Hoisting device, aircraft and aircraft hoisting method

Abstract

This invention discloses a lifting device, an aircraft, and an aircraft lifting method, relating to the field of aircraft technology. The lifting device is used for lifting pipes and includes: a mounting frame, a claw assembly, and a first drive assembly. The mounting frame extends along a first horizontal direction. The claw assembly includes two claws spaced apart and opposite to each other along the first horizontal direction, each claw having an extension portion extending along the first horizontal direction. The two claws are movably mounted on the mounting frame in the first horizontal direction. The first drive assembly is mounted on the mounting frame and is drivenly connected to the claw assembly, used to drive the two claws closer together or further apart. The extension portions are used to extend into through holes in the pipe. The technical solution provided by this invention, through the first drive component, brings the extension portions of the two claws closer together and inserts them into the through holes at both ends of the pipe, thus confining the pipe between the two claws, achieving lifting. This can be combined with an aircraft body to achieve the technical effects of aircraft lifting and transportation.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a hoisting device, an aircraft, and a method for hoisting an aircraft. Background Technology

[0002] During project construction, traditional transportation faces challenges such as complex terrain, difficulty in constructing temporary roads in mountainous areas, high costs, and low efficiency.

[0003] Unmanned aerial vehicles (UAVs) offer significant transportation advantages. They can flexibly traverse complex terrains without relying on ground infrastructure, directly reaching designated locations, greatly shortening transportation time, reducing manpower and material resources, and minimizing damage to the mountainous ecological environment.

[0004] How to use unmanned aerial vehicles to lift and transport pipes is a technical problem that needs to be solved. Summary of the Invention

[0005] The main objective of this invention is to provide a hoisting device, an aircraft, and an aircraft hoisting method, aiming to provide a hoisting device that can be used in conjunction with an aircraft to achieve the technical effect of hoisting and transportation.

[0006] To achieve the above objectives, the present invention proposes a lifting device for lifting pipes. The lifting device includes: a mounting frame, a hook assembly, and a first drive assembly; the mounting frame extends along a first horizontal direction; the hook assembly includes two hooks spaced apart and arranged opposite each other along the first horizontal direction, each hook having an extension portion extending along the first horizontal direction, and the two hooks are movably mounted on the mounting frame in the first horizontal direction; the first drive assembly is mounted on the mounting frame and is drivenly connected to the hook assembly to drive the two hooks closer together or further apart, and the extension portion is used to extend into the through hole of the pipe.

[0007] In one embodiment, the hoisting device further includes a mounting base and a plurality of second drive components; the mounting frame, the hook assembly, and the first drive component together form part of a hoisting unit, and a plurality of hoisting units are provided, the plurality of hoisting units being spaced apart along a second horizontal direction, the plurality of mounting frames being respectively connected to the mounting base through a plurality of second drive components, the second drive components driving the hoisting units to move in a vertical direction.

[0008] In one embodiment, the first drive assembly includes two first electric cylinders, which are mounted on the mounting bracket and located on both sides of the two hooks in a first horizontal direction, and are respectively driven connected to the two hooks; and / or, The second drive assembly includes a second electric cylinder.

[0009] In one embodiment, the hoisting unit further includes a camera, which is mounted in the middle of the mounting frame in a first horizontal direction and located on the side of the mounting frame away from the mounting base.

[0010] In one embodiment, the hoisting unit further includes two limiting blocks, which are installed on the mounting frame and located on both sides of the camera in the left and right directions. The vertical dimension of the limiting blocks is larger than the vertical dimension of the camera.

[0011] In one embodiment, the hoisting device includes a movable member, the extension having a groove on one side facing the mounting frame, the movable member being movably mounted in the groove, having an extended position that partially extends out of the groove during its travel, and a retracted position located within the groove.

[0012] The present invention also proposes an aircraft, which includes a flight body and a hoisting device, wherein the flight body is detachably connected to the mounting base; wherein the hoisting device includes: a mounting frame, a claw assembly, and a first drive assembly; the mounting frame extends along a first horizontal direction; the claw assembly includes two claws spaced apart and arranged opposite each other along the first horizontal direction, each claw having an extension portion extending along the first horizontal direction, and the two claws are movably mounted on the mounting frame in the first horizontal direction; the first drive assembly is mounted on the mounting frame and is drivenly connected to the claw assembly for driving the two claws to move closer or further apart, and the extension portion is used to extend into the through hole of the pipe.

[0013] This invention also proposes an aircraft hoisting method, which, based on an aircraft, includes: Adjust the aircraft to the preset altitude; Multiple lifting units are sequentially controlled to perform lifting according to a lifting strategy; When one of the hoisting units is hoisting according to the hoisting strategy, if the camera does not detect the pipe, the camera is turned off and the hoisting operation ends. The aircraft includes a hoisting device, which comprises a mounting frame, a grappling hook assembly, and a first drive assembly. The mounting frame extends along a first horizontal direction. The grappling hook assembly includes two grappling hooks spaced apart and arranged opposite each other along the first horizontal direction. Each grappling hook has an extension portion extending along the first horizontal direction. The two grappling hooks are movably mounted on the mounting frame in the first horizontal direction. The first drive assembly is mounted on the mounting frame and is drivenly connected to the grappling hook assembly to drive the two grappling hooks closer to or further apart. The extension portion is used to extend into a through hole in the pipe.

[0014] In one embodiment, the step of sequentially controlling multiple lifting units to perform lifting according to a lifting strategy includes: Turn on the camera and identify the pipe through the camera; Determine whether the pipe material meets the hoisting requirements; When the pipe meets the hoisting requirements, adjust the aircraft so that the camera is vertically aligned with the middle of the pipe, and the extension direction of the mounting bracket in the hoisting device is aligned with the extension direction of the pipe. The second drive assembly corresponding to the hoisting unit causes the hoisting unit to extend toward the pipe; The first driving component brings the two hooks closer together so that the extension extends into the through hole of the tube. The hoisting unit is retracted by the second drive component corresponding to the hoisting unit.

[0015] In one embodiment, the step of determining whether the pipe meets the hoisting requirements includes: The diameter and length of the pipe are identified by the camera. When the diameter of the pipe is within a preset diameter range and the length of the pipe is within a preset length range, it is determined that the pipe meets the hoisting requirements; If the diameter of the pipe exceeds the preset diameter range; and / or the length of the pipe exceeds the preset length range, it is determined that the pipe does not meet the hoisting requirements.

[0016] The technical solution of the present invention uses a first driving component to bring the extensions of the two hooks closer together and insert them into the through holes at both ends of the pipe, so that the pipe is confined between the two hooks, which can realize hoisting and can be used in conjunction with the flight body to achieve the technical effect of aircraft hoisting and transportation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a structure of an embodiment of the hoisting device provided by the present invention; Figure 2 for Figure 1 A structural schematic diagram of the hoisting device from another perspective; Figure 3 This is a flowchart illustrating the first embodiment of the aircraft hoisting method provided by the present invention; Figure 4This is a flowchart illustrating the second embodiment of the aircraft hoisting method provided by the present invention; Figure 5 This is a flowchart illustrating the third embodiment of the aircraft hoisting method provided by the present invention.

[0019] Explanation of icon numbers: 100. Lifting device; 1. Lifting unit; 11. Mounting frame; 12. Hook assembly; 121. Hook; 1211. Extension; 1212. Groove; 13. First drive assembly; 14. Camera; 15. Limiting block; 2. Mounting base; 3. Second drive assembly; 4. Moving part.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0024] Traditional transportation methods face challenges such as complex terrain, difficulties in constructing temporary roads in mountainous areas, high costs, and low efficiency during project construction. Unmanned aerial vehicle (UAV) transportation offers significant advantages: it can flexibly traverse complex terrain, eliminates reliance on ground infrastructure, and directly reach designated locations, drastically reducing transportation time, lowering manpower and material resources, and minimizing damage to the mountainous ecosystem. The key technical challenge lies in how to utilize UAVs for lifting and transporting pipe materials.

[0025] This invention proposes a hoisting device.

[0026] Please see Figure 1 and Figure 2 In one embodiment of the present invention, the lifting device 100 is used for lifting pipes. The lifting device 100 includes: a mounting frame 11, a hook assembly 12, and a first drive assembly 13. The mounting frame 11 extends along a first horizontal direction. The hook assembly 12 includes two hooks 121 spaced apart and arranged opposite each other along the first horizontal direction. Each hook 121 has an extension portion 1211 extending along the first horizontal direction. The two hooks 121 are movably mounted on the mounting frame 11 in the first horizontal direction. The first drive assembly 13 is mounted on the mounting frame 11 and is drivenly connected to the hook assembly 12 to drive the two hooks 121 to move closer or further apart. The extension portion 1211 is used to extend into the through hole of the pipe.

[0027] In the technical solution of this invention, the hoisting device 100 can hoist pipes. Specifically, the hook 121 has a connecting part and an extension part 1211. The connecting part extends vertically, and one end is movably connected to the mounting frame 11, allowing the hook 121 to move relative to the mounting frame 11 in a first horizontal direction. The extension part 1211 extends in the first horizontal direction, with one end fixedly connected to the other end of the connecting part. The extension part 1211 is used to insert into the through hole of the pipe. When the hoisting device 100 hoists the pipe, the mounting frame 11 and the extension direction of the pipe are generally aligned first. Then, the first driving assembly 13 drives the two hooks 121 to approach each other, so that the two hooks 121 are inserted into the through hole of the pipe, and the connecting part abuts against the end of the pipe. Due to the limiting effect of the two connecting parts and the two extension parts 1211, the pipe cannot detach from the two hooks 121, thus achieving hoisting and installation. During the hoisting and transportation process, the two extensions 1211 bear the weight of the pipe. After hoisting and transportation are completed, the pipe is first placed on the ground, and then the two hooks 121 are driven away from each other by the first drive assembly 13, so that the hooks 121 are separated from the pipe, thereby releasing the pipe and completing the transportation.

[0028] Since the grappling hook assembly 12 only includes a pair of grappling hooks 121, it can only lift one pipe at a time, resulting in low transportation efficiency as the aircraft can only transport one pipe at a time. To improve transportation efficiency, in one embodiment, the lifting device 100 further includes a mounting base 2 and multiple second drive assemblies 3. The mounting frame 11, the grappling hook assembly 12, and the first drive assembly 13 together form part of the lifting unit 1. Multiple lifting units 1 are provided, spaced apart along a second horizontal direction. The multiple mounting frames 11 are respectively connected to the mounting base 2 through multiple second drive assemblies 3, which drive the lifting units 1 to move vertically. Each lifting unit 1 can lift one pipe. To lift multiple pipes, multiple lifting units 1 are provided. To prevent collisions between two adjacent pipes, the lifting units 1 need to be spaced apart. Generally, the distance between two adjacent lifting units 1 needs to be at least greater than the diameter of the pipe being lifted. In addition, the lifting unit 1 has a mounting frame 11, a hook assembly 12, and a first drive assembly 13, and may also have other components. Since the pipes are not necessarily neatly arranged, multiple lifting units 1 cannot simultaneously lift multiple pipes; therefore, each pipe must be lifted one by one according to its position. Furthermore, if multiple lifting units 1 are at the same height during lifting, the lifting unit 1 currently being lifted will not interfere or collide with the corresponding pipe, but other lifting units 1 may interfere or collide with other pipes. Therefore, it is necessary for one lifting unit 1 to only approach the pipe vertically during lifting. Thus, each lifting unit 1 needs to be able to move vertically; therefore, the lifting unit 1 is mounted on the mounting base 2 via the second drive assembly 3, allowing for vertical height adjustment.

[0029] Regarding how to drive the two hooks 121 to move closer or further apart in the first horizontal direction, the first drive assembly 13 can use a double-slide electric cylinder connected to the two hooks 121; alternatively, it can use a motor and a lead screw slider, with the slider fixedly connected to the hooks 121, and the motor driving the lead screw to move the hooks 121 along the first horizontal direction. In one embodiment, the first drive assembly 13 includes two first electric cylinders mounted on the mounting bracket 11 and located on both sides of the two hooks 121 in the first horizontal direction, respectively driven by the two hooks 121; the stroke, extension, and retraction times of the two first electric cylinders are all the same.

[0030] To enable the lifting unit 1 to be height-adjustable in the vertical direction, the second drive assembly 3 includes a second electric cylinder. Alternatively, a motor combined with a lead screw and slider could be used; however, considering the potentially large load during the lifting and transport of pipes, a second electric cylinder is preferred.

[0031] To enable the lifting unit 1 to automatically lift the pipe according to its position, it is necessary to identify the pipe's location and align the lifting unit 1 with the pipe's position to achieve automatic lifting using a preset program. Therefore, the lifting unit 1 also includes a camera 14, which is mounted in the middle of the mounting frame 11 in the first horizontal direction, located on the side of the mounting frame 11 opposite to the mounting base 2. The camera 14 primarily identifies parameters such as the pipe's end position, middle position, diameter, and length.

[0032] To prevent collisions between the two hooks 121 in the same hoisting unit 1, or between the hooks 121 and the camera 14, the hoisting unit 1 also includes two limiting blocks 15. These limiting blocks 15 are installed on the mounting frame 11 and located on either side of the camera 14 in the left-right direction, between the two hooks 121. Therefore, the hooks 121 cannot approach the camera 14, and the two hooks 121 cannot collide. To protect the camera 14 vertically, the vertical dimension of the limiting block 15 is larger than that of the camera 14. Because the limiting block 15 protrudes from the camera 14 vertically, it will collide first when a collision is imminent, thus preventing further collisions with the camera 14.

[0033] To enable the lifting device 100 to lift different types of items, the lifting device 100 includes a movable member 4. The extension 1211 has a groove 1212 on the side facing the mounting frame 11. The movable member 4 is movably mounted in the groove 1212, having an extended position that partially extends out of the groove 1212 and a retracted position within the groove 1212. The movable member 4 extends out of the groove 1212, forming a hook shape between the movable member 4 and the hook 121, which can be used to lift items with lifting rings or items with corresponding positioning holes. The movable member 4 can be made of iron, and an electromagnetic relay in conjunction with a spring can be used to control the movement of the movable member 4 between the extended and retracted positions.

[0034] The present invention also proposes an aircraft, which includes a flight body and a hoisting device 100. The flight body is detachably connected to the mounting base 2. The specific structure of the hoisting device 100 is as described in the above embodiments. Since the aircraft adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The hoisting device 100 includes: a mounting frame 11, a claw assembly 12, and a first drive assembly 13. The mounting frame 11 extends along a first horizontal direction. The claw assembly 12 includes two claws 121 spaced apart and arranged opposite each other along the first horizontal direction. Each claw 121 has an extension portion 1211 extending along the first horizontal direction. The two claws 121 are movably mounted on the mounting frame 11 in the first horizontal direction. The first drive assembly 13 is mounted on the mounting frame 11 and is drivenly connected to the claw assembly 12 to drive the two claws 121 to move closer or further apart. The extension portion 1211 is used to extend into the through hole of the pipe. The main aircraft is used to carry the hoisting device 100 and pipes for transport across complex terrain.

[0035] To enable automated hoisting by the aircraft, this invention also proposes an aircraft hoisting method for hoisting pipes. Based on the aforementioned aircraft structure, the steps of the aircraft hoisting method are as follows: Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of an aircraft hoisting method according to the present invention.

[0036] The aircraft hoisting method includes: Step S1: Adjust the aircraft to a preset altitude; Step S2: Sequentially control multiple hoisting units 1 to perform hoisting according to the hoisting strategy; Step S3: When one of the hoisting units 1 is hoisting according to the hoisting strategy, if the camera 14 does not detect the pipe, the camera 14 is turned off and the hoisting operation ends.

[0037] First, the aircraft is adjusted to a preset height. This facilitates the camera 14 in acquiring the parameters and position of the pipe. At this preset height, above the pipe, the second drive assembly 3 drives the hoisting unit 1 to extend towards the pipe, achieving the desired hoisting height. Due to the pipe placement, the hoisting device 100 cannot hoist multiple pipes at once. Therefore, each pipe is hoisted sequentially. If the camera 14 does not detect any pipes during the hoisting process of the hoisting unit 1, it indicates that all pipes have been hoisted, and the hoisting process can be stopped.

[0038] To enable the aircraft to automatically lift pipes according to their positions, the lifting method steps are as follows: Figure 4 , Figure 4 This is a flowchart illustrating a second embodiment of an aircraft hoisting method according to the present invention.

[0039] Step S2 includes: Step S21: Open the camera 14 and identify the pipe through the camera 14; Step S22: Determine whether the pipe meets the hoisting requirements; Step S23: When the pipe meets the hoisting requirements, adjust the aircraft so that the camera 14 corresponds to the middle of the pipe in the vertical direction, and the extension direction of the mounting bracket 11 in the hoisting device 100 corresponds to the extension direction of the pipe. Step S24: The second drive assembly 3 corresponding to the hoisting unit 1 causes the hoisting unit 1 to extend toward the pipe; Step S25: The first drive assembly 13 brings the two hooks 121 closer together so that the extension 1211 extends into the through hole of the pipe. Step S26: The hoisting unit 1 is retracted by the second drive component 3 corresponding to the hoisting unit 1.

[0040] First, camera 14 is activated to identify the pipe, thereby locking its position and identifying its parameters. These parameters include the pipe's diameter and length. The diameter and length are used to determine if the pipe meets the hoisting requirements. If it does, further hoisting is required. Since camera 14 is positioned at the center of the mounting bracket 11 in the first horizontal direction, and vertically corresponds to the center of the pipe, the extension direction of the mounting bracket 11 in the hoisting device 100 corresponds to the extension direction of the pipe. This ensures that the hoisting unit 1 and the pipe are vertically aligned, with two hooks 121 located on either side of the pipe in the first horizontal direction. The second drive assembly 3 lowers the hoisting device 100, aligning the hooks 121 with the height of the pipe's through-hole. The first drive assembly 13 then brings the two hooks 121 closer together, allowing the extension 1211 to enter the through-hole, and the connecting part to abut against the end of the pipe. Finally, the second drive assembly 3 retracts the hoisting unit 1, completing the hoisting operation. When hoisting multiple pipes, after one hoisting unit 1 on one side of the second horizontal direction completes its hoisting, another hoisting unit 1 on the other side of the second horizontal direction continues to complete the hoisting, ensuring that the force on the main body of the aircraft is relatively balanced in the second horizontal direction. This prevents the main body of the aircraft from tilting.

[0041] When the pipe size exceeds the limit size that the lifting device 100 can lift, it cannot be lifted using the lifting device 100. How can we determine if the pipe can be lifted? The steps of the aircraft lifting method are as follows: Figure 5 , Figure 5 This is a flowchart illustrating a third embodiment of an aircraft hoisting method according to the present invention.

[0042] Step S22 includes: Step S221: Identify the diameter and length of the pipe using the camera 14; Step S222: When the diameter of the pipe is within a preset diameter range and the length of the pipe is within a preset length range, it is determined that the pipe meets the hoisting requirements; Step S223: When the diameter of the pipe exceeds the preset diameter range; and / or the length of the pipe exceeds the preset length range, it is determined that the pipe does not meet the hoisting requirements.

[0043] If the pipe length is too long, exceeding the lifting length of lifting unit 1, lifting cannot be achieved. If the pipe diameter is too long, exceeding the distance between two lifting units 1 in the second horizontal direction, the pipes lifted by adjacent lifting units 1 will collide. Therefore, neither of these situations meets the lifting requirements. Meeting either one of these conditions indicates a failure to meet the lifting requirements. Only when both conditions are met is the lifting requirement satisfied.

[0044] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A lifting device for lifting pipes, characterized in that, include: Mounting bracket, extending along the first horizontal direction; The hook assembly includes two hooks spaced apart and arranged opposite each other along a first horizontal direction. The hooks have extensions extending along the first horizontal direction, and the two hooks are movably mounted on the mounting frame in the first horizontal direction. A first drive assembly is mounted on the mounting bracket. The first drive assembly is driven to connect with the claw assembly and is used to drive the two claws to move closer or further apart. The extension is used to extend into the through hole of the pipe.

2. The hoisting device as described in claim 1, characterized in that, The hoisting device also includes a mounting base and multiple second drive components; the mounting frame, the hook assembly, and the first drive component together form part of a hoisting unit. Multiple hoisting units are provided, and the multiple hoisting units are spaced apart along a second horizontal direction. The multiple mounting frames are respectively connected to the mounting base through multiple second drive components, and the second drive components drive the hoisting units to move in the vertical direction.

3. The hoisting device as described in claim 2, characterized in that, The first drive assembly includes two first electric cylinders, which are mounted on the mounting bracket and located on both sides of the two hooks in a first horizontal direction, and are respectively driven connected to the two hooks; and / or, The second drive assembly includes a second electric cylinder.

4. The hoisting device as described in claim 2, characterized in that, The hoisting unit also includes a camera, which is installed in the middle of the mounting frame in the first horizontal direction and is located on the side of the mounting frame away from the mounting base.

5. The hoisting device as described in claim 4, characterized in that, The hoisting unit also includes two limiting blocks, which are installed on the mounting frame and located on both sides of the camera in the left and right directions. The vertical dimension of the limiting blocks is larger than the vertical dimension of the camera.

6. The hoisting device as described in claim 1, characterized in that, The hoisting device includes a movable component, and the extension portion has a groove on one side facing the mounting frame. The movable component is movably mounted in the groove and has an extension position that partially extends out of the groove during its travel, as well as a retractable position located within the groove.

7. An aircraft, characterized in that, It includes a flight body and a hoisting device as described in claim 4, wherein the flight body is detachably connected to the mounting base.

8. A method for hoisting pipes using an aircraft, characterized in that, Based on the aircraft as described in claim 7, the aircraft hoisting method includes: Adjust the aircraft to the preset altitude; Multiple lifting units are sequentially controlled to perform lifting according to a lifting strategy; When one of the hoisting units is hoisting according to the hoisting strategy, if the camera does not detect the pipe, the camera is turned off and the hoisting operation ends.

9. The aircraft hoisting method as described in claim 8, characterized in that, The steps of sequentially controlling multiple lifting units to lift according to a lifting strategy include: Turn on the camera and identify the pipe through the camera; Determine whether the pipe material meets the hoisting requirements; When the pipe meets the hoisting requirements, adjust the aircraft so that the camera is vertically aligned with the middle of the pipe, and the extension direction of the mounting bracket in the hoisting device is aligned with the extension direction of the pipe. The second drive assembly corresponding to the hoisting unit causes the hoisting unit to extend toward the pipe; The first driving component brings the two hooks closer together so that the extension extends into the through hole of the tube. The hoisting unit is retracted by the second drive component corresponding to the hoisting unit.

10. The aircraft hoisting method as described in claim 9, characterized in that, The steps for determining whether the pipe meets the hoisting requirements include: The diameter and length of the pipe are identified by the camera. When the diameter of the pipe is within a preset diameter range and the length of the pipe is within a preset length range, it is determined that the pipe meets the hoisting requirements; If the diameter of the pipe exceeds the preset diameter range; and / or the length of the pipe exceeds the preset length range, it is determined that the pipe does not meet the hoisting requirements.

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