Segment hoisting control method and apparatus, tunnel boring device, and storage medium

Abstract

A segment hoisting control method and apparatus, a tunnel boring device, a storage medium, and a computer program product, wherein the method comprises: collecting point cloud data of a hoisting device (25), a first transport vehicle (24), and segments (26) located in the first transport vehicle; obtaining first information of the segments and second information of the hoisting device, and determining a hoisting device running path and hoisting device rotation information of the hoisting device; controlling, on the basis of the hoisting device running path and the hoisting device rotation information, the hoisting device to reach a segment grabbing waiting position; controlling, on the basis of a first image corresponding to the hoisting device and the segments, the hoisting device to grab the segments; and controlling the hoisting device to place the segments at a target placement position in a second transport vehicle.