Duct piece hoisting control method and device, tunnel excavation equipment and storage medium

Abstract

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.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel excavation, and in particular to a segment lifting control method, device, tunnel excavation equipment, storage medium and computer program product. Background Art

[0002] Tunnel excavation equipment is a kind of equipment with high process complexity, which is widely used in the construction of underground tunnel engineering projects. For tunnel construction carried out by tunnel excavation equipment, multiple processes are involved, such as shield excavation, segment lifting, segment assembly and box culvert assembly. The segment lifting process connects the shield excavation process and the segment assembly process. When lifting the segments, it is necessary to lift the segments on the segment vehicle in sequence on the segment transport trolley through the lifting device, and the segments are transported to the segment assembly area by the segment transport trolley. At present, in the process of segment lifting, the segments are usually lifted manually. However, the manual segment lifting cannot accurately control the lifting, and it is impossible to control the multiple actions of the segment lifting in a linked manner, resulting in low transportation efficiency of the segments. At present, with the development of science and technology, automatic segment lifting technology has emerged. However, the existing automatic segment lifting technology has problems such as the inability to accurately control the segment lifting and the inability to control the multiple actions of the segment lifting in a linked manner. Summary of the invention

[0003] The present invention provides a segment hoisting control method, device, tunnel excavation equipment, storage medium and computer program product.

[0004] According to a first aspect of the present disclosure, a segment lifting control method is provided, which is applied to tunnel excavation equipment, wherein the tunnel excavation equipment includes a trailer, a first transport vehicle, a second transport vehicle and a hoist, and the method includes: collecting point cloud data of the hoist, the first transport vehicle and the segment located in the first transport vehicle, wherein the hoist is located in an initial position; obtaining first information of the segment and second information of the hoist based on the point cloud data; determining a hoist operation path and hoist rotation information of the hoist based on the first information and the second information; controlling the hoist to reach a segment grabbing waiting position based on the hoist operation path and the hoist rotation information; controlling the hoist to grab the segment based on a first image corresponding to the hoist and the segment; and controlling the hoist to place the segment at a target placement position in the second transport vehicle.

[0005] Optionally, the trailer is provided with a plurality of laser radars; the collecting of point cloud data of the spreader, the first transport vehicle and the pipe segments in the first transport vehicle comprises: using the plurality of laser radars to collect data of the spreader, the first transport vehicle and the pipe segments to obtain a plurality of point cloud data.

[0006] Optionally, obtaining the first information of the pipe segment and the second information of the hoist based on the point cloud data includes: obtaining merged point cloud data corresponding to a preset coordinate system based on the multiple point cloud data; using a first recognition model and obtaining the first information and the second information based on the merged point cloud data; wherein the first information includes the quantity information of the pipe segment, the coordinate information of the pipe segment, the highest height information of the pipe segment, and the height information of the first transport vehicle; and the second information includes the coordinate information of the hoist.

[0007] Optionally, determining the sling operation path and sling rotation information of the sling based on the first information and the second information includes: determining the sling operation path and the sling rotation information according to the grabbing sequence rule of the pipe segment, the coordinate information of the pipe segment, the height information of the first transport vehicle, the maximum height information of the pipe segment and the coordinate information of the sling; wherein, the sling operation path includes the horizontal coordinate axis movement distance of the sling relative to the coordinate system, and the sling lifting and lowering position information; the sling rotation information includes the sling rotation angle.

[0008] Optionally, controlling the spreader to reach the segment grabbing waiting position according to the spreader running path and the spreader rotation information includes: determining the translation time and lifting time of the spreader based on the moving distance of the horizontal coordinate axis, the spreader lifting position information, and the operating speeds of the translation mechanism and the lifting mechanism of the spreader; and controlling the spreader to reach the segment grabbing waiting position according to the translation time, the lifting time, the spreader running path and the spreader rotation information.

[0009] Optionally, controlling the spreader to arrive at the segment grabbing waiting position based on the translation time, the lifting time, the spreader running path and the spreader rotation information includes: when the translation time is greater than or equal to the lifting time, based on the horizontal coordinate axis moving distance, the spreader lifting position information and the spreader rotation angle, controlling the translation mechanism, the lifting mechanism and the spreader rotation mechanism to operate so that the spreader reaches the segment grabbing waiting position; when the translation time is less than the lifting time, determining the time difference between the translation time and the lifting time; after controlling the lifting mechanism to operate the time difference in advance based on the spreader lifting position information, controlling the translation mechanism, the lifting mechanism and the rotation mechanism to operate based on the horizontal coordinate axis moving distance, the spreader lifting position information and the spreader rotation angle, so that the spreader reaches the segment grabbing waiting position.

[0010] Optionally, the hoist is provided with a first camera, and controlling the hoist to grab the pipe segment based on a first image corresponding to the hoist and the pipe segment includes: acquiring the first image through the first camera, wherein a first positioning target is provided on the hoist and a second positioning target is provided on the pipe segment; using a second recognition model and based on the first image, obtaining position information of the first positioning target and the second positioning target, and determining operation control information of the hoist; based on the operation control information of the hoist, controlling the operation of the hoist so that the deviation between the first positioning target and the second positioning target satisfies the hoist grabbing condition, and controlling the hoist to grab the pipe segment when the deviation satisfies the hoist grabbing condition.

[0011] Optionally, controlling the hoist to place the pipe segment at the target placement position in the second transport vehicle includes: determining a safe lifting height value of the hoist after grabbing the pipe segment based on the highest height information of the pipe segment and the height information of the first transport vehicle; controlling the hoist to rise to the safe lifting height value; controlling the hoist to reach the waiting area position based on the current position information of the hoist and the waiting area position information of the pipe segment; acquiring a second image corresponding to the target placement position through a second camera, and controlling the hoist to place the pipe segment at the target placement position based on the second image.

[0012] Optionally, controlling the hoist to place the pipe segment at the target placement position based on the second image includes: using a third recognition model and based on the second image, obtaining hoist control information for the hoist to reach the target placement position; wherein the hoist control information includes first translation information, first vertical movement information and first hoist rotation information of the hoist; according to the safe descent height information of the pipe segment, correcting the first vertical movement information to obtain new hoist control information; based on the new hoist control information and the first vertical movement information, controlling the hoist to place the pipe segment at the target placement position.

[0013] Optionally, initial control information of the spreader is determined based on the position information of the spreader and the position information of the initial position, wherein the initial control information includes second translation information, second vertical movement information and second spreader rotation information of the spreader; and according to the initial control information, the spreader is controlled to reach the initial position.

[0014] According to a second aspect of the present disclosure, a segment lifting control device is provided, which is applied to tunnel excavation equipment, wherein the tunnel excavation equipment includes a trailer, a first transport vehicle, a second transport vehicle and a hoist, and the segment lifting control device includes: a point cloud acquisition module, used to acquire point cloud data of the hoist, the first transport vehicle and the segment located in the first transport vehicle, wherein the hoist is located in an initial position; an information acquisition module, used to obtain first information of the segment and second information of the hoist according to the point cloud data; a path planning module, used to determine a hoist operation path and hoist rotation information of the hoist based on the first information and the second information; a first control module, used to control the hoist to reach a segment grabbing waiting position according to the hoist operation path and the hoist rotation information; a second control module, used to control the hoist to grab the segment based on a first image corresponding to the hoist and the segment; and a third control module, used to control the hoist to place the segment at a target placement position in the second transport vehicle.

[0015] According to a third aspect of the present disclosure, there is provided a segment hoisting control device, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the method as described above based on instructions stored in the memory.

[0016] According to a fourth aspect of the present disclosure, there is provided a tunnel excavation equipment, comprising: the segment hoisting control device as described above.

[0017] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor as described above.

[0018] According to a sixth aspect of the present disclosure, a computer program product is provided, wherein the computer program product stores computer instructions, and the instructions are executed by a processor according to the method described above.

[0019] The disclosed method, device, tunnel excavation equipment, storage medium and computer program product for controlling the lifting of pipe segments collect point cloud data of the hoist, the first transport vehicle, the pipe segments in the first transport vehicle, etc. through a laser radar, identify and locate the pipe segments based on the point cloud data, and control the hoist to lift the pipe segments to the target placement position; they are capable of globally detecting the working space of the pipe segments, accurately controlling the lifting, and controlling multiple lifting actions in linkage, thus realizing efficient lifting of the pipe segments, improving the efficiency of automatic lifting of the pipe segments, effectively improving the safety of the movement of the pipe segment hoist, improving the efficiency of tunnel construction, and ensuring construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present disclosure will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. The above and other purposes and advantages of the present disclosure will be further described below in conjunction with specific embodiments and with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding technical features or components will be represented by the same or corresponding figure marks.

[0021] Figure 1 It is a flow chart of an embodiment of a method for controlling pipe segment hoisting according to the present disclosure;

[0022] Figure 2A is a schematic diagram of an application scenario of the pipe segment lifting control method disclosed in the present invention, Figure 2B It is a schematic diagram of another application scenario of the pipe segment lifting control method disclosed in the present invention;

[0023] Figure 3 A schematic diagram of a flow chart of information acquisition in one embodiment of a segment hoisting control method according to the present disclosure;

[0024] Figure 4 It is a schematic diagram of a flow chart of controlling a hoisting device to reach a waiting position for grabbing a pipe segment according to one embodiment of a pipe segment hoisting control method disclosed in the present invention;

[0025] Figure 5 It is a schematic diagram of a flow chart of controlling a hoisting device to grab a pipe segment in one embodiment of a pipe segment hoisting control method disclosed in the present invention;

[0026] Figure 6 It is a schematic diagram of a flow chart of controlling a hoisting device to place a pipe segment in one embodiment of a pipe segment hoisting control method according to the present disclosure;

[0027] Figure 7 It is a schematic diagram of a flow chart of placing a pipe segment by controlling a hoist based on an image in one embodiment of a pipe segment hoisting control method disclosed in the present invention;

[0028] Figure 8 It is a schematic diagram of a flow chart of controlling a hoisting device to reach an initial position in one embodiment of a segment hoisting control method according to the present disclosure;

[0029] Fig. 9 It is a module schematic diagram of an embodiment of a pipe segment hoisting control device according to the present disclosure;

[0030] Fig.10 It is a module schematic diagram of another embodiment of the segment lifting control device according to the present disclosure. DETAILED DESCRIPTION

[0031] Exemplary embodiments of the present disclosure will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the embodiments are described in the specification. However, it should be understood that many implementation-specific settings must be made in the process of implementing the embodiments in order to achieve the specific goals of the developer, for example, to meet those restrictions related to the device and the service, and these restrictions may vary depending on the implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is only a routine task for those skilled in the art who benefit from the content of this disclosure.

[0032] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0033] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0034] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0035] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0036] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0037] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0038] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0041] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0042] In addition, in order to avoid obscuring the present disclosure due to unnecessary details, only the processing steps and / or device structures closely related to at least the scheme according to the present disclosure are shown in the drawings, and other details that are not closely related to the present disclosure are omitted. It should also be noted that similar reference numerals and letters in the drawings indicate similar items, and therefore once an item is defined in one drawing, it does not need to be discussed again for subsequent drawings.

[0043] Figure 1 The flowchart of an embodiment of the pipe segment lifting control method disclosed in the present invention is shown in FIG. The pipe segment lifting control method disclosed in the present invention is applied to tunnel excavation equipment, which includes a trailer, a first transport vehicle, a second transport vehicle, and a lifting device, such as Figure 1 As shown:

[0044] Step S101, collecting point cloud data of a hoist, a first transport vehicle, and a pipe segment located in the first transport vehicle, wherein the hoist is located at an initial position.

[0045] Tunnel excavation equipment can be a variety of equipment, such as shield machines. Shield machines are large-scale excavation equipment, including a main structure, supporting equipment, etc. The main structure includes a cutter head, a shield, a drive device, a segment assembly machine, a soil discharge mechanism, etc. The supporting equipment includes a connecting bridge and several trailers. During excavation, the shield drives the connecting bridge, trailers, etc. forward. A sling is provided on the trailer, and the sling can be a variety of slings, which are used to lift materials such as segments. The trailer is provided with a slide rail, and the sling can slide through the slide rail.

[0046] The first transport vehicle includes a segment vehicle, etc., and the second transport vehicle includes a segment transport trolley, etc. The segment vehicle of the shield machine is a device used to transport and install tunnel segments. The segment vehicle is installed on the shield machine and is used to transport tunnel segments to ensure that the shield machine can work continuously. The segment transport trolley of the shield machine is a device specially used to transport segments in subway shield tunnels, which can improve the efficiency and versatility of segment transportation. When lifting the segments, the hoist lifts the segments on the segment vehicle in sequence onto the segment transport trolley, and transports them to the segment assembly area via the segment transport trolley.

[0047] Equipment such as trailers can be equipped with laser radars; when the spreader is located at a preset initial position, point cloud data of the spreader, the first transport vehicle, and the pipe segments located in the first transport vehicle can be collected by the laser radar.

[0048] Step S102, obtaining first information of the pipe segment and second information of the hanger according to the point cloud data.

[0049] Step S103: determining a spreader running path and spreader rotation information of the spreader based on the first information and the second information.

[0050] Step S104, controlling the spreader to reach a segment grabbing waiting position according to the spreader running path and spreader rotation information.

[0051] Step S105: Based on the first image corresponding to the spreader and the segment, control the spreader to grab the segment.

[0052] Step S106, controlling the hoist to place the pipe segment at the target placement position in the second transport vehicle.

[0053] The pipe segment lifting control method disclosed in the present invention collects point cloud data of the hoist, the first transport vehicle, the pipe segment located in the first transport vehicle, etc. through a laser radar, identifies and locates the pipe segment based on the point cloud data, and controls the hoist to lift the pipe segment to the target placement position; it is capable of performing global detection of the pipe segment operating space, can accurately control the lifting, and can perform linkage control on multiple lifting actions, thereby realizing efficient lifting of the pipe segment, improving tunnel construction efficiency, and ensuring construction safety.

[0054] In some embodiments, Figure 2A and Figure 2B As shown, the first transport vehicle is a segment vehicle 24 of a shield machine, which is used to transport segments 26, and the second transport vehicle is a segment transport trolley 23 of the shield machine. The hoist 25 is used to hoist the segments 26 on the segment vehicle 24 onto the segment transport trolley 23 in sequence. The trailer 21 is provided with a plurality of laser radars 22; the plurality of laser radars 22 are used to collect data from the hoist 25, the segment vehicle 24 and the segments 26 to obtain a plurality of point cloud data.

[0055] Figure 3 FIG. 1 is a flow chart of information acquisition in one embodiment of the segment lifting control method according to the present disclosure, as shown in FIG. Figure 3 As shown:

[0056] Step S301: based on a plurality of point cloud data, obtaining merged point cloud data corresponding to a preset coordinate system.

[0057] The preset coordinate system can be a variety of coordinate systems. For example, Figure 2BAs shown, the preset coordinate system takes the excavation direction of the tunnel boring machine as the positive direction of the X axis, the downward movement direction of the hanger 25 as the positive direction of the Z axis, and the direction perpendicular to the X-axis-Z axis plane and to the right as the positive direction of the Y axis. After obtaining multiple laser data collected by multiple laser radars 22, multiple existing methods can be used to obtain the merged point cloud data of the multiple laser data in the preset coordinate system. In this disclosure, unless otherwise specified, the coordinate system generally refers to Figure 2B The coordinate system in .

[0058] Step S302: using the first recognition model and based on the merged point cloud data, obtaining first information and second information.

[0059] The first recognition model can be a variety of trained machine learning models, for example, the first recognition model is a convolutional neural network model, etc. The merged point cloud data is input into the first recognition model to obtain the first information and the second information output by the first recognition model; the first information includes the number information of the segments, the coordinate information of the segments, the highest height information of the segments, the height information of the first transport vehicle, etc.; the second information includes the coordinate information of the spreader, etc.

[0060] Point cloud collection is performed through multiple laser radars, and point cloud data fusion is performed to unify multiple point cloud data into the same coordinate system to generate merged point cloud data; the first recognition model is used to locate and identify the segments, segment vehicles, hoists, etc. in the merged point cloud data; when it is determined that there are no segments on the segment vehicle, the control operation is exited.

[0061] A variety of methods can be used to determine the sling's sling operation path and sling rotation information. According to the grabbing sequence rules of the pipe segment, the coordinate information of the pipe segment, the height information of the first transport vehicle, the highest height information of the pipe segment, and the coordinate information of the sling, a variety of methods can be used to determine the sling operation path and sling rotation information. There can be many grabbing sequence rules, for example, the grabbing sequence rules are grabbing principles from left to right, from top to bottom, etc. The sling operation path includes the horizontal coordinate axis movement distance of the sling relative to the coordinate system, and the sling lifting position information; the sling rotation information includes the sling rotation angle, etc.; if not specified in the present disclosure, the rotation of the sling usually refers to the rotation of the sling around the Z axis of the coordinate system; the horizontal coordinate axis can be the X axis and Y axis of the coordinate system.

[0062] Based on the first recognition model, the first information of the pipe segment and the second information of the hoist are obtained, the first information includes the number of pipe segments, the maximum height of each pipe segment, the coordinate information of the pipe segment (which can be the positioning center of the pipe segment grabbing), the height of the pipe segment vehicle, etc., and the second information includes the coordinate information of the hoist. The horizontal coordinate axis movement distance in the hoist running path includes the X-axis movement distance and the Y-axis movement distance.

[0063] For example, the first information includes the total number of segments N on the segment vehicle (segment quantity information), the highest distance Hmax of the top segment of each stack (segment maximum height information), segment grabbing center coordinates [[X1, Y1, Z1], ...] (segment coordinate information), segment vehicle height Hc (height information of the first transport vehicle), etc.; the second information includes the coordinate information of the spreader. According to the grabbing sequence rule from left to right and from top to bottom, the spreader running path and spreader rotation information of the spreader can be determined according to the first information and the second information.

[0064] Multiple laser radars 22 can be set on the top and around the trailer 21 in a predetermined arrangement. Multiple laser radars 22 can be jointly used to collect point cloud data of the segment crane working space and the segment vehicle 24 in real time. Based on the point cloud data, all the segments on the segment vehicle can be identified in real time, and the target coordinate information of the segments to be grabbed, the height of the segment vehicle head, the maximum height of each segment, etc. can be obtained. The hoist operation path and hoist rotation information of the hoist from the initial position to the target segment can be determined.

[0065] By acquiring the global segment coordinate information and the spreader operation space information, the spatial coordinate information for the coordinated execution of multiple actions of the spreader can be planned; according to the spreader operation path and the spreader rotation information, the spreader's forward, backward, left and right translation, spreader rotation and spreader lifting actions can be controlled to be executed separately or multiple actions can be executed simultaneously.

[0066] Figure 4 FIG. 1 is a flow chart of controlling the lifting device to reach the pipe segment grabbing waiting position in one embodiment of the pipe segment lifting control method disclosed in the present invention. Figure 4 As shown:

[0067] Step S401, determining the translation time and lifting time of the spreader based on the moving distance of the horizontal coordinate axis, the lifting position information of the spreader, and the operating speed of the translation mechanism and the lifting mechanism of the spreader.

[0068] The sling includes a translation mechanism, a lifting mechanism, a rotation mechanism, etc., and the translation mechanism, the lifting mechanism, the rotation mechanism, etc. can be existing mechanisms. By controlling the translation mechanism, the sling can be moved in the X-axis and Y-axis directions; by controlling the lifting mechanism, the sling can be moved in the Z-axis direction; by controlling the rotation mechanism, the sling can be rotated, that is, rotated around the Z-axis.

[0069] Step S402, controlling the spreader to reach the segment grabbing waiting position according to the translation time, lifting time, spreader running path and spreader rotation information.

[0070] When the translation time is greater than or equal to the lifting time, the translation mechanism, lifting mechanism and rotation mechanism of the spreader are controlled based on the horizontal coordinate axis movement distance, the spreader lifting position information and the spreader rotation angle to enable the spreader to reach the segment grabbing waiting position.

[0071] When the translation time is less than the lifting time, determine the time difference between the translation time and the lifting time; after controlling the lifting mechanism to run the time difference in advance based on the lifting position information of the spreader, control the translation mechanism, lifting mechanism and rotation mechanism based on the moving distance of the horizontal coordinate axis, the lifting position information of the spreader and the rotation angle of the spreader to make the spreader reach the waiting position for grabbing the pipe segment.

[0072] For example, the time required for the spreader to move in the negative direction of the X-axis is determined to be TX1 (translation time), the time for the spreader to move in the Y direction is TY1, the time required for the spreader to rotate to the target position is TR1, and the time for the spreader to rise or fall is TZ1 (lifting time). If TX1 is less than TY1, TX1 is determined to be the translation time. If TX1 is greater than or equal to TZ1, the spreader's translation mechanism, lifting mechanism, and rotation mechanism are controlled simultaneously to move to the target position; if TX1 is less than TZ1, the spreader is first lifted ((TZ1-TX1)*spreader lifting speed) meters, that is, the lifting mechanism is controlled to run in advance by the time difference (TZ1-TX1), and then the spreader's translation mechanism, lifting mechanism, and rotation mechanism are controlled simultaneously to move to the target position, which can avoid safety problems during the operation of the spreader.

[0073] Figure 5 FIG. 1 is a flow chart of controlling the lifting device to grab the pipe segment in one embodiment of the pipe segment lifting control method disclosed in the present invention. Figure 5 As shown:

[0074] Step S501, collecting a first image by a first camera, wherein a first positioning target is arranged on the spreader, and a second positioning target is arranged on the segment.

[0075] The first camera can be a variety of cameras such as a binocular camera, and the first camera can have a variety of installation positions. For example, the first camera can be set on a sling. The first positioning target and the second positioning target can be positioning pins, positioning holes, and the like.

[0076] Step S502, using the second recognition model and based on the first image, obtain the position information of the first positioning target and the second positioning target, and determine the operation control information of the spreader. The operation control information of the spreader includes the movement information of the spreader on the X axis, Y axis, and Z axis and the rotation information of the spreader (rotation around the Z axis).

[0077] Step S503, based on the operation control information of the spreader, the spreader is controlled to operate so that the deviation between the first positioning target and the second positioning target satisfies the spreader grabbing condition, and when the deviation satisfies the spreader grabbing condition, the spreader is controlled to grab the pipe segment.

[0078] The deviation between the first positioning target and the second positioning target may be a distance deviation between the first positioning target and the second positioning target on the X-axis and the Y-axis, and an angle deviation between the first positioning target and the second positioning target. The sling grabbing condition may be that the deviation between the first positioning target and the second positioning target is less than a preset deviation threshold. The deviation between the first positioning target and the second positioning target satisfies the sling grabbing condition, indicating that the first positioning target and the second positioning target are aligned.

[0079] The first camera can be set at the lower part of the spreader. By collecting the first image through the first camera and using the second recognition model, the positioning and recognition of the pipe segment grabbing can be performed to obtain the Y-axis translation distance of the spreader, the rotation angle of the spreader and the X-axis movement distance of the spreader, etc.; the second recognition model can be a variety of trained machine learning models, for example, the second recognition model is a convolutional neural network model, etc.

[0080] The first image is captured by the first camera and input into the second recognition model to obtain the position information of the first positioning target and the second positioning target output by the second recognition model, as well as the operation control information of the sling; the operation control information of the sling includes the movement information of the sling in the X-axis, Y-axis, and Z-axis directions and the rotation angle of the sling (the rotation angle around the Z-axis), etc.

[0081] Based on the position information of the first positioning target and the second positioning target, the deviation between the first positioning target and the second positioning target is determined as DX, DY, and DR; DX is the distance deviation between the first positioning target and the second positioning target on the X-axis, DY is the distance deviation between the first positioning target and the second positioning target on the Y-axis, and DR is the angular deviation between the first positioning target and the second positioning target.

[0082] A variety of control methods can be used to control the operation of the spreader to reduce DX, DY, and DR. It is determined whether the deviation between the first positioning target and the second positioning target meets the spreader grabbing condition. If the condition is met, the spreader is controlled to complete the grabbing of the pipe segment based on the operation control information of the spreader. The spreader grabbing condition can be that the deviations DX, DY, and DR are respectively less than the corresponding deviation thresholds.

[0083] Figure 6 FIG. 1 is a flow chart of controlling the placement of pipe segments by a lifting device in one embodiment of the pipe segment lifting control method disclosed in the present invention. Figure 6 As shown:

[0084] Step S601, based on the highest height information of the pipe segment and the height information of the first transport vehicle, determine the safe lifting height value of the hoist after grabbing the pipe segment.

[0085] Based on the highest height information of the pipe segment obtained through the point cloud data and the height information of the first transport vehicle, a variety of existing strategies can be used to determine the safe lifting height value of the hoist after grabbing the pipe segment; the safe lifting height value of the hoist after grabbing the pipe segment can also be output through the first recognition model.

[0086] Step S602, controlling the lifting device to rise to a safe lifting height value.

[0087] After the control spreader grabs a pipe segment, the control spreader is raised to a safe height to prevent the spreader from colliding with the pipe segment.

[0088] Step S603, controlling the spreader to reach the waiting area position according to the current position information of the spreader and the waiting area position information of the pipe segment.

[0089] The waiting area position information of the pipe segment can be predetermined based on a variety of existing strategies, or the waiting area position information of the pipe segment can be output through the first recognition model. According to the current position information of the spreader and the waiting area position information of the pipe segment, the difference between the current position information of the spreader and the waiting area position is determined to be DX2, DY2, DR2, and DZ2. DX2, DY2, and DZ2 are the differences between the current position information of the spreader and the waiting area position on the X-axis, Y-axis, and Z-axis, respectively, and DR2 is the angle information that the spreader needs to rotate. The multiple mechanisms of the spreader are controlled to run simultaneously at the maximum movement speed until the spreader reaches the waiting area position.

[0090] Step S604: A second image corresponding to the target placement position is captured by a second camera, and the hoist is controlled based on the second image to place the pipe segment at the target placement position.

[0091] The second camera can be a binocular camera or other cameras, and the second camera can be set at multiple positions to collect the second image corresponding to the target placement position. Multiple methods can be used to control the spreader to place the pipe segment at the target placement position based on the second image.

[0092] Figure 7 FIG. 1 is a flow chart of controlling the placement of pipe segments by a hoisting tool based on a second image in one embodiment of a pipe segment hoisting control method according to the present disclosure, as shown in FIG. Figure 7 As shown:

[0093] Step S701: using the third recognition model and based on the second image, obtaining the spreader control information when the spreader reaches the target placement position.

[0094] The sling control information includes the first translation information, the first vertical movement information and the first sling rotation information of the sling; a marker is provided at the target placement position, which may be a positioning pin, a positioning hole, etc. The coordinate information of the target placement position (e.g., the coordinate information of the marker) and the rotation angle of the sling may be determined by visual recognition technology based on the second image using the third recognition model.

[0095] Step S702: According to the safe descent height information of the pipe segment, the first vertical movement information is corrected to obtain new hoist control information.

[0096] Step S703: Based on the new spreader control information and the first vertical movement information, the spreader is controlled to place the pipe segment at the target placement position.

[0097] The third recognition model can be a variety of trained machine learning models, for example, the third recognition model is a convolutional neural network model, etc. The second image is input into the third recognition model for recognition processing. If there is no pipe segment at the target placement position, the spreader control information output by the third recognition model is obtained. If there is already a pipe segment at the target placement position, the control processing is terminated and a prompt message is sent to the operator.

[0098] The spreader control information includes the first translation information, the first vertical movement information, and the first spreader rotation information of the spreader. The first translation information includes the X-axis coordinate X2 and the Y-axis coordinate Y2 of the target placement position; the first vertical movement information includes the Z-axis coordinate Z2 of the target placement position; the first spreader rotation information includes the rotation angle R2 of the target placement position; that is, the spreader control information is [X2, Y2, Z2, R2].

[0099] The safe descent height information of the pipe segment can be preset as Z21, or the safe descent height information of the pipe segment can be output as Z21 through the third recognition model. According to the safe descent height Z21 of the pipe segment, the first vertical movement information is corrected and the new hoist control information is obtained as [X2, Y2, Z2-Z21, R2].

[0100] Based on the new spreader control information [X2, Y2, Z2-Z21, R2], multiple mechanisms of the spreader are controlled to operate simultaneously to control the spreader to reach the predetermined target height; after the spreader reaches the predetermined target height, the spreader is controlled to perform a descending action based on the first vertical movement information Z21 to place the pipe segment at the target placement position. When the spreader reaches the target placement position, the detection device sends a signal; after receiving the signal, the clamp of the spreader is controlled to open, and the spreader is controlled to rise to the set target height to complete the lifting operation.

[0101] After the hoist grabs the segment, the minimum safe lifting height of the segment crane is determined based on the hoist's operating space information and the position of the segment on the segment vehicle, and then the hoist is controlled to lift to the target lifting height; when the hoist reaches the target height, the hoist is controlled to simultaneously descend, move forward, rotate and translate according to the position where the segment is placed, so that the hoist moves to the waiting area for placing the segment.

[0102] After the hoist arrives at the waiting area, it determines whether there is a pipe segment on the pipe segment transport trolley and whether the target placement position has been moved to the right place. If so, the hoist is controlled to perform operations such as descending, moving forward, rotating and translating based on the new hoist control information and the first vertical movement information, so that the hoist places the pipe segment at the target placement position.

[0103] Figure 8 FIG. 1 is a flow chart of controlling the lifting device to reach the initial position in one embodiment of the pipe segment lifting control method disclosed in the present invention, as shown in FIG. Figure 8 As shown:

[0104] Step S801, based on the position information of the spreader and the position information of the initial position, determine the initial control information of the spreader. The initial control information includes the second translation information, the second vertical movement information and the second spreader rotation information.

[0105] Step S802: Control the spreader to reach the initial position according to the initial control information.

[0106] Initialize the spreader, enter the automatic control mode, and control the spreader to move to the set initial position. The coordinates of the spreader's current position and initial position can be compared, and the initial control information of the spreader can be determined based on the spreader's position information and the initial position information. The initial control information includes the spreader's second translation information, second vertical movement information, and second spreader rotation information; the second translation information includes the spreader's X-axis movement distance L2 and Y-axis movement distance L1, the second vertical movement information includes the spreader's Z-axis movement distance L3, and the second spreader rotation information includes the spreader's rotation angle R1.

[0107] A variety of methods can be used to control the spreader to reach the initial position according to the initial control information. For example, according to the movement speed of each mechanism of the spreader, the X-axis moving distance L2, the Y-axis moving distance L1, the Z-axis moving distance L3, and the spreader rotation angle R1, the corresponding movement times T1, T2, T3 and T4 are calculated; T1 is greater than T2, and according to the calibrated safe movement positions of each mechanism, it is determined whether T3 meets the requirements. If the requirements are met (T3 is less than or equal to T2), the spreader is controlled to move in the X-axis, Y-axis, and Z-axis directions and rotate around the Z-axis, and move to the initial position; if the requirements are not met (T3 is greater than T2), the spreader is first controlled to rise to the target height, and then the spreader is controlled to move in the X-axis, Y-axis, and Z-axis directions and rotate around the Z-axis, and move to the initial position.

[0108] After controlling the lifting device to place a pipe segment on the first transport vehicle at the target placement position in the second transport vehicle, repeat the above-mentioned pipe segment lifting control method until the lifting device is controlled to grab all the pipe segments on the first transport vehicle and place them at the target placement position in the second transport vehicle.

[0109] The segment lifting control method in the above embodiment can perform global detection of the segment working space, accurately control the lifting, and link control of multiple lifting actions, thereby realizing efficient lifting of the segment, improving the efficiency of automatic lifting of the segment, effectively improving the safety of the segment lifting equipment movement, improving tunnel construction efficiency, and ensuring construction safety.

[0110] In some embodiments, Fig. 9 As shown, the present disclosure provides a segment lifting control device 90, which is applied to tunnel excavation equipment. The segment lifting control device 90 includes a point cloud acquisition module 91, an information acquisition module 92, a path planning module 93, a first control module 94, a second control module 95 and a third control module 96.

[0111] The point cloud acquisition module 91 acquires point cloud data of the spreader, the first transport vehicle, and the segment in the first transport vehicle, wherein the spreader is located at an initial position. The information acquisition module 92 obtains first information of the segment and second information of the spreader based on the point cloud data. The path planning module 93 determines the spreader operation path and spreader rotation information of the spreader based on the first information and the second information.

[0112] The first control module 94 controls the spreader to reach the segment grabbing waiting position according to the spreader running path and the spreader rotation information. The second control module 95 controls the spreader to grab the segment based on the first image corresponding to the spreader and the segment. The third control module 96 controls the spreader to place the segment at the target placement position in the second transport vehicle.

[0113] In some embodiments, the point cloud acquisition module 91 determines the initial control information of the spreader based on the position information of the spreader and the position information of the initial position, wherein the initial control information includes the second translation information, the second vertical movement information and the second spreader rotation information of the spreader. The point cloud acquisition module 91 controls the spreader to reach the initial position according to the initial control information. The point cloud acquisition module 91 uses multiple laser radars to collect data on the spreader, the first transport vehicle and the pipe segment to obtain multiple point cloud data.

[0114] The information acquisition module 92 obtains merged point cloud data corresponding to a preset coordinate system based on multiple point cloud data; the information acquisition module 92 uses a first recognition model and obtains first information and second information based on the merged point cloud data, wherein the first information includes the number information of the segments, the coordinate information of the segments, the maximum height information of the segments, and the height information of the first transport vehicle; the second information includes the coordinate information of the hoist.

[0115] The path planning module 93 determines the hoist operation path and hoist rotation information according to the grabbing sequence rules of the pipe segments, the coordinate information of the pipe segments, the height information of the first transport vehicle, the maximum height information of the pipe segments and the coordinate information of the hoist; wherein the hoist operation path includes the horizontal coordinate axis movement distance of the hoist relative to the coordinate system, and the hoist lifting position information; the hoist rotation information includes the hoist rotation angle.

[0116] The first control module 94 determines the translation time and lifting time of the spreader based on the moving distance of the horizontal coordinate axis, the lifting position information of the spreader, and the operating speeds of the translation mechanism and lifting mechanism of the spreader; the first control module 94 controls the spreader to reach the pipe segment grabbing waiting position according to the translation time, lifting time, spreader operation path and spreader rotation information.

[0117] When the translation time is greater than or equal to the lifting time, the first control module 94 controls the operation of the translation mechanism, the lifting mechanism and the rotation mechanism of the spreader based on the horizontal coordinate axis movement distance, the spreader lifting position information and the spreader rotation angle, so that the spreader reaches the pipe segment grabbing waiting position.

[0118] When the translation time is less than the lifting time, the first control module 94 determines the time difference between the translation time and the lifting time; after controlling the lifting mechanism to run the time difference in advance based on the lifting position information of the spreader, the first control module 94 controls the translation mechanism, the lifting mechanism and the rotation mechanism based on the moving distance of the horizontal coordinate axis, the lifting position information of the spreader and the rotation angle of the spreader, so that the spreader reaches the segment grabbing waiting position.

[0119] The second control module 95 collects a first image through a first camera, wherein a first positioning target is provided on the hoist and a second positioning target is provided on the pipe segment; the second control module 95 obtains position information of the first positioning target and the second positioning target based on the first image using a second recognition model, and determines operation control information of the hoist; the second control module 95 controls the operation of the hoist based on the operation control information of the hoist, so that the deviation between the first positioning target and the second positioning target satisfies the hoist grabbing condition, and controls the hoist to grab the pipe segment when the deviation satisfies the hoist grabbing condition.

[0120] The third control module 96 determines the safe lifting height value of the hoist after grabbing the pipe segment based on the highest height information of the pipe segment and the height information of the first transport vehicle; the third control module 96 controls the hoist to rise to the safe lifting height value; the third control module 96 controls the hoist to reach the waiting area position according to the current position information of the hoist and the waiting area position information of the pipe segment; the third control module 96 collects the second image corresponding to the target placement position through the second camera, and controls the hoist to place the pipe segment at the target placement position based on the second image.

[0121] The third control module 96 uses the third recognition model and based on the second image, obtains the hoist control information of the hoist reaching the target placement position, the hoist control information includes the first translation information, the first vertical movement information and the first hoist rotation information of the hoist; the third control module 96 corrects the first vertical movement information according to the safe descent height information of the pipe segment to obtain new hoist control information; the third control module 96 controls the hoist to place the pipe segment at the target placement position based on the new hoist control information and the first vertical movement information.

[0122] In some embodiments, Fig.10 As shown, the present disclosure provides a segment hoisting control device, which may include a memory 1002, a processor 1001, a communication interface 1003, and a bus 1004. The memory 1002 is used to store instructions, the processor 1001 is coupled to the memory 1002, and the processor 1001 is configured to execute the above-mentioned segment hoisting control method based on the instructions stored in the memory 1002.

[0123] The memory 1002 may be a high-speed RAM memory, a non-volatile memory, etc. The memory 1002 may also be a memory array. The memory 1002 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules. The processor 1001 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the pipe segment hoisting control method disclosed in the present invention.

[0124] In some embodiments, the present disclosure provides a tunnel excavation equipment, including the segment lifting control device as in any of the above embodiments, and the tunnel excavation equipment may be a shield machine, etc.

[0125] In some embodiments, the present disclosure provides a computer-readable storage medium, which stores computer instructions. When the instructions are executed by a processor, the method in any of the above embodiments is implemented.

[0126] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive enumeration) of readable storage media can include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0127] The embodiments of the present disclosure may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present disclosure described in the above “Exemplary Method” section of this specification.

[0128] The segment lifting control method, device, tunnel excavation equipment, storage medium and computer program product in the above-mentioned embodiments collect point cloud data of the hoist, the first transport vehicle, the segment located in the first transport vehicle, etc. through laser radar, identify and locate the segment based on the point cloud data, and control the hoist to lift the segment to the target placement position; it is capable of performing global detection of the segment operating space, accurately controlling the lifting, and linkage control of multiple lifting actions, thereby realizing efficient lifting of the segment, improving the efficiency of automatic lifting of the segment, effectively improving the safety of the segment lifter movement, improving tunnel construction efficiency, ensuring construction safety, and improving user experience.

[0129] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0130] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0131] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0132] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0133] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0134] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, it will be appreciated by those skilled in the art that the above embodiments are merely illustrative and do not limit the scope of the present disclosure. It will be appreciated by those skilled in the art that the above embodiments may be combined, modified or replaced without departing from the scope and essence of the present disclosure.

Claims

1. A segment lifting control method, applied to a tunnel excavation device, wherein the tunnel excavation device comprises a trailer, a first transport vehicle, a second transport vehicle, and a lifting device, the method comprising: Collecting point cloud data of the spreader, the first transport vehicle, and the segments in the first transport vehicle, wherein the spreader is located at an initial position; Obtaining first information of the segment and second information of the hanger according to the point cloud data; Determine a spreader running path and spreader rotation information of the spreader based on the first information and the second information; According to the spreader running path and the spreader rotation information, the spreader is controlled to reach a pipe segment grabbing waiting position; Based on a first image corresponding to the spreader and the segment, controlling the spreader to grab the segment; The spreader is controlled to place the pipe segment at a target placement position in the second transport vehicle.

2. The method of claim 1, wherein: The trailer is provided with a plurality of laser radars; The collecting of point cloud data of the spreader, the first transport vehicle, and the segments in the first transport vehicle comprises: The multiple laser radars are used to collect data on the spreader, the first transport vehicle and the pipe segment to obtain multiple point cloud data.

3. The method of claim 2, wherein: The obtaining, according to the point cloud data, the first information of the segment and the second information of the hanger comprises: Based on the plurality of point cloud data, obtaining merged point cloud data corresponding to a preset coordinate system; Using a first recognition model and based on the merged point cloud data, obtaining the first information and the second information; Among them, the first information includes the quantity information of the pipe segments, the coordinate information of the pipe segments, the maximum height information of the pipe segments, and the height information of the first transport vehicle; the second information includes the coordinate information of the hoist.

4. The method of claim 3, wherein: The determining, based on the first information and the second information, a spreader running path and spreader rotation information of the spreader comprises: Determine the spreader running path and the spreader rotation information according to the grabbing sequence rule of the pipe segment, the coordinate information of the pipe segment, the height information of the first transport vehicle, the highest height information of the pipe segment and the coordinate information of the spreader; The spreader operation path includes the horizontal coordinate axis movement distance of the spreader relative to the coordinate system and the spreader lifting position information; the spreader rotation information includes the spreader rotation angle.

5. The method of claim 4, wherein: The controlling the spreader to reach the segment grabbing waiting position according to the spreader running path and the spreader rotation information comprises: Determine the translation time and lifting time of the spreader based on the moving distance of the horizontal coordinate axis, the lifting position information of the spreader, and the operating speed of the translation mechanism and the lifting mechanism of the spreader; The spreader is controlled to reach the segment grabbing waiting position according to the translation time, the lifting time, the spreader running path and the spreader rotation information.

6. The method of claim 5, wherein: The controlling the spreader to reach the segment grabbing waiting position according to the translation time, the lifting time, the spreader running path and the spreader rotation information comprises: When the translation time is greater than or equal to the lifting time, based on the horizontal coordinate axis movement distance, the lifting position information of the spreader and the spreader rotation angle, the translation mechanism, the lifting mechanism and the spreader rotation mechanism are controlled to operate so that the spreader reaches the segment grabbing waiting position; When the translation time is less than the lifting time, determine the time difference between the translation time and the lifting time; after controlling the lifting mechanism to run the time difference in advance based on the lifting position information of the spreader, control the translation mechanism, the lifting mechanism and the rotating mechanism to run based on the moving distance of the horizontal coordinate axis, the lifting position information of the spreader and the rotation angle of the spreader, so that the spreader reaches the segment grabbing waiting position.

7. The method of claim 5, wherein: The spreader is provided with a first camera, and the controlling the spreader to grab the segment based on a first image corresponding to the spreader and the segment comprises: The first image is acquired by the first camera, wherein a first positioning target is arranged on the spreader, and a second positioning target is arranged on the segment; Using a second recognition model and based on the first image, obtaining position information of the first positioning target and the second positioning target, and determining operation control information of the spreader; Based on the operation control information of the spreader, the spreader is controlled to operate so that the deviation between the first positioning target and the second positioning target satisfies the spreader grabbing condition, and when the deviation satisfies the spreader grabbing condition, the spreader is controlled to grab the pipe segment.

8. The method of claim 7, wherein: The controlling the spreader to place the segment at the target placement position in the second transport vehicle comprises: Based on the highest height information of the pipe segment and the height information of the first transport vehicle, determining a safe lifting height value of the hoist after grabbing the pipe segment; Controlling the hoist to rise to the safe lifting height value; According to the current position information of the spreader and the position information of the waiting area of ​​the pipe segment, the spreader is controlled to reach the position of the waiting area; A second image corresponding to the target placement position is captured by a second camera, and the hanger is controlled based on the second image to place the pipe segment at the target placement position.

9. The method of claim 8, wherein: The controlling the hanger to place the segment at the target placement position based on the second image comprises: Using a third recognition model and based on the second image, acquiring the spreader control information of the spreader reaching the target placement position; wherein the spreader control information includes first translation information, first vertical movement information and first spreader rotation information of the spreader; According to the safe descent height information of the pipe segment, the first vertical movement information is corrected to obtain new hoist control information; Based on the new spreader control information and the first vertical movement information, the spreader is controlled to place the pipe segment at the target placement position.

10. The method of claim 1, further comprising: Determining initial control information of the spreader based on the position information of the spreader and the position information of the initial position, wherein the initial control information includes second translation information, second vertical movement information, and second spreader rotation information of the spreader; According to the initial control information, the spreader is controlled to reach the initial position.

11. A pipe segment lifting control device, applied to a tunnel excavation device, the tunnel excavation device comprising a trailer, a first transport vehicle, a second transport vehicle and a lifting device, the pipe segment lifting control device comprising: a point cloud acquisition module, used to acquire point cloud data of the spreader, the first transport vehicle, and the segments located in the first transport vehicle, wherein the spreader is located in an initial position; An information acquisition module, used for acquiring first information of the segment and second information of the hanger according to the point cloud data; a path planning module, configured to determine a spreader operation path and spreader rotation information of the spreader based on the first information and the second information; A first control module is used to control the spreader to reach a pipe segment grabbing waiting position according to the spreader running path and the spreader rotation information; A second control module is used to control the spreader to grab the segment based on a first image corresponding to the spreader and the segment; The third control module is used to control the spreader to place the pipe segment at a target placement position in the second transport vehicle.

12. A segment hoisting control device, comprising: Memory; and a processor coupled to the memory, wherein the processor is configured to execute the method according to any one of claims 1 to 10 based on instructions stored in the memory.

13. A tunnel excavation device comprising: A segment lifting control device as described in claim 11 or 12.

14. A computer-readable storage medium storing computer instructions, wherein the instructions are executed by a processor to execute the method according to any one of claims 1 to 10.

15. A computer program product, wherein the computer program product stores computer instructions, wherein the instructions are executed by a processor to execute the method according to any one of claims 1 to 10.

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