present application provides a cable crane control system based on digital twins, the system comprising: Data acquisition module, which is used to monitor the construction scene and obtain different types of monitoring data; A data processing module is used to preprocess different types of monitoring data to obtain different types of preprocessed monitoring data; A visualization display module is used to build a twin model based on on-site real-scene data, and to perform real-time rendering based on the pre-processed monitoring data to build a real-time twin model; The visualization display module is further used to construct an AR-assisted lifting schematic diagram based on the real-time twin model; A safety warning module is used to plan the optimal path of the overhead crane based on the AR-assisted lifting schematic diagram.

[0012] On the basis of the above technical solution, the data acquisition module is also used to monitor and obtain the real-time moving path of the overhead crane; The safety warning module is also used to provide construction warning based on the real-time moving path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram.

[0013] On the basis of the above technical solution, the safety warning module is further used to compare various construction safety parameters with preset safety index thresholds based on the real-time movement path of the overhead crane and the pre-processed monitoring data in combination with the AR-assisted lifting schematic diagram; The safety warning module is also used to issue a construction warning when any of the construction safety parameters exceeds the corresponding safety indicator threshold.

[0014] On the basis of the above technical solution, the data processing module is further used to perform noise cleaning on the different types of monitoring data obtained in real time to obtain different types of cleaned monitoring data; The data processing module is further configured to perform data standardization processing based on different types of post-cleaning monitoring data to obtain different types of standardized monitoring data; The data processing module is further used to remove data outliers based on different types of standardized monitoring data to obtain different types of pre-processed monitoring data.

[0015] Based on the above technical solution, the AR-assisted lifting schematic diagram includes a virtual cable tension curve and a risk heat map.

[0016] Compared with the prior art, the advantages of this application are: This application achieves comprehensive monitoring and risk prevention of the cable crane's operating status through multi-source data collection, real-time analysis, safety warning and visual display. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a flowchart of the steps of the cable crane control method based on digital twins according to an embodiment of the present application; Figure 2 This is a principle flow chart of the cable crane control method based on digital twins according to an embodiment of the present application; Figure 3 This is a structural block diagram of the cable crane control system based on digital twins in an embodiment of the present application. DETAILED DESCRIPTION

[0019] Explanation of terms: BIM: Building Information Modeling; AR: Augmented Reality; AI: Artificial Intelligence; ICP: Iterative Closest Point, nearest point search method; ORB: Oriented FAST and Rotated BRIEF, image feature detection and description algorithm; LOD: Levels of Detail, multiple levels of detail.

[0020] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0022] The embodiments of the present application provide a cable crane management and control method and system based on digital twins, which realize comprehensive monitoring and risk prevention of the cable crane's operating status through multi-source data collection, real-time analysis, safety warning and visual display.

[0023] To achieve the above technical effects, the overall idea of ​​this application is as follows: A cable crane control method based on digital twin, the method comprising the following steps: S1. Preprocess different types of monitoring data to obtain different types of preprocessed monitoring data; S2. Build a twin model based on on-site real-scene data, and perform real-time rendering based on pre-processed monitoring data to build a real-time twin model; S3. Build an AR-assisted lifting schematic diagram based on the real-time twin model; S4. Plan the optimal path for the overhead crane based on the AR-assisted lifting diagram.

[0024] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0025] First, see Figures 1 and 2As shown, an embodiment of the present application provides a cable crane control method based on digital twins, which includes the following steps: S1. Preprocess different types of monitoring data to obtain different types of preprocessed monitoring data; S2. Build a twin model based on on-site real-scene data, and perform real-time rendering based on pre-processed monitoring data to build a real-time twin model; S3. Build an AR-assisted lifting schematic diagram based on the real-time twin model; S4. Plan the optimal path for the overhead crane based on the AR-assisted lifting diagram.

[0026] In the embodiment of the present application, comprehensive monitoring and risk prevention of the cable crane's operating status are achieved through multi-source data collection, real-time analysis, safety warning and visual display.

[0027] Furthermore, the method further comprises the following steps: Monitor and obtain the real-time movement path of the overhead crane; Based on the real-time moving path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram, a construction early warning is performed.

[0028] Furthermore, the construction early warning is performed based on the real-time moving path of the overhead crane and the pre-processed monitoring data in combination with the AR-assisted lifting schematic diagram, including the following steps: Based on the real-time movement path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram, each construction safety parameter is compared with a preset safety indicator threshold; When any of the construction safety parameters exceeds the corresponding safety index threshold, a construction warning is issued.

[0029] Furthermore, the preprocessing of different types of monitoring data to obtain different types of preprocessed monitoring data includes the following steps: performing noise cleaning on different types of monitoring data obtained in real time to obtain different types of cleaned monitoring data; Based on the different types of post-cleaning monitoring data, data standardization is performed to obtain different types of standardized monitoring data; Based on the different types of standardized monitoring data, data outliers are eliminated to obtain different types of preprocessed monitoring data.

[0030] Furthermore, the AR-assisted lifting schematic diagram includes a virtual cable tension curve and a risk heat map.

[0031] It should be noted that, based on the technical solution of the embodiment of the present application, in specific implementation, its hardware foundation includes at least a data acquisition module, a data processing module, a visualization display module, and a security warning module. The specific working conditions of each module are as follows: First, data acquisition module: The data acquisition module is used to monitor the cable crane's operating status and on-site working environment in real time. The module's monitoring sensors include cable tension sensors, wire rope flaw detection sensors, wind speed sensors, inclination sensors, Beidou positioning system, smart positioning helmets, high-definition cameras, strain gauges, and other sensors, collecting real-time cable crane operating data and environmental parameters.

[0032] The cable force sensor can be a lateral pressure sensor, a pin-type sensor, or a cable force telemetry radar, which monitors the tension of the cable crane's load-bearing cable, hoisting cable, and traction cable in real time. The load-bearing cable force deviation threshold is ±5%. Wire rope flaw detection sensors monitor the wear, breakage and other damage conditions of lifting ropes and traction ropes; Wind speed sensors include two-dimensional and three-dimensional wind speed and direction sensors, which are arranged at locations such as bridge towers and mid-span catwalks according to the site environment. They monitor multi-point data and use wind field prediction algorithms such as neural networks to make short-term high wind predictions for on-site wind speed and direction. The wind speed threshold is 13.8m / s. When the threshold is exceeded, hoisting operations are prohibited, ensuring the safe operation of the cable crane. The inclination sensor is used to monitor the aerial posture of the cable crane spreader and the hoisted steel beam, providing data support for precise posture adjustment and steel beam docking; The Beidou positioning system is installed on the overhead crane and steel beam segments. Based on differential positioning and enhancement technology, it accurately locates the cable crane overhead crane's travel position and the steel beam's spatial coordinates in real time. Using smart positioning helmets and setting up electronic fences along the project line, the attendance of key management personnel during steel beam hoisting is automatically monitored; High-definition cameras are used to view the operation and rope arrangement of the cable crane winch unit, the ground steering system, the tower steering system and the working conditions of the hook in real time; Strain gauges are installed at the locations with the greatest stress on the temporary structures of cable cranes (such as the mid-span of the tower crane beam and the outriggers at the top of the tower) to monitor their stress conditions.

[0033] Second, data processing module: The data processing module transmits monitoring data to the cloud monitoring platform through Internet of Things technology, cleans and integrates multi-source data such as cable tension and wind speed, and analyzes risks based on AI algorithms (such as neural networks).

[0034] The data processing module is used to perform the following workflows: Step 1: Multi-source data cleaning: Sliding window filtering (window length 0.5s) is used to eliminate the high-frequency noise of the cable force sensor. The baseline drift of the tilt sensor data is corrected using wavelet transform (db4 wavelet basis, 3-layer decomposition). Beidou positioning data is dynamically corrected through Kalman filtering (state variables include position, velocity, and acceleration).

[0035] Step 2: Data normalization: Min-Max normalization (normalization range [-1,1]) is used for heterogeneous data such as cable force (unit: kN), wind speed (unit: m / s), and inclination angle (unit: °). The formula is:

[0036] Establish a unified space-time coordinate system: conversion between Beidou coordinates (longitude, latitude, elevation) and BIM model coordinates.

[0037] Step 3: Outlier removal: Based on the Isolation Forest algorithm (number of subtrees: 100, sampling rate: 20%), abnormal sensor data is identified and eliminated, and the data completion mechanism (using forward filling + linear interpolation method) is triggered simultaneously.

[0038] Third, visual display module: The visualization module uses BIM technology to construct a 3D visualization platform for steel beam erection. Using a digital twin model of the cable crane, it displays crane status, environmental parameters, warning information, and construction progress in real time. It supports multi-terminal interaction (computers, mobile phones, and tablets) and historical data review. The visualization platform includes sections for project construction progress, cable crane safety monitoring, visual lifting, load-bearing cable force monitoring, lifting control management, and personnel control management.

[0039] Existing technical bottlenecks: Traditional visualization systems mostly use static BIM models + two-dimensional data panels, lacking dynamic twin interaction and construction simulation capabilities.

[0040] The visualization module is used to perform the following workflows: Step 1: BIM+point cloud fusion modeling: The real-scene data is acquired through laser point cloud scanning (accuracy ±2mm), and the ICP algorithm (iterations 100, convergence threshold 0.001) is used to align the BIM model with the point cloud data to generate a high-precision twin model.

[0041] Step 2: Real-time data driving: The Beidou positioning data (update frequency 1Hz) is bound to the BIM model, and the quaternion interpolation algorithm (Slerp) is used to achieve smooth rendering of the overhead crane motion, with attitude update delay less than 50ms.

[0042] Step 3: AR assisted lifting: A mobile application was developed based on AR Core / ARKit, and virtual cable tension curves and risk heat maps (red: >90% threshold, yellow: 80%-90%) were overlaid on the real-time camera image through feature point matching (ORB algorithm, matching threshold 0.7).

[0043] Step 4: Construction progress deduction: The optimal overhead crane path is planned based on the Dijkstra algorithm, the steel beam lifting process is previewed in the twin model, and collision detection is supported (AABB bounding box algorithm, detection frequency 30Hz).

[0044] Step 5: Lightweight Transmission: WebGL+Three.js is used for browser-side rendering, and BIM models are graded with Level of Detail (LOD) (5 levels of detail, with the number of faces reduced from 100,000 to 1,000), reducing data transmission volume by 80%.

[0045] Fourth, security warning module: The safety warning module triggers graded warnings (sound and light alarms, automatic shutdown) based on preset thresholds and dynamic prediction results.

[0046] Graded early warning mechanism: Level I warning (prompt): The parameter is close to 80% of the threshold, triggering a flashing prompt on the operation interface; Level II warning (alarm): When the parameter approaches 90% of the threshold, an audible and visual alarm is activated and a text message is sent to the management personnel; Level III warning (shutdown): When the parameter approaches or reaches the threshold, the system automatically cuts off the power supply and locks the hook.

[0047] Taking a railway suspension bridge project as an example, the parameter thresholds are set as follows:

[0048] In addition, the technical solution of the embodiment of the present application is implemented as follows: 1. Data collection and transmission: Model the cable crane and engineering design drawings as well as the three-dimensional terrain of the project site to build a visual control platform for cable crane construction; 2. An integrated electronic lifting order approval system ensures that before each lift, on-site safety card inspections are completed step by step and the inspection results are uploaded on a mobile or computer terminal. Finally, the project manager and supervisory engineer must jointly sign online and bind the results to the real-time monitoring data. If the order is not approved, the system will automatically prohibit the start of the lifting procedure. 3. After the lifting order is issued, the lifting operation process begins. The cable crane data acquisition module obtains real-time monitoring data and transmits the data to the cloud monitoring platform through the Internet of Things. 4. The cloud monitoring platform analyzes and processes the cable crane monitoring data and provides a data interface to the digital platform for visual display; 5. The visual management and control platform continuously updates and displays key indicators such as the cable crane overhead crane travel position and speed, hook lifting height and speed, beam erection construction progress, and load-bearing cable force based on the monitored cable crane monitoring data, and issues early warnings for dangerous situations based on the three-level early warning mechanism.

[0049] In summary, the technical advantages of the embodiments of the present application are: 1. By integrating multi-source measured data to drive dynamic model updates, we achieve millimeter-level, high-precision synchronization between the visual management and control platform and on-site equipment, ensuring that the virtual model reflects the physical entity status in real time. 2. Dynamically adjust warning thresholds based on reinforcement learning algorithms. For example, during continuous lifting operations, the system automatically optimizes cable tension safety thresholds by combining historical load data with real-time working conditions, improving the flexibility and accuracy of risk prediction. 3. Seamlessly integrate the monitoring system with construction management processes (such as electronic lifting orders and joint acceptance), building a closed-loop system of "data-driven decision-making - real-time feedback control - management strategy optimization" to achieve intelligent management and control of the entire construction life cycle.

[0050] Second, see Figure 3 As shown, an embodiment of the present application provides a cable crane control system based on digital twins, the system comprising: Data acquisition module, which is used to monitor the construction scene and obtain different types of monitoring data; A data processing module is used to preprocess different types of monitoring data to obtain different types of preprocessed monitoring data; A visualization display module is used to build a twin model based on on-site real-scene data, and to perform real-time rendering based on the pre-processed monitoring data to build a real-time twin model; The visualization display module is further used to construct an AR-assisted lifting schematic diagram based on the real-time twin model; A safety warning module is used to plan the optimal path of the overhead crane based on the AR-assisted lifting schematic diagram.

[0051] In the embodiment of the present application, comprehensive monitoring and risk prevention of the cable crane's operating status are achieved through multi-source data collection, real-time analysis, safety warning and visual display.

[0052] Furthermore, the data acquisition module is also used to monitor and obtain the real-time moving path of the overhead crane; The safety warning module is also used to provide construction warning based on the real-time moving path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram.

[0053] Furthermore, the safety warning module is further configured to compare various construction safety parameters with preset safety indicator thresholds based on the real-time movement path of the overhead crane and the pre-processed monitoring data in combination with the AR-assisted lifting schematic diagram; The safety warning module is also used to issue a construction warning when any of the construction safety parameters exceeds the corresponding safety indicator threshold.

[0054] Furthermore, the data processing module is further used to perform noise cleaning on the different types of monitoring data obtained in real time to obtain different types of cleaned monitoring data; The data processing module is further configured to perform data standardization processing based on different types of post-cleaning monitoring data to obtain different types of standardized monitoring data; The data processing module is further used to remove data outliers based on different types of standardized monitoring data to obtain different types of pre-processed monitoring data.

[0055] Furthermore, the AR-assisted lifting schematic diagram includes a virtual cable tension curve and a risk heat map.

[0056] To sum up, the cable crane control system based on digital twin provided in the embodiment of the present application has the same technical principles as the cable crane control method based on digital twin provided in the first aspect in terms of technical problems, technical solutions and technical effects, so they will not be elaborated here.

[0057] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0058] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0059] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A cable crane control method based on digital twin, characterized in that: The method comprises the following steps: Preprocess different types of monitoring data to obtain different types of preprocessed monitoring data; Building a twin model based on on-site real-scene data, and performing real-time rendering based on the pre-processed monitoring data to build a real-time twin model; Based on the real-time twin model, construct an AR-assisted lifting schematic diagram; Based on the AR-assisted lifting schematic diagram, the optimal path of the overhead crane is planned.

2. The cable crane control method based on digital twin according to claim 1, characterized in that: The method further comprises the following steps: Monitor and obtain the real-time movement path of the overhead crane; Based on the real-time moving path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram, a construction early warning is performed.

3. The cable crane control method based on digital twin according to claim 1, characterized in that: The construction early warning is performed based on the real-time movement path of the overhead crane and the pre-processed monitoring data in combination with the AR-assisted lifting schematic diagram, including the following steps: Based on the real-time movement path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram, each construction safety parameter is compared with a preset safety indicator threshold; When any of the construction safety parameters exceeds the corresponding safety index threshold, a construction warning is issued.

4. The cable crane control method based on digital twin according to claim 1, characterized in that: The preprocessing of different types of monitoring data to obtain different types of preprocessed monitoring data includes the following steps: performing noise cleaning on different types of monitoring data obtained in real time to obtain different types of cleaned monitoring data; Based on the different types of post-cleaning monitoring data, data standardization is performed to obtain different types of standardized monitoring data; Based on the different types of standardized monitoring data, data outliers are eliminated to obtain different types of preprocessed monitoring data.

5. The cable crane control method based on digital twin according to claim 1, characterized in that: The AR-assisted lifting schematic diagram includes a virtual cable tension curve and a risk heat map.

6. A cable crane control system based on digital twin, characterized in that: The system comprises: Data acquisition module, which is used to monitor the construction scene and obtain different types of monitoring data; A data processing module is used to preprocess different types of monitoring data to obtain different types of preprocessed monitoring data; A visualization display module is used to build a twin model based on on-site real-scene data, and to perform real-time rendering based on the pre-processed monitoring data to build a real-time twin model; The visualization display module is further used to construct an AR-assisted lifting schematic diagram based on the real-time twin model; A safety warning module is used to plan the optimal path of the overhead crane based on the AR-assisted lifting schematic diagram.

7. The cable crane control system based on digital twin according to claim 6, characterized in that: The data acquisition module is also used to monitor and obtain the real-time moving path of the overhead crane; The safety warning module is also used to provide construction warning based on the real-time moving path of the overhead crane and the pre-processed monitoring data, combined with the AR-assisted lifting schematic diagram.

8. The cable crane control system based on digital twin according to claim 6, characterized in that: The safety warning module is further configured to compare various construction safety parameters with preset safety indicator thresholds based on the real-time movement path of the overhead crane and the pre-processed monitoring data in combination with the AR-assisted lifting schematic diagram; The safety warning module is also used to issue a construction warning when any of the construction safety parameters exceeds the corresponding safety index threshold.

9. The cable crane control system based on digital twin according to claim 6, characterized in that: The data processing module is further used to perform noise cleaning on the different types of monitoring data obtained in real time to obtain different types of cleaned monitoring data; The data processing module is further configured to perform data standardization processing based on different types of post-cleaning monitoring data to obtain different types of standardized monitoring data; The data processing module is further used to remove data outliers based on different types of standardized monitoring data to obtain different types of pre-processed monitoring data.

10. The cable crane control system based on digital twin according to claim 6, characterized in that: The AR-assisted lifting schematic diagram includes a virtual cable tension curve and a risk heat map.

Images