Pipe piece and box culvert integrated automatic lifting appliance and lifting method

Abstract

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.

Description

Technical Field

[0001] The present application relates to the technical field of shield construction, and in particular to an integrated automatic hoist for pipe segments and box culverts and a hoisting method. Background Art

[0002] Shield construction sites require frequent lifting of pipe segments and box culverts. Currently, the most commonly used lifting devices for pipe segments or box culverts at construction sites are mechanical and require manual assistance for alignment. They are mainly clamped by gravity. To ensure the rotation of the lifting device, manual traction is required during the lifting process.

[0003] In addition, conventional pipe segment and box culvert lifting equipment are independent. Segment lifting equipment is used to lift pipe segments, and box culvert lifting equipment is used to lift box culverts. The lifting of pipe segments and box culverts is carried out alternately at the construction site, and the lifting of lifting equipment needs to be frequently replaced during the construction lifting process. The mechanical type requires manual assistance, which has low construction efficiency and poses safety hazards. Summary of the invention

[0004] Based on the above description, the present application provides an integrated automatic lifting device and lifting method for pipe segments and box culverts to solve the problem of low efficiency in lifting pipe segments and box culverts at the construction site.

[0005] The technical solution of this application to solve the above technical problems is as follows: On the one hand, the present application provides a method for lifting a segment and a box culvert integrated automatic lifting device, comprising the following steps: S1. Visual recognition and feature extraction: Perform 3D laser scanning on the on-site segments and box culverts, output 3D models of the segments and box culverts using 3D laser scanning, and extract the size coordinates, position coordinates, and hanging point coordinates of the segments and box culverts; S2, parametric shape representation: Based on the geometric feature data extracted in step S1, a specific parametric function is used to represent the shape of the segment and box culvert; S3, spatial posture calculation: according to the axial position of the segment and the box culvert, determine whether the axial direction of the segment and the box culvert is consistent with the clamping force direction of the hanger clamp; S4. Automatic lifting and operation: Use spatial posture information to guide the lifting equipment to complete automatic grasping, lifting and placement.

[0006] Furthermore, the step S1 includes the following steps: S11. Input image: The camera obtains the real-time image of the pipe segment or box culvert S12. Build a deep learning model ResNet: ,in Indicates the information of the picture after shooting. Represents the model parameters of ResNet, , p is the output geometric feature, where is the width, is the height, is the thickness and position characteristics; , ( ) is the geometric center position of the target is the rotation angle.

[0007] Furthermore, the step S2 specifically includes: using a parameter set Represent the shape of the segment or box culvert using a parameterized function Describes a geometric model of a rectangular body or other specific shape, where .

[0008] Furthermore, the S3 step specifically includes: S31. Establish homogeneous transformation matrix , where the rotation matrix R represents the rotational posture of the object, and the translation vector t=(x, y, z) represents the position of the object; S32. Output the spatial position of the object , where the rotation matrix R is obtained from the angle information Calculated.

[0009] Furthermore, the S4 step specifically includes: S41, automatic positioning: adjust the position of the spreader according to t to align it with the pipe segment and box culvert; use the rotation matrix R to adjust the spreader angle to be consistent with the object posture; S42, Gripping Position Optimization: Through Geometric Model and posture Determine the best gripping point; S43, automatic clamping: the hydraulic system provides clamping force; S44, Path Optimization: Automatically plan the lifting path through dynamic programming algorithm to avoid obstacles; S45, Output: The automated lifting task is completed and the workpiece is safely and accurately grasped, moved and placed.

[0010] Furthermore, in step S45, the starting point, the end point and the environmental constraints are used as reference parameters to form an optimal path through dynamic planning.

[0011] On the other hand, the present application provides an integrated automatic lifting device for a pipe segment and a box culvert, which is used to implement a lifting method of the integrated automatic lifting device for a pipe segment and a box culvert, comprising: Clamping beams, two of which are provided for clamping the box culvert; The pipe segment supporting body is fixed to the bottom of the clamping beam and is used to clamp the pipe segment; A hydraulic drive device, disposed above the clamping beam, for driving and adjusting the distance between the two clamping beams; The slewing device is arranged between the hydraulic drive device and the crane, and is used to drive the clamping beam and the segment supporting body to rotate.

[0012] Furthermore, a clamp leg is provided between the hydraulic drive device and the cross beam, and the clamp leg is provided with photoelectric sensors such as load, clamping, seam alignment, bottom anti-collision, laser ranging, and top anti-collision.

[0013] Furthermore, both ends of the cross beam are provided with supporting blocks for abutting against the inner walls of the box culvert and the pipe segments.

[0014] Furthermore, the slewing device is provided with a plurality of suspension points for connecting with a crane.

[0015] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: 1. The design of the integrated automatic lifting device for pipe segments and box culverts in this application enables one lifting device to simultaneously lift the pipe segments and box culverts, without the need to replace the lifting device. It also has the functions of automatic alignment and automatic clamping, without the need for manual assistance, with high construction efficiency and no potential safety hazards; 2. The automatic lifting device of the present application is arranged in two layers, the upper layer has a longer beam to lift the box culvert, and the lower layer has an arc-shaped support block to lift the pipe segment. The hydraulic drive device automatically controls and adjusts the opening and closing degree of the beams on both sides, and a rotating device is provided, which can automatically open and close and rotate during the lifting process; 3. By utilizing the lifting method of the integrated automatic lifting device for pipe segments and box culverts of the present application, the three-dimensional dimensions of the pipe segments and box culverts can be obtained only through a camera. The lifting of the pipe segments and box culverts and automatic planning of the lifting paths can be achieved through the program set in the lifting method of the present application, which is convenient and intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the local structure of a box culvert hoisting device for a pipe segment and a box culvert integrated with an automatic hoisting device in this application; Figure 2 This is a schematic diagram of the local structure of an automatic hoisting device for lifting pipe segments and box culverts in this application.

[0017] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Clamping beam; 2. Segment support body; 3. Hydraulic drive device; 4. Rotating device; 5. Clamp legs; 6. Support block; 7. Suspension point; 100. Segment; 200. Box culvert. DETAILED DESCRIPTION

[0018] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0020] The present application provides an integrated automatic lifting device for pipe segments and box culverts, referring to Figure 1 and Figure 2 , including two clamping beams 1, through which the box culvert 200 is clamped and lifted; a segment support body 2 is fixed at the bottom of the clamping beam 1, and when lifting the segment 100, the segment support body 2 is used to clamp the segment 100. In this way, the automatic lifting device of the present application can not only realize the lifting of the box culvert 200, but also be used to lift the segment 100, without the need to frequently replace the lifting device. Among them, both ends of the clamping beam 1 are provided with a support block 6 for abutting against the inner wall of the box culvert 200, so as to realize a more stable and safe lifting of the box culvert 200.

[0021] The clamping beam 1 is provided with a clamp leg 5, a hydraulic drive device 3 and a slewing device 4 in sequence. The hydraulic drive device 3 is used to drive and adjust the distance between the two clamping beams 1; the slewing device 4 is used to drive the clamping beam 1 and the segment support body 2 to rotate, so as to realize the rotation of the box culvert 200 and the segment 100. A suspension point 7 for connecting with the crane is provided above the slewing device 4. The suspension point 7 is provided with one or more. In a preferred embodiment, at least four suspension points 7 are provided. By providing at least four suspension points 7, the stable and reliable operation of the sling is ensured, and the shaking is reduced. In addition, a spare sling hook needs to be designed on the sling.

[0022] The spreader is also provided with a proximity switch limiter for the maximum and minimum opening between the two beams, as well as a mechanical stopper device. By setting the switch limiter and the mechanical stopper device, the distance adjustment between the two beams does not exceed the maximum and minimum openings; in addition, the spreader is also provided with a maximum and minimum limit proximity switch limiter and a mechanical stopper device for rotation to ensure safe and reliable rotation. The clamp leg 5 is provided with photoelectric sensors such as load, clamping, seam alignment, bottom anti-collision, laser ranging, and top anti-collision, and is provided with a status indicator light, so that the crane operator can identify the working status from the indicator light signal, which is convenient for the spreader operation.

[0023] The rotary device 4 is equipped with an absolute value encoder for detecting the rotation angle, and the driving part of the rotary device 4 adopts frequency conversion or servo drive. The control part of the rotary device 4 needs to have the functions of accurate rotation positioning and anti-sway to ensure that the sling does not have obvious rotational shaking after the rotation is completed. Furthermore, the sling of the present application is also equipped with an inclination detection device to facilitate the detection of whether the hoisted weight is eccentric.

[0024] The implementation principle of the integrated automatic hoist for pipe segments and box culverts of the present application is as follows: a three-dimensional laser scanning device is installed on the hoist, and the coordinates of the pipe segment 100 and the box culvert 200 are automatically identified by the scanning device; after the hoist is positioned at the position of the pipe segment 100 or the box culvert 200, the suspension point 7 is automatically lowered, and multiple suspension points 7 ensure that the operation process of the hoist is stable and reliable; the rotary device 4 is driven to rotate at a certain angle to ensure that the hoist is aligned with the pipe segment 100 or the box culvert 200; the laser rangefinder arranged on the clamp leg 5 can accurately locate the position of the suspension point; after the pipe segment supporting body 2 or the supporting block 6 runs to a certain distance below the suspension point of the pipe segment 100 or the box culvert 200, the suspension point 7 is lifted, and after the supporting body or the supporting block 6 detects the load, the suspension point 7 stops running.

[0025] The hydraulic drive device 3 controls the extension and retraction of both sides of the clamp legs 5 so that the clamping beam 1 or the segment support body 2 clamps the segment 100 or the box culvert 200. When the load set on the clamp legs 5 is monitored to a certain load value, the hydraulic drive device 3 stops running. The sling of the present application is more practical, more efficient, reduces costs, and is safer and more reliable.

[0026] The present application also provides a method for lifting a pipe segment and a box culvert integrated automatic lifting device, using the above-mentioned pipe segment and box culvert integrated automatic lifting device, comprising the following steps: S1. Visual recognition and feature extraction: Use 3D laser to scan the on-site segments and box culverts, output the 3D models of the segments and box culverts, and extract the size coordinates, position coordinates, and hanging point coordinates of the segments and box culverts.

[0027] S11. Input image: The camera obtains the real-time image of the pipe segment or box culvert S12. Build a deep learning model ResNet , in, Indicates the information of the picture after shooting. Represents the model parameters of ResNet, , p is the output geometric feature, where is the width, is the height, is the thickness and position characteristics; , ( ) is the geometric center position of the target is the rotation angle.

[0028] S2. Parametric shape representation: Based on the geometric feature data extracted in step S1, a specific parametric function is used to represent the shape of the segment and box culvert.

[0029] Specifically, use the parameter set Represent the shape of the segment or box culvert using a parameterized function Describes a geometric model of a rectangular body or other specific shapes. Specifically: .

[0030] S3, spatial posture calculation: According to the axial position of the pipe segment and the box culvert, determine whether the axial direction of the pipe segment and the box culvert is consistent with the clamping force direction of the hanger clamp. The axial direction of the pipe segment is perpendicular to the side of the pipe segment, and the axial direction of the box culvert is perpendicular to the side of the box culvert. Based on the shape representation of step S2 and the position information of visual recognition, the spatial posture of the object is determined through step S3, which specifically includes the following steps: S31. Establish homogeneous transformation matrix T

[0031] Among them, the rotation matrix R represents the rotation posture of the object, and the translation vector t=(x, y, z) represents the position of the object; S32. Output the spatial position of the object , where the rotation matrix Information from an angle Calculated. Taking the rotation around the z axis as an example,

[0032] S4. Automatic lifting and operation: Use spatial posture information to guide the lifting equipment to complete automatic grasping, lifting and placement.

[0033] First, align the center point of the spreader with the center point of the pipe segment and the box culvert, and adjust the position and rotation angle of the spreader according to the angle between the clamping force direction of the spreader clamp and the axial direction of the pipe segment and the box culvert.

[0034] According to the center position and axial direction of the pipe segment and the box culvert, adjust the position and rotation angle of the spreader to keep the distance between the spreader clamps greater than the thickness of the pipe segment and the box culvert by 50 cm; it should be noted that 50 cm is only one of the embodiments, and the construction site can adjust the distance value according to the actual situation. For example, the thickness of the pipe segment and the box culvert along the axial direction is 2m, and the distance between the clamps is 250cm.

[0035] The hoist slowly descends to 5 cm below the hanging point of the segment and box culvert, and the hoist clamps further verify whether it is the hanging point through infrared rays. The hoist clamps slowly clamp. When the distance between the clamps is greater than 10 cm of the thickness of the segment and box culvert, for example, the thickness of the segment and box culvert along the axial direction is 2 m, and the distance between the clamps is 210 cm, the segment and box culvert are automatically lifted upward. When the hoist senses the downward gravity of the segment and box culvert, in one of the embodiments, when the hoist senses that the gravity reaches 10% of the dead weight of the segment and box culvert, the clamps are controlled to clamp through the hydraulic drive device. When the clamping force, that is, the pressure, reaches 5 MPa, the hydraulic drive clamps are stopped. It should be noted that 5 MPa is only one of the embodiments, and the pressure value can be adjusted according to actual conditions at the construction site.

[0036] The specific steps include: S41, automatic positioning: adjust the position of the spreader according to t to align it with the pipe segment and box culvert; use the rotation matrix R to adjust the spreader angle to be consistent with the object posture; S42, Gripping Position Optimization: Through Geometric Model and posture Determine the best gripping point ; S43, automatic clamping: hydraulic system provides clamping force ; S44, Path Optimization: Through the dynamic programming algorithm, the lifting path is automatically planned to avoid obstacles. When planning the lifting path, the starting point, end point and environmental constraints are used as reference parameters, and the optimal path is dynamically planned.

[0037] S45, Output: The automated lifting task is completed and the workpiece is safely and accurately grasped, moved and placed.

[0038] In the integrated lifting method of pipe segments and box culverts in the present application, the lifting device is equipped with an advanced visual recognition system, which uses a camera and a deep learning algorithm ResNet to identify the shape and position of the pipe segment or box culvert and accurately locate the position of the lifting device. The visual recognition system can capture the coordinates and angle information of the box culvert or pipe segment in real time, and calculate the best clamping position through an algorithm, thereby achieving automatic alignment without manual intervention, significantly improving operational efficiency.

[0039] The built-in intelligent algorithm system of the spreader can automatically adjust the spreader's posture and clamping force in combination with visual recognition data to achieve flexible adaptation to workpieces of different sizes and shapes. During the clamping process, the algorithm can adjust the position and angle in real time to ensure that the spreader is aligned with the workpiece in the optimal position for efficient and safe clamping.

[0040] In addition, hydraulic automatic clamping is adopted, and the clamping force can be monitored at the same time; the clamping force of the spreader is provided by the hydraulic system, and is equipped with sensors for real-time monitoring. The fuzzy control algorithm is used to determine whether the clamping force is within the safe range. Once an abnormal force value is detected, the system can automatically adjust to ensure the safety of the lifting process. The control system of the spreader combines visual recognition data and position feedback, and can optimize the path through a dynamic planning path algorithm to automatically plan the best lifting route. At the same time, it can automatically rotate as needed during the lifting process to ensure that the direction of the workpiece meets the operating requirements during transportation and placement. The automated spreader has an automatic rotation function, and can automatically rotate a certain angle during clamping and lifting to ensure that the position of the pipe segment and box culvert clamping and unloading process meets the requirements.

[0041] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for lifting a pipe segment and a box culvert with an integrated automatic lifting device, characterized in that: The following steps are involved: S1. Visual recognition and feature extraction: Perform 3D laser scanning on the on-site segments and box culverts, output 3D models of the segments and box culverts using 3D laser scanning, and extract the size coordinates, position coordinates, and hanging point coordinates of the segments and box culverts; S2, parametric shape representation: Based on the geometric feature data extracted in step S1, a specific parametric function is used to represent the shape of the segment and box culvert; S3, spatial posture calculation: according to the axial position of the segment and the box culvert, determine whether the axial direction of the segment and the box culvert is consistent with the clamping force direction of the hanger clamp; S4. Automatic lifting and operation: Use spatial posture information to guide the lifting equipment to complete automatic grasping, lifting and placement.

2. A method for lifting a pipe segment and a box culvert integrated automatic lifting device according to claim 1, characterized in that: The step S1 includes the following steps: S11. Input image: The camera obtains the real-time image of the pipe segment or box culvert S12. Build a deep learning model ResNet: ,in Indicates the information of the picture after shooting. Represents the model parameters of ResNet, , p is the output geometric feature, where is the width, is the height, is the thickness and position characteristics; , ( ) is the geometric center position of the target is the rotation angle.

3. A method for lifting a pipe segment and a box culvert integrated automatic lifting device according to claim 2, characterized in that: The S2 step specifically includes: using a parameter set Represent the shape of the segment or box culvert using a parameterized function Describes a geometric model of a rectangular body or other specific shape, where .

4. A method for lifting a pipe segment and a box culvert integrated automatic lifting device according to claim 3, characterized in that: The S3 step specifically includes: S31. Establish homogeneous transformation matrix , where the rotation matrix R represents the rotational posture of the object, and the translation vector t=(x, y, z) represents the position of the object; S32. Output the spatial position of the object , where the rotation matrix R is obtained from the angle information Calculated.

5. A method for lifting a pipe segment and a box culvert integrated automatic lifting device according to claim 4, characterized in that: The S4 step specifically includes: S41, automatic positioning: adjust the position of the spreader according to t to align it with the pipe segment and box culvert; use the rotation matrix R to adjust the spreader angle to be consistent with the object posture; S42, Gripping Position Optimization: Through Geometric Model and posture Determine the best gripping point; S43, automatic clamping: the hydraulic system provides clamping force; S44, Path Optimization: Automatically plan the lifting path through dynamic programming algorithm to avoid obstacles; S45, Output: The automated lifting task is completed and the workpiece is safely and accurately grasped, moved and placed.

6. A method for lifting a pipe segment and a box culvert integrated automatic lifting device according to claim 5, characterized in that: In step S45, the starting point, the end point and the environmental constraints are used as reference parameters, and the optimal path is formed through dynamic planning.

7. An integrated automatic lifting device for a pipe segment and a box culvert, used to implement the lifting method of the integrated automatic lifting device for a pipe segment and a box culvert as claimed in any one of claims 1 to 6, characterized in that: include: A clamping crossbeam (1), provided with two crossbeams, for clamping the box culvert (200); A pipe segment support body (2) fixed to the bottom of the clamping beam (1) and used for clamping the pipe segment (100); A hydraulic drive device (3) is arranged above the clamping crossbeam (1) and is used to drive and adjust the distance between the two clamping crossbeams (1); The slewing device (4) is arranged between the hydraulic drive device (3) and the crane, and is used to drive the clamping crossbeam (1) and the segment support body (2) to rotate.

8. The integrated automatic lifting device for pipe segments and box culverts according to claim 7 is characterized in that: A clamp leg (5) is provided between the hydraulic drive device (3) and the crossbeam, and the clamp leg (5) is provided with photoelectric sensors such as load, clamping, seam alignment, bottom anti-collision, laser ranging, and top anti-collision.

9. The integrated automatic lifting device for pipe segments and box culverts according to claim 7, characterized in that: Both ends of the cross beam are provided with supporting blocks (6) for abutting against the inner walls of the box culvert (200) and the pipe segments (100).

10. The integrated automatic lifting device for pipe segments and box culverts according to claim 7, characterized in that: The slewing device (4) is provided with a plurality of suspension points (7) for connecting to a crane.

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