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

Abstract

A segment hoisting control method and apparatus, a tunnel excavation device, a storage medium, and a computer program product, wherein the method comprises: collecting point cloud data of a hoisting appliance (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 appliance, and determining a hoisting appliance running path and hoisting appliance rotation information of the hoisting appliance; controlling, on the basis of the hoisting appliance running path and the hoisting appliance rotation information, the hoisting appliance to reach a segment grabbing waiting position; controlling, on the basis of a first image corresponding to the hoisting appliance and the segments, the hoisting appliance to grab the segments; and controlling the hoisting appliance to place the segments at a target placement position in a second transport vehicle (23).

Description

Segment hoisting control methods, devices, tunnel excavation equipment, and storage media

[0001] Cross-reference to related applications

[0002] This disclosure is based on and claims priority to CN application No. 202411409400.8 filed on October 10, 2024, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] This application relates to the field of tunnel excavation technology, and in particular to a segment hoisting control method, device, tunnel excavation equipment, storage medium, and computer program product. Background Technology

[0004] Tunnel excavation equipment is a highly complex piece of equipment widely used in the construction of underground tunnel projects. Tunnel construction using tunnel excavation equipment involves multiple processes, including shield tunneling, segment hoisting, segment assembly, and box culvert assembly. The segment hoisting process connects the shield tunneling and segment assembly processes. During segment hoisting, segments are sequentially lifted from the segment truck onto a segment transport trolley using a lifting device, and then transported to the segment assembly area via the trolley. Summary of the Invention

[0005] According to a first aspect of this disclosure, a segment hoisting control method is provided, applied to a tunnel excavation device, the tunnel excavation device including a trailer, a first transport vehicle, a second transport vehicle, and a hoisting device. The method includes: acquiring point cloud data of the hoisting device, the first transport vehicle, and a segment located in the first transport vehicle, wherein the hoisting device is located at an initial position; obtaining first information of the segment and second information of the hoisting device based on the point cloud data; determining the hoisting device's operating path and rotation information based on the first information and the second information; controlling the hoisting device to reach a segment grabbing waiting position based on the hoisting device's operating path and rotation information; controlling the hoisting device to grab the segment based on a first image corresponding to the hoisting device and the segment; and controlling the hoisting device to place the segment at a target placement position in the second transport vehicle.

[0006] In some embodiments, the trailer is equipped with multiple lidar sensors; the acquisition of point cloud data of the lifting device, the first transport vehicle, and the segment located in the first transport vehicle includes: using the multiple lidar sensors to acquire data of the lifting device, the first transport vehicle, and the segment to obtain multiple point cloud data.

[0007] In some embodiments, obtaining the first information of the pipe segment and the second information of the lifting device based on the point cloud data includes: obtaining merged point cloud data corresponding to a preset coordinate system based on the plurality of point cloud data; using a first recognition model and based on the merged point cloud data to obtain the first information and the second information; wherein, the first information includes the quantity information of the pipe segment, the coordinate information of the pipe segment, the maximum height information of the pipe segment, and the height information of the first transport vehicle; the second information includes the coordinate information of the lifting device.

[0008] In some embodiments, determining the lifting device's operating path and rotation information based on the first information and the second information includes: determining the lifting device's operating path and rotation information according to the segment grabbing sequence rules, the segment's coordinate information, the height information of the first transport vehicle, the segment's maximum height information, and the lifting device's coordinate information; wherein, the lifting device's operating path includes the horizontal coordinate axis movement distance of the lifting device relative to the coordinate system and the lifting device's lifting position information; the lifting device's rotation information includes the lifting device's rotation angle.

[0009] In some embodiments, controlling the spreader to reach the segment grabbing waiting position based on the spreader's running path and the spreader's rotation information includes: determining the spreader's translation time and lifting time based on the horizontal coordinate axis movement distance, the spreader's lifting position information, and the operating speed of the spreader's translation mechanism and lifting mechanism; and controlling the spreader to reach the segment grabbing waiting position based on the translation time, the lifting time, the spreader's running path, and the spreader's rotation information.

[0010] In some embodiments, controlling the lifting device to reach the segment grabbing waiting position based on the translation time, the lifting time, the lifting device's running path, and the lifting device's rotation information includes: when the translation time is greater than or equal to the lifting time, controlling the translation mechanism, the lifting mechanism, and the lifting device's rotation mechanism to operate based on the horizontal coordinate axis movement distance, the lifting device's lifting position information, and the lifting device's rotation angle, so that the lifting device 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 run ahead of the time difference based on the lifting device's lifting position information, controlling the translation mechanism, the lifting mechanism, and the rotation mechanism to operate based on the horizontal coordinate axis movement distance, the lifting device's lifting position information, and the lifting device's rotation angle, so that the lifting device reaches the segment grabbing waiting position.

[0011] In some embodiments, the lifting device is equipped with a first camera, and controlling the lifting device to grasp the segment based on a first image corresponding to the lifting device and the segment includes: acquiring the first image through the first camera, wherein a first positioning target is set on the lifting device and a second positioning target is set 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 the operation control information of the lifting device; controlling the operation of the lifting device based on the operation control information of the lifting device, so that the deviation between the first positioning target and the second positioning target meets the lifting device grasping condition, and controlling the lifting device to grasp the segment when the deviation meets the lifting device grasping condition.

[0012] In some embodiments, controlling the spreader to place the segment at a target placement position in the second transport vehicle includes: determining a safe lifting height value for the spreader after grabbing the segment based on the maximum height information of the segment and the height information of the first transport vehicle; controlling the spreader to rise to the safe lifting height value; 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 segment; acquiring a second image corresponding to the target placement position using a second camera; and controlling the spreader to place the segment at the target placement position based on the second image.

[0013] In some embodiments, controlling the lifting device to place the segment at the target placement position based on the second image includes: using a third recognition model and based on the second image to obtain lifting device control information indicating that the lifting device has reached the target placement position; wherein the lifting device control information includes first translation information, first vertical movement information, and first lifting device rotation information of the lifting device; correcting the first vertical movement information according to the safe descent height information of the segment to obtain new lifting device control information; and controlling the lifting device to place the segment at the target placement position based on the new lifting device control information and the first vertical movement information.

[0014] In some embodiments, based on the position information of the spreader and the position information of the initial position, initial control information of the spreader is determined, wherein the initial control information includes second translation information, second vertical movement information and second rotation information of the spreader; according to the initial control information, the spreader is controlled to reach the initial position.

[0015] According to a second aspect of this disclosure, a segment hoisting control device is provided, applied to tunnel excavation equipment, the tunnel excavation equipment including a trailer, a first transport vehicle and a second transport vehicle, and a hoisting device. The segment hoisting control device includes: a point cloud acquisition module, used to acquire point cloud data of the hoisting device, the first transport vehicle, and the segment located in the first transport vehicle, wherein the hoisting device is located at an initial position; an information acquisition module, used to obtain first information of the segment and second information of the hoisting device based on the point cloud data; a path planning module, used to determine the hoisting device's operating path and rotation information based on the first information and the second information; a first control module, used to control the hoisting device to reach the segment grabbing waiting position based on the hoisting device's operating path and rotation information; a second control module, used to control the hoisting device to grab the segment based on a first image corresponding to the hoisting device and the segment; and a third control module, used to control the hoisting device to place the segment at a target placement position in the second transport vehicle.

[0016] According to a third aspect of this disclosure, a segment hoisting control device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to perform the method described above based on instructions stored in the memory.

[0017] According to a fourth aspect of this disclosure, a tunnel excavation device is provided, comprising: a segment hoisting control device as described above.

[0018] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions which, when executed by a processor, perform the method described above.

[0019] According to a sixth aspect of this disclosure, a computer program product is provided, the computer program product storing computer instructions which are executed by a processor using the method described above. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0021] Figure 1 is a schematic flowchart of some embodiments of the segment hoisting control method according to the present disclosure;

[0022] Figure 2A is a schematic diagram of an application scenario of the segment hoisting control method of this disclosure, and Figure 2B is a schematic diagram of another application scenario of the segment hoisting control method of this disclosure.

[0023] Figure 3 is a schematic flowchart of information acquisition in some embodiments of the segment hoisting control method according to the present disclosure;

[0024] Figure 4 is a flowchart illustrating the process of controlling the lifting device to reach the segment grabbing waiting position in some embodiments of the segment hoisting control method according to the present disclosure;

[0025] Figure 5 is a schematic diagram of the process of the control lifting device grabbing the segment according to some embodiments of the segment lifting control method of the present disclosure;

[0026] Figure 6 is a schematic diagram of the process of placing tunnel segments using a control lifting device according to some embodiments of the tunnel segment hoisting control method of the present disclosure;

[0027] Figure 7 is a schematic diagram of the process of placing tunnel segments using an image-based control lifting device in some embodiments of the tunnel segment hoisting control method according to the present disclosure;

[0028] Figure 8 is a flowchart illustrating the process of controlling the lifting device to reach the initial position in some embodiments of the segment hoisting control method according to the present disclosure;

[0029] Figure 9 is a schematic diagram of some embodiments of the segment hoisting control device according to the present disclosure;

[0030] Figure 10 is a schematic diagram of modules of some other embodiments of the segment hoisting control device according to the present disclosure. Detailed Implementation

[0031] Exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings. For clarity and brevity, 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 carrying out the embodiments to achieve the developer's specific goals, such as complying with constraints related to the device and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from the present disclosure.

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

[0033] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0034] It should also be understood that in the embodiments disclosed herein, "a plurality of" may refer to two or more, and "at least one" may refer to one, two or more.

[0035] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0036] Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0037] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0038] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0039] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0040] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

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

[0042] Furthermore, to avoid obscuring this disclosure with unnecessary detail, only processing steps and / or apparatus structures closely related to at least the solutions according to this disclosure are shown in the accompanying drawings, while other details less relevant to this 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 need not be discussed again in subsequent drawings.

[0043] In the related technologies known to the inventor, the lifting of tunnel segments is usually carried out manually. However, manual lifting lacks precise control and the ability to coordinate multiple lifting actions, resulting in low transportation efficiency. Currently, with technological advancements, automated tunnel segment lifting technology has emerged. However, this technology still suffers from problems such as the inability to precisely control the lifting process and the inability to coordinate multiple lifting actions.

[0044] In view of this, one technical problem to be solved by this application is to provide a segment hoisting control method, which collects point cloud data of the hoisting equipment, the first transport vehicle, and the segments located in the first transport vehicle using lidar, identifies and locates the segments based on the point cloud data, and controls the hoisting equipment to hoist the segments to the target placement position; it can perform global detection of the segment working space, accurately control the hoisting, and coordinate multiple hoisting actions, thereby achieving efficient hoisting of segments, improving the efficiency of automatic segment hoisting, effectively enhancing the safety of segment hoisting equipment movement, improving tunnel construction efficiency, and ensuring construction safety.

[0045] Figure 1 is a schematic flowchart of some embodiments of the segment hoisting control method according to the present disclosure. The segment hoisting control method of the present disclosure is applied to tunnel excavation equipment, which includes trailers, a first transport vehicle, a second transport vehicle, and hoisting equipment, as shown in Figure 1:

[0046] Step S101: Collect point cloud data of the lifting device, the first transport vehicle, and the pipe segment located in the first transport vehicle, wherein the lifting device is located at the initial position.

[0047] Tunnel excavation equipment can be of various types, such as tunnel boring machines (TBMs). A TBM is a large-scale tunneling machine, including a main structure and supporting equipment. The main structure includes a cutterhead, shield, drive unit, segment assembly machine, and soil removal mechanism. The supporting equipment includes a connecting bridge and several trailers. During tunneling, the shield drives the connecting bridge and trailers forward. The trailers are equipped with lifting devices, which can be of various types, used for lifting and transporting materials such as tunnel segments. The trailers are equipped with rails through which the lifting devices can slide.

[0048] The first transport vehicle includes segment transport vehicles, and the second transport vehicle includes segment transport trolleys. The segment transport vehicle of a tunnel boring machine (TBM) is a piece of equipment used for transporting and installing tunnel segments. It is mounted on the TBM and transports the segments, ensuring continuous operation. The segment transport trolley is a specialized piece of equipment used in subway shield tunnels, improving the efficiency and versatility of segment transport. During segment lifting, the lifting equipment sequentially transfers the segments from the segment transport vehicle to the segment transport trolley, which then transports them to the segment assembly area.

[0049] Equipment such as trailers can be equipped with lidar; when the spreader is in the preset initial position, point cloud data of the spreader, the first transport vehicle, and the segments in the first transport vehicle can be collected by lidar.

[0050] Step S102: Based on the point cloud data, obtain the first information of the tunnel segment and the second information of the lifting device.

[0051] Step S103: Based on the first information and the second information, determine the lifting tool's running path and rotation information.

[0052] Step S104: Based on the lifting device's running path and rotation information, control the lifting device to reach the segment grabbing waiting position.

[0053] Step S105: Based on the first image corresponding to the lifting device and the segment, control the lifting device to grab the segment.

[0054] Step S106: Control the spreader to place the tunnel segment at the target placement position in the second transport vehicle.

[0055] The segment hoisting control method disclosed herein uses lidar to collect point cloud data of the hoisting equipment, the first transport vehicle, and the segments located in the first transport vehicle. Based on the point cloud data, the segment is identified and located, and the hoisting equipment is controlled to hoist the segment to the target placement position. It can perform global detection of the segment working space, accurately control the hoisting, and coordinate multiple hoisting actions, thereby achieving efficient segment hoisting, improving tunnel construction efficiency, and ensuring construction safety.

[0056] In some embodiments, as shown in Figures 2A and 2B, the first transport vehicle is the tunnel segment vehicle 24 of the tunnel boring machine (TBM), which is used to transport tunnel segments 26. The second transport vehicle is the tunnel segment transport trolley 23 of the TBM. The lifting device 25 is used to sequentially lift the tunnel segments 26 from the tunnel segment vehicle 24 onto the tunnel segment transport trolley 23. The trailer 21 is equipped with multiple lidar sensors 22; the multiple lidar sensors 22 are used to collect data from the lifting device 25, the tunnel segment vehicle 24, and the tunnel segments 26 to obtain multiple point cloud data.

[0057] Figure 3 is a schematic flowchart of information acquisition in some embodiments of the segment hoisting control method according to the present disclosure, as shown in Figure 3:

[0058] Step S301: Based on multiple point cloud data, obtain merged point cloud data corresponding to a preset coordinate system.

[0059] The preset coordinate system can be of various types. For example, as shown in Figure 2B, the preset coordinate system uses the tunneling direction of the tunneling machine as the positive X-axis, the downward movement direction of the lifting device 25 as the positive Z-axis, and the direction perpendicular to the X-axis-Z-axis plane and to the right as the positive Y-axis. After obtaining multiple laser data collected by multiple lidar sensors 22, various existing methods can be used to obtain merged point cloud data of the multiple laser data in the preset coordinate system. Unless otherwise specified in this disclosure, the coordinate system generally refers to the coordinate system in Figure 2B.

[0060] Step S302: Using the first recognition model and based on the merged point cloud data, obtain first information and second information.

[0061] The first recognition model can be a variety of pre-trained machine learning models, such as a convolutional neural network model. The merged point cloud data is input into the first recognition model to obtain first and second information output by the model. The first information includes the number of tunnel segments, the coordinates of the tunnel segments, the maximum height of the tunnel segments, and the height of the first transport vehicle, etc.; the second information includes the coordinates of the lifting equipment, etc.

[0062] Multiple LiDARs are used to collect point cloud data and fuse the data to unify them into a single coordinate system, generating merged point cloud data. The first recognition model is used to locate and identify segments, segment vehicles, and lifting devices in the merged point cloud data. If it is determined that there are no segments on the segment vehicle, the control operation is terminated.

[0063] The lifting device's operating path and rotation information can be determined using various methods. Based on the segment grabbing sequence rules, the segment's coordinate information, the height information of the first transport vehicle, the segment's maximum height information, and the lifting device's coordinate information, multiple methods can be used to determine the lifting device's operating path and rotation information. The grabbing sequence rules can be varied, for example, grabbing from left to right or from top to bottom. The lifting device's operating path includes the distance the lifting device moves relative to the horizontal coordinate axis of the coordinate system and the lifting device's lifting and lowering position information; the lifting device's rotation information includes the lifting device's rotation angle, etc.; unless otherwise specified in this disclosure, the lifting device's rotation generally refers to the lifting device's rotation around the Z-axis of the coordinate system; the horizontal coordinate axis can be the X-axis and Y-axis of the coordinate system.

[0064] Based on the first recognition model, first information about the tunnel segments and second information about the lifting device are obtained. The first information includes the number of tunnel segments, the maximum height of each segment, the coordinates of the segments (which can be the positioning center for segment grabbing), and the height of the segment vehicle. The second information includes the coordinates of the lifting device. The horizontal coordinate axis movement distance in the lifting device's running path includes the X-axis movement distance and the Y-axis movement distance.

[0065] For example, the first information includes the total number of segment stacks N on the segment truck (segment quantity information), the maximum distance Hmax of the top segment in each stack (segment maximum height information), the coordinates of the segment grabbing center [[X1,Y1,Z1],...] (segment coordinate information), and the height Hc of the segment truck (height information of the first transport vehicle), etc.; the second information includes the coordinate information of the lifting device. Based on the grabbing sequence rules from left to right and from top to bottom, and according to the first and second information, the lifting device's running path and rotation information can be determined.

[0066] Multiple lidar sensors 22 can be arranged in a predetermined manner on the top and around the trailer 21. The multiple lidar sensors 22 can work together to collect point cloud data of the working space of the segment crane and the segment vehicle 24 in real time. Based on the point cloud data, all segments on the segment vehicle can be identified in real time. The target coordinate information of the segment to be grabbed, the height of the segment vehicle head, the maximum height of each segment, etc. can be obtained. The lifting device's running path and rotation information from the initial position to the target segment can be determined.

[0067] By acquiring the global segment coordinate information and the lifting equipment operating space information, the spatial coordinate information for the coordinated execution of multiple actions of the lifting equipment can be planned; based on the lifting equipment running path and lifting equipment rotation information, the lifting equipment forward, backward, left and right translation, lifting equipment rotation and lifting actions can be controlled to be executed individually or multiple actions can be executed simultaneously.

[0068] Figure 4 is a flowchart illustrating the process of controlling the lifting device to reach the segment grabbing waiting position in some embodiments of the segment lifting control method according to this disclosure, as shown in Figure 4:

[0069] Step S401: Based on the horizontal coordinate axis movement distance, the lifting position information of the spreader, and the operating speed of the spreader's translation mechanism and lifting mechanism, determine the translation time and lifting time of the spreader.

[0070] The lifting device includes a translation mechanism, a lifting mechanism, and a rotation mechanism, which can be existing mechanisms. By controlling the translation mechanism, the lifting device can be moved in the X and Y axis directions; by controlling the lifting mechanism, the lifting device can be moved in the Z axis direction; and by controlling the rotation mechanism, the lifting device can be rotated, that is, rotated around the Z axis.

[0071] Step S402: Based on the translation time, lifting time, lifting tool running path and lifting tool rotation information, control the lifting tool to reach the segment grabbing waiting position.

[0072] When the translation time is greater than or equal to the lifting time, the translation mechanism, lifting mechanism and lifting mechanism are controlled to operate based on the horizontal coordinate axis movement distance, lifting position information of the spreader and the rotation angle of the spreader, so that the spreader reaches the segment grabbing waiting position.

[0073] When the translation time is less than the lifting time, the time difference between the translation time and the lifting time is determined. After controlling the lifting mechanism to run ahead of time based on the lifting position information of the spreader, the translation mechanism, lifting mechanism and rotation mechanism are controlled to operate based on the horizontal coordinate axis movement distance, the lifting position information of the spreader and the rotation angle of the spreader, so that the spreader reaches the segment grabbing waiting position.

[0074] For example, the time required for the spreader to move along the negative X-axis is determined as TX1 (translation time), the time required for the spreader to move along the Y-axis is TY1, the time required for the spreader to rotate to the target position is TR1, and the time required for the spreader to rise or fall is TZ1 (lifting time). If TX1 is less than TY1, TX1 is determined as the translation time. If TX1 is greater than or equal to TZ1, the translation, lifting, and rotation mechanisms of the spreader are controlled simultaneously to move towards the target position. If TX1 is less than TZ1, the spreader is first lifted by ((TZ1-TX1)*spreader lifting speed) meters, i.e., the lifting mechanism is controlled to advance the running time difference (TZ1-TX1), and then the translation, lifting, and rotation mechanisms of the spreader are controlled simultaneously to move towards the target position. This can avoid safety issues during the operation of the spreader.

[0075] Figure 5 is a schematic diagram of the process of the control lifting device grabbing the segment according to some embodiments of the segment lifting control method of this disclosure, as shown in Figure 5:

[0076] Step S501: Acquire a first image using a first camera, wherein a first positioning target is set on the lifting device and a second positioning target is set on the segment.

[0077] The first camera can be a binocular camera or other types of cameras, and it can be installed in various locations; for example, it can be mounted on a lifting device. The first and second positioning targets can be positioning pins, positioning holes, etc.

[0078] 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).

[0079] Step S503: Based on the operation control information of the lifting device, control the operation of the lifting device so that the deviation between the first positioning target and the second positioning target meets the lifting device grabbing conditions, and control the lifting device to grab the segment when the deviation meets the lifting device grabbing conditions.

[0080] The deviation between the first and second positioning targets can be the distance deviation between them on the X and Y axes, as well as the angular deviation between them. The lifting device can be set to a condition where the deviation between the first and second positioning targets is less than a preset deviation threshold. If the deviation between the first and second positioning targets satisfies the lifting device's grasping condition, it indicates that the first and second positioning targets are aligned.

[0081] The first camera can be set at the lower part of the lifting device. By acquiring the first image through the first camera and using the second recognition model, the positioning and recognition of the segment grabbing can be performed to obtain the Y-axis translation distance, rotation angle and X-axis movement distance of the lifting device. The second recognition model can be a variety of pre-trained machine learning models, such as a convolutional neural network model.

[0082] The first image is acquired by the first camera and input into the second recognition model to obtain the position information of the first and second positioning targets output by the second recognition model, as well as the operation control information of the lifting device. The operation control information of the lifting device includes the movement information of the lifting device in the X-axis, Y-axis and Z-axis directions, as well as the rotation angle of the lifting device (rotation angle around the Z-axis), etc.

[0083] Based on the position information of the first positioning target and the second positioning target, the deviations between the first positioning target and the second positioning target are 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.

[0084] Multiple control methods can be used to control the spreader's operation to reduce DX, DY, and DR. It is determined whether the deviation between the first and second positioning targets meets the spreader's grasping conditions. If the conditions are met, the spreader is controlled to grasp the tunnel segment based on its operation control information. The spreader's grasping conditions can be that the deviations DX, DY, and DR are all less than their corresponding deviation thresholds.

[0085] Figure 6 is a schematic diagram of the process of placing tunnel segments using a control lifting device according to some embodiments of the tunnel segment hoisting control method of the present disclosure, as shown in Figure 6:

[0086] Step S601: Based on the maximum height information of the tunnel segment and the height information of the first transport vehicle, determine the safe lifting height value of the lifting device after grabbing the tunnel segment.

[0087] Based on the maximum height information of the tunnel segment obtained through point cloud data and the height information of the first transport vehicle, various existing strategies can be used to determine the safe lifting height value of the spreader after grabbing the tunnel segment; alternatively, the safe lifting height value of the spreader after grabbing the tunnel segment can be output through the first recognition model.

[0088] Step S602: Control the lifting device to rise to the safe lifting height value.

[0089] After the spreader grabs a segment, it is raised to a safe lifting height to prevent collision between the spreader and the segment.

[0090] Step S603: Based on the current position information of the spreader and the position information of the waiting area of ​​the tunnel segment, control the spreader to reach the waiting area position.

[0091] The waiting area location information for the tunnel segment can be predetermined based on various existing strategies, or it can be output using a first recognition model. Based on the current position information of the lifting device and the waiting area location information of the tunnel segment, the differences between the current position information of the lifting device and the waiting area location are determined as DX2, DY2, DR2, and DZ2. DX2, DY2, and DZ2 are the differences between the current position information of the lifting device and the waiting area location on the X, Y, and Z axes, respectively, and DR2 is the angle information that the lifting device needs to rotate. Multiple mechanisms of the lifting device are controlled to operate simultaneously at maximum speed until the lifting device reaches the waiting area location.

[0092] Step S604: Acquire a second image corresponding to the target placement position using the second camera, and control the lifting device to place the segment at the target placement position based on the second image.

[0093] The second camera can be a stereo camera or other types of cameras, and can be set in multiple locations to acquire a second image corresponding to the target placement location. Various methods can be used to control the lifting device to place the tunnel segment at the target placement location based on the second image.

[0094] Figure 7 is a schematic flowchart of placing tunnel segments using a second image-controlled lifting device in some embodiments of the tunnel segment hoisting control method according to the present disclosure, as shown in Figure 7:

[0095] Step S701: Using the third recognition model and based on the second image, obtain the spreader control information for the spreader to reach the target placement position.

[0096] The spreader control information includes the spreader's first translation information, first vertical movement information, and first spreader rotation information; a marker is set at the target placement position, which can be a positioning pin, positioning hole, etc. Using a third recognition model and based on the second image, the coordinate information of the target placement position (e.g., the coordinate information of the marker) and the rotation angle of the spreader can be determined through visual recognition technology.

[0097] Step S702: Based on the safe descent height information of the tunnel segment, the first vertical movement information is corrected to obtain new lifting device control information.

[0098] Step S703: Based on the new spreader control information and the first vertical movement information, control the spreader to place the segment at the target placement position.

[0099] The third recognition model can be a variety of pre-trained machine learning models, such as a convolutional neural network model. The second image is input into the third recognition model for processing. If there is no segment at the target placement location, the lifting device control information output by the third recognition model is obtained. If a segment already exists at the target placement location, control processing is stopped and a prompt message is sent to the operator.

[0100] The spreader control information includes the first translation information, the first vertical movement information, and the first 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 rotation information includes the rotation angle R2 of the target placement position; that is, the spreader control information is [X2, Y2, Z2, R2].

[0101] The safe descent height information of the tunnel segment can be preset to Z21, or the safe descent height information of the tunnel segment can be output as Z21 through the third recognition model. Based on the safe descent height Z21 of the tunnel segment placement, the first vertical movement information is corrected to obtain the new lifting device control information as [X2, Y2, Z2-Z21, R2].

[0102] Based on the new lifting device control information [X2, Y2, Z2-Z21, R2], multiple mechanisms of the lifting device operate simultaneously to control the lifting device to reach the predetermined target height. After the lifting device reaches the predetermined target height, based on the first vertical movement information Z21, the lifting device is controlled to perform a descent action to place the tunnel segment at the target placement position. When the lifting device reaches the target placement position, the detection device sends a signal; upon receiving the signal, the lifting device's grippers open, and the lifting device is controlled to rise to the set target height, completing the lifting operation.

[0103] After the spreader grabs the segment, the minimum safe lifting height of the segment crane is determined based on the spreader's working space information and the segment's position on the segment vehicle. Then, the spreader is controlled to lift to the target lifting height. Once the spreader reaches the target height, the spreader is controlled to simultaneously perform descent, forward movement, rotation, and translation operations according to the segment placement position, so that the spreader moves to the waiting area for placing the segment.

[0104] After the spreader arrives at the waiting area, it is determined whether there are any segments on the segment transport trolley and whether the target placement position has been moved into place. If so, based on the new spreader control information and the first vertical movement information, the spreader is controlled to perform operations such as descent, forward movement, rotation and translation, so that the spreader places the segment at the target placement position.

[0105] Figure 8 is a flowchart illustrating the control of the lifting device to reach the initial position in some embodiments of the segment hoisting control method according to the present disclosure, as shown in Figure 8:

[0106] Step S801: Based on the position information of the spreader and the initial position information, 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 rotation information of the spreader.

[0107] Step S802: Based on the initial control information, control the spreader to reach the initial position.

[0108] The spreader is initialized and enters automatic control mode, controlling its movement to the preset initial position. The coordinates of the current and initial positions are compared to determine the initial control information. This initial control information includes the spreader's second translation, second vertical movement, and second rotation. 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 rotation information includes the spreader's rotation angle R1.

[0109] Several methods can be used to control the spreader to reach its initial position based on initial control information. For example, based on the movement speed of each mechanism of the spreader, the movement distance L2 along the X-axis, L1 along the Y-axis, L3 along the Z-axis, and the rotation angle R1 of the spreader, the corresponding movement times T1, T2, T3, and T4 are calculated. If T1 is greater than T2, based on 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 simultaneously controlled to perform movement along the X, Y, and Z axes, as well as rotation around the Z-axis, moving towards 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 simultaneously controlled to perform movement along the X, Y, and Z axes, as well as rotation around the Z-axis, moving towards the initial position.

[0110] After the control spreader places one segment from the first transport vehicle into the target placement position in the second transport vehicle, the above segment lifting control method is repeated until the control spreader has picked up all the segments from the first transport vehicle and placed them into the target placement position in the second transport vehicle.

[0111] The segment hoisting control method in the above embodiments can perform global detection of the segment working space, precise control of hoisting, and linkage control of multiple hoisting actions. It can achieve efficient hoisting of segments, improve the efficiency of automatic segment hoisting, effectively enhance the safety of segment hoisting equipment movement, improve tunnel construction efficiency, and ensure construction safety.

[0112] In some embodiments, as shown in FIG9, this disclosure provides a segment hoisting control device 90, which is applied to tunnel excavation equipment. The segment hoisting 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.

[0113] Point cloud acquisition module 91 acquires point cloud data of the lifting device, the first transport vehicle, and the tunnel segment located in the first transport vehicle, wherein the lifting device is located at the initial position. Information acquisition module 92 obtains first information of the tunnel segment and second information of the lifting device based on the point cloud data. Path planning module 93 determines the lifting device's running path and rotation information based on the first and second information.

[0114] The first control module 94 controls the spreader to reach the segment grabbing waiting position based on the spreader's running path and 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.

[0115] In some embodiments, the point cloud acquisition module 91 determines the initial control information of the lifting device based on its position information and the initial position information. The initial control information includes the second translation information, the second vertical movement information, and the second rotation information of the lifting device. The point cloud acquisition module 91 controls the lifting device to reach the initial position according to the initial control information. The point cloud acquisition module 91 uses multiple lidar sensors to acquire data from the lifting device, the first transport vehicle, and the tunnel segment, obtaining multiple point cloud data sets.

[0116] 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 the merged point cloud data to obtain first information and second information. The first information includes the number of 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 lifting device.

[0117] The path planning module 93 determines the lifting device's running path and rotation information based on the segment grabbing sequence rules, the segment's coordinate information, the height information of the first transport vehicle, the segment's maximum height information, and the lifting device's coordinate information. The lifting device's running path includes the distance the lifting device moves relative to the horizontal coordinate axis of the coordinate system and the lifting device's lifting position information. The lifting device's rotation information includes the lifting device's rotation angle.

[0118] The first control module 94 determines the translation time and lifting time of the lifting device based on the horizontal coordinate axis movement distance, the lifting position information of the lifting device, and the operating speed of the translation mechanism and the lifting mechanism of the lifting device; the first control module 94 controls the lifting device to reach the segment grabbing waiting position according to the translation time, lifting time, lifting device running path and lifting device rotation information.

[0119] 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 lifting mechanism based on the horizontal coordinate axis movement distance, the lifting position information of the lifting device and the rotation angle of the lifting device, so as to make the lifting device reach the segment grabbing waiting position.

[0120] 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 ahead of time based on the lifting position information of the spreader, the first control module 94 controls the operation of the translation mechanism, the lifting mechanism and the rotation mechanism based on the horizontal coordinate axis movement distance, the lifting position information of the spreader and the rotation angle of the spreader, so that the spreader reaches the segment grabbing waiting position.

[0121] The second control module 95 acquires a first image through a first camera, wherein a first positioning target is set on the lifting device and a second positioning target is set on the tunnel segment; the second control module 95 uses a second recognition model and based on the first image to obtain the position information of the first positioning target and the second positioning target, and determines the operation control information of the lifting device; based on the operation control information of the lifting device, the second control module 95 controls the operation of the lifting device so that the deviation between the first positioning target and the second positioning target meets the lifting device's grasping conditions, and when the deviation meets the lifting device's grasping conditions, controls the lifting device to grasp the tunnel segment.

[0122] The third control module 96 determines the safe lifting height value of the spreader after grabbing the segment based on the maximum height information of the tunnel segment and the height information of the first transport vehicle; the third control module 96 controls the spreader to rise to the safe lifting height value; the third control module 96 controls 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 tunnel segment; the third control module 96 acquires a second image corresponding to the target placement position through the second camera, and controls the spreader to place the tunnel segment at the target placement position based on the second image.

[0123] The third control module 96 uses a third recognition model and the second image to obtain the lifting control information of the lifting device reaching the target placement position. The lifting control information includes the first translation information, the first vertical movement information, and the first rotation information of the lifting device. The third control module 96 corrects the first vertical movement information according to the safe descent height information of the tunnel segment to obtain new lifting control information. Based on the new lifting control information and the first vertical movement information, the third control module 96 controls the lifting device to place the tunnel segment at the target placement position.

[0124] In some embodiments, as shown in FIG10, this 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, and the processor 1001 is coupled to the memory 1002. The processor 1001 is configured to execute the segment hoisting control method described above based on the instructions stored in the memory 1002.

[0125] The memory 1002 can be a high-speed RAM, non-volatile memory, or a memory array. The memory 1002 may also be divided into blocks, and these blocks can be combined into virtual volumes according to certain rules. The processor 1001 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the pipe hoisting control method of this disclosure.

[0126] In some embodiments, this disclosure provides a tunnel excavation device, including the segment hoisting control device as described in any of the above embodiments. The tunnel excavation device may be a tunnel boring machine, etc.

[0127] In some embodiments, this disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the methods as described in any of the foregoing embodiments.

[0128] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (not an exhaustive list) of readable storage media may include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0129] Embodiments of this disclosure may also be computer program products, including computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this disclosure described in the "Exemplary Methods" section above.

[0130] The segment hoisting control method, device, tunnel excavation equipment, storage medium, and computer program product in the above embodiments collect point cloud data of the lifting device, the first transport vehicle, and the segments located in the first transport vehicle using lidar. Based on the point cloud data, the segments are identified and located, and the lifting device is controlled to hoist the segments to the target placement position. It can perform global detection of the segment working space, perform precise control of hoisting, and perform linkage control of multiple hoisting actions, which can achieve efficient hoisting of segments, improve the efficiency of automatic segment hoisting, effectively improve the safety of segment lifting device movement, improve tunnel construction efficiency, ensure construction safety, and improve the user experience.

[0131] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0132] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0133] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0134] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0135] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0136] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although several exemplary aspects and embodiments have been discussed above, those skilled in the art will understand that the above embodiments are illustrative only and do not limit the scope of this disclosure. Those skilled in the art will understand that the above embodiments can be combined, modified, or replaced without departing from the scope and spirit of this disclosure.

Claims

1. A segment hoisting control method, applied to tunnel excavation equipment, the tunnel excavation equipment including a trailer, a first transport vehicle, a second transport vehicle, and a hoisting device, the method comprising: Point cloud data of the lifting device, the first transport vehicle, and the pipe segment located in the first transport vehicle are collected, wherein the lifting device is located at the initial position; Based on the point cloud data, the first information of the tunnel segment and the second information of the lifting device are obtained; Based on the first information and the second information, the lifting tool's running path and rotation information are determined; Based on the lifting device's running path and rotation information, the lifting device is controlled to reach the segment grabbing waiting position; Based on a first image corresponding to the lifting device and the tunnel segment, the lifting device is controlled to grab the tunnel segment; The spreader is controlled to place the segment at the target location in the second transport vehicle.

2. The segment hoisting control method as described in claim 1, wherein, The trailer is equipped with multiple lidar sensors; The point cloud data collected from the lifting device, the first transport vehicle, and the pipe segment located in the first transport vehicle includes: The multiple lidar sensors are used to collect data from the lifting device, the first transport vehicle, and the tunnel segment, thereby obtaining multiple point cloud data.

3. The segment hoisting control method as described in claim 2, wherein, The step of obtaining the first information of the tunnel segment and the second information of the lifting device based on the point cloud data includes: Based on the multiple point cloud data, merged point cloud data corresponding to a preset coordinate system is obtained; Using the first recognition model and based on the merged point cloud data, the first information and the second information are obtained; The first information includes the quantity of the tunnel segments, the coordinates of the tunnel segments, the maximum height of the tunnel segments, and the height of the first transport vehicle; the second information includes the coordinates of the lifting device.

4. The segment hoisting control method as described in claim 3, wherein, The step of determining the lifting tool's running path and rotation information based on the first information and the second information includes: Based on 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 lifting device, the running path of the lifting device and the rotation information of the lifting device are determined. The lifting device's running path includes the horizontal coordinate axis movement distance of the lifting device relative to the coordinate system and the lifting device's lifting position information; the lifting device's rotation information includes the lifting device's rotation angle.

5. The segmental pipe hoisting control method as claimed in claim 4, wherein The step of controlling the lifting device to reach the segment grabbing waiting position based on the lifting device's running path and rotation information includes: Based on the horizontal coordinate axis movement distance, the lifting position information of the lifting device, and the operating speed of the translation mechanism and lifting mechanism of the lifting device, the translation time and lifting time of the lifting device are determined; Based on the translation time, the lifting time, the lifting tool's running path, and the lifting tool's rotation information, the lifting tool is controlled to reach the segment grabbing waiting position.

6. The segment hoisting control method as described in claim 5, wherein, The step of controlling the lifting device to reach the segment grabbing waiting position based on the translation time, the lifting time, the lifting device running path, and the lifting device rotation information includes: If 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 lifting device, and the rotation angle of the lifting device, the translation mechanism, the lifting mechanism, and the rotation mechanism of the lifting device are controlled to operate so that the lifting device reaches the segment grabbing waiting position; If the translation time is less than the lifting time, the time difference between the translation time and the lifting time is determined; after controlling the lifting mechanism to run ahead of the time difference based on the lifting position information of the spreader, the translation mechanism, the lifting mechanism and the rotation mechanism are controlled to run based on the horizontal coordinate axis movement distance, 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 segment hoisting control method as described in claim 5 or 6, wherein, The lifting device is equipped with a first camera, and controlling the lifting device to grasp the tunnel segment based on a first image corresponding to the lifting device and the tunnel segment includes: The first image is acquired by the first camera, wherein a first positioning target is set on the lifting device and a second positioning target is set on the tube segment; Using a second recognition model and based on the first image, the position information of the first positioning target and the second positioning target is obtained, and the operation control information of the lifting device is determined. Based on the operation control information of the lifting device, the operation of the lifting device is controlled so that the deviation between the first positioning target and the second positioning target meets the lifting device's gripping conditions, and when the deviation meets the lifting device's gripping conditions, the lifting device is controlled to grip the segment.

8. The segmental pipe hoisting control method as claimed in claim 7, wherein The step of controlling the lifting device to place the segment at the target placement position in the second transport vehicle includes: Based on the maximum height information of the tunnel segment and the height information of the first transport vehicle, the safe lifting height value of the lifting device after grabbing the tunnel segment is determined; Control the lifting device to rise to the safe lifting height value; Based on the current position information of the lifting device and the position information of the waiting area of ​​the tunnel segment, the lifting device is controlled to reach the waiting area position; A second image corresponding to the target placement position is acquired by a second camera, and the lifting device is controlled to place the segment at the target placement position based on the second image.

9. The segment hoisting control method as described in claim 8, wherein, The step of controlling the lifting device to place the segment at the target placement position based on the second image includes: Using a third recognition model and based on the second image, the spreader control information is obtained as the spreader reaches the target placement position; wherein, the spreader control information includes the spreader's first translational information, first vertical movement information, and first spreader rotation information; Based on the safe descent height information of the tunnel segment, the first vertical movement information is corrected to obtain new lifting device control information; Based on the new lifting device control information and the first vertical movement information, the lifting device is controlled to place the segment at the target placement position.

10. The segment hoisting control method according to any one of claims 1 to 9, further comprising: Based on the position information of the spreader and the position information of the initial position, the initial control information of the spreader is determined, wherein the initial control information includes the second translation information, the second vertical movement information and the second rotation information of the spreader; Based on the initial control information, the spreader is controlled to reach the initial position.

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

12. A segment hoisting control device, comprising: Memory; And a processor coupled to the memory, the processor being configured to perform the method as described in any one of claims 1 to 10 based on instructions stored in the memory.

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

14. A computer-readable storage medium storing computer instructions that are executed by a processor according to any one of claims 1 to 10.

15. A computer program product storing computer instructions which are executed by a processor using the method as described in any one of claims 1 to 10.

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