The invention relates to a duct piece hoisting and sole timber clearing and transporting method and device.The method comprises the following steps that according to the current duct piece layer number fed back by a distance detection module, a detection clearing and transporting execution device is moved to a duct piece unloading area; adjusting the detection and clearance execution device to enable the point cloud acquisition device to move to a position with a vertical distance away from a current top-layer segment in a pile of segments as a first fixed value; the point cloud acquisition device is used for acquiring information, and analyzing whether a to-be-cleared sole timber exists or not and analyzing the pose of the sole timber and the pose of a current to-be-hoisted segment according to the acquired point cloud information; if the sole timber exists, the detecting, clearing and transporting executing device firstly clears and transports the sole timber on the duct piece according to the posture of the sole timber, or else, the duct piece crane carries out hoisting according to the posture of the duct piece to be hoisted; and the steps are repeated till the pipe piece hoisting operation of the first layer of pipe pieces is completed. According to the device, high-precision automatic positioning of the duct piece and the sole timber can be achieved, automatic hoisting of the duct piece and automatic clearing and transporting of the sole timber can be achieved, and the positioning precision and stability are high.

    本发明为一种管片吊装和垫木清运的方法及装置,其中,方法包括如下步骤:根据距离检测模块反馈的当前存在的管片层数,将检测清运执行装置移动至管片卸载区域,调整检测清运执行装置以使点云采集装置移动至距离一摞管片中当前顶层管片的垂向距离为第一固定值;点云采集装置进行信息采集,根据采集的点云信息解析出是否存在待清运垫木及垫木位姿和当前待吊装管片的位姿;若存在垫木,检测清运执行装置根据垫木位姿先对管片上垫木进行清运,否则管片吊机根据待吊装管片位姿进行吊装;重复上述步骤,直至完成第一层管片的管片吊装作业。本发明能实现对管片和垫木的高精度自动定位,并能实现管片的自动吊装及垫木的自动清运,定位精度和稳定性较高。


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    Title :

    Method and device for hoisting duct piece and clearing and transporting sole timber


    Additional title:

    管片吊装和垫木清运的方法及装置


    Contributors:
    WU QIANKUN (author) / WANG YIXIN (author) / LI ZHENGDAO (author) / ZHAO YUANYANG (author) / YANG HANG (author) / QIAN HAO (author) / PENG FEIHU (author) / JIANG LIJIE (author) / ZHAO HAIZHUANG (author)

    Publication date :

    2022-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    E21D SHAFTS , Schächte / B66C Krane , CRANES



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