The invention relates to a segment hoisting method and device, a computer readable storage medium and a heading machine. The duct piece lifting method comprises the following steps that a lifting appliance is moved to the position above a duct piece; shooting a real-time image of the duct piece through a camera arranged on the lifting appliance; the real-time image is compared with a standard image corresponding to the target position of the lifting appliance, and the deviation between the current position of the lifting appliance and the target position of the lifting appliance is obtained; adjusting the pose of the lifting appliance according to the deviation to enable the lifting appliance to be located at the target position; and lifting the duct piece through a lifting appliance. The deviation between the real-time image features and the standard image features is solved by adopting an image recognition method, the deviation parameters of each motion dimension of the lifting appliance are directly solved and fed back to the control mechanism, and the pose of the lifting appliance is adjusted, so that the lifting appliance successfully lifts the duct piece, the lifting efficiency and the lifting quality can be improved, and the labor intensity of workers is reduced. And personal potential safety hazards to operators can be avoided, and the working condition of the operators is improved.
本公开涉及一种管片吊运方法、装置、计算机可读存储介质及掘进机。其中,管片吊运方法包括以下步骤:使吊具移至管片上方;通过设置在吊具上的相机拍摄管片的实时图像;将实时图像与吊具的目的位置对应的标准图像进行对比,获得吊具的当前位置与吊具的目的位置的偏差;根据偏差调整吊具的位姿,使吊具位于目的位置;以及通过吊具吊取管片。本公开采用图像识别的方法求取实时图像特征与标准图像特征存在的偏差,直接求出吊具各个运动维度的偏差参数并反馈给控制机构,以对吊具的位姿进行调整,以便使吊具成功吊取管片,能够提高吊运效率和吊运质量,且能够避免对作业人员造成人身安全隐患,改善作业人员的工作境况。
Segment hoisting method and device, computer readable storage medium and heading machine
管片吊运方法、装置、计算机可读存储介质及掘进机
2022-04-12
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Control system, method and device of hoisting equipment and computer readable storage medium
European Patent Office | 2024
|Container hoisting control method, device and equipment and readable storage medium
European Patent Office | 2023
|Shaft segment hoisting anti-twisting device and shaft segment hoisting anti-twisting system
European Patent Office | 2020
|