The invention relates to a duct piece and box culvert integrated automatic lifting appliance and a lifting method, and the method comprises the following steps: S1, visual identification and feature extraction: carrying out three-dimensional laser scanning on a field duct piece and box culvert, outputting three-dimensional models of the duct piece and box culvert through three-dimensional laser scanning, and extracting size coordinates, position coordinates and lifting point coordinates of the duct piece and box culvert; s2, parameterized shape representation: according to the geometric feature data extracted in the step S1, using a specific parameterized function to represent the shape of the duct piece and the box culvert; s3, space pose calculation, wherein whether the axial direction of the duct piece and the box culvert is consistent with the clamping force direction of the lifting appliance clamp or not is determined according to the axial positions of the duct piece and the box culvert; and S4, automatic lifting and operation: guiding the lifting appliance to complete automatic grabbing, lifting and placing by utilizing the space pose information. According to the lifting appliance and the lifting method, the duct piece and the box culvert can be efficiently lifted under the condition that the lifting appliance is not replaced.
本申请涉及一种管片、箱涵一体式自动吊具及吊运方法,包括以下步骤:S1、视觉识别与特征提取:对现场管片、箱涵进行三维激光扫描,利用三维激光扫描,输出管片、箱涵的三维模型,提取管片、箱涵尺寸坐标、位置坐标以及吊点坐标;S2、参数化形状表示:根据S1步骤中提取的几何特征数据,用特定的参数化函数表示管片、箱涵的形状;S3、空间位姿计算:根据管片、箱涵的轴向位置确定管片、箱涵轴向方向与吊具夹钳夹紧力方向是否一致;S4、自动吊运与操作:利用空间位姿信息,指导吊具完成自动抓取、吊运和摆放。本申请吊具及吊运方法能够实现不更换吊具的情况下,高效吊装管片和箱涵。
Pipe piece and box culvert integrated automatic lifting appliance and lifting method
一种管片、箱涵一体式自动吊具及吊运方法
2025-03-28
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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