The invention discloses an intelligent hoisting method and system for shield tunneling machine segments. The hoisting method comprises the steps that the contour shape of a current to-be-hoisted segment is scanned, the space coordinate posture of the segment is determined through three-dimensional point cloud data of the segment, and a hoisting tool coarse positioning action instruction is generated; the position and posture of the lifting appliance are adjusted according to the coarse positioning action instruction until the lifting appliance moves to a to-be-lifted area of the duct piece; acquiring image information of a segment, identifying a feature marker on the segment, acquiring height data of the segment, and determining spatial three-dimensional coordinates of feature points of the feature marker; according to the three-dimensional coordinate data of the feature points, the space attitude of the lifting appliance is adjusted in real time till accurate positioning is completed, and the duct piece is grabbed; planning an intelligent segment hoisting path according to the current position information of the segment, the target area position information of the to-be-unloaded segment and the environmental information of the space around the segment; and controlling the lifting appliance to lift the duct piece to a target area of the duct piece to be unloaded according to the planned lifting path. According to the invention, the pipe sheets can be automatically hoisted more accurately and more efficiently.

    本发明公开了一种盾构机管片智能化吊运方法及吊运系统,吊运方法包括扫描当前待吊运的管片的轮廓外形,通过其三维点云数据确定管片空间坐标姿态及生成吊具粗定位动作指令;按照粗定位动作指令调整吊具位置及姿态直至吊具移动至管片的待吊运区域;获取管片的图像信息并识别管片上的特征标志物以及获取管片的高度数据,确定特征标志物的特征点的空间三维坐标;根据特征点的三维坐标数据实时调整吊具的空间姿态直至完成精确定位并抓取管片;根据管片的当前位置信息、待卸载管片的目标区域位置信息以及管片周围空间环境信息规划管片智能化吊运路径;控制吊具根据规划的吊运路径将管片吊运至待卸载管片的目标区域。本发明能够更精确、更高效地自动吊运管片。


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    Title :

    Intelligent hoisting method and hoisting system for duct pieces of shield tunneling machine


    Additional title:

    一种盾构机管片智能化吊运方法及吊运系统


    Contributors:
    GUO SUYANG (author) / LIU LINGYU (author) / WU ZHIYANG (author) / ZHANG LIANHAO (author) / YANG ZHENGFAN (author) / YIN SHUHAN (author)

    Publication date :

    2023-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / E21D SHAFTS , Schächte



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