The invention provides a segment lifting control method and device, tunnel excavation equipment, a storage medium and a computer program product. The method comprises the steps that point cloud data of a lifting appliance, a first transport vehicle and a segment located in the first transport vehicle are collected; first information of the duct piece and second information of the lifting appliance are obtained, and a lifting appliance operation path and lifting appliance rotation information of the lifting appliance are determined; according to the lifting appliance operation path and the lifting appliance rotation information, the lifting appliance is controlled to reach a duct piece grabbing waiting position; based on the first image corresponding to the lifting appliance and the duct piece, the lifting appliance is controlled to grab the duct piece; and the lifting appliance is controlled to place the duct piece at the target placing position in the second transport vehicle. According to the method and the device, global detection can be carried out on a duct piece operation space, lifting can be accurately controlled, linkage control can be carried out on multiple actions of lifting, the efficiency of automatic lifting of the duct piece can be improved, the safety of movement of a duct piece lifting appliance is effectively improved, the tunnel construction efficiency is improved, and the construction safety is ensured.
本公开提供了一种管片吊运控制方法、装置、隧道挖掘设备、存储介质以及计算机程序产品,其中的方法包括:采集吊具、第一运输车以及位于第一运输车中的管片的点云数据;获得管片的第一信息和吊具的第二信息,确定吊具的吊具运行路径和吊具旋转信息;根据吊具运行路径和吊具旋转信息,控制吊具到达管片抓取等待位置;基于与吊具和管片对应的第一图像,控制吊具抓取管片;控制吊具将管片放置在第二运输车中的目标放置位置。本公开能够对管片作业空间进行全局检测,对吊运进行精准控制,并对吊运的多个动作进行联动控制,可以提高管片自动吊运的效率,有效提升了管片吊具运动的安全性,提升隧道施工效率,保证施工安全。
Duct piece hoisting control method and device, tunnel excavation equipment and storage medium
管片吊运控制方法、装置、隧道挖掘设备以及存储介质
07.01.2025
Patent
Elektronische Ressource
Chinesisch
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