摘要：【中文】本发明公开了一种始发端头加固区孤石处理方法，根据始发端头加固区孤石情况，对孤石爆破、旋挖钻机械处理、潜孔密布孔破碎三种孤石处理方式进行对比分析，确定始发端头加固区孤石处理主要采取潜孔密度孔破碎的施工方法，实现了盾构施工的安全顺利进行。 【EN】The invention discloses a boulder processing method for a starting end reinforcing area, which is characterized in that three boulder processing modes of boulder blasting, rotary drilling mechanical processing and down-hole dense hole crushing are compared and analyzed according to the boulder situation of the starting end reinforcing area, a construction method that down-hole dense hole crushing is mainly adopted for determining the boulder processing of the starting end reinforcing area is used, and shield construction is safely and smoothly carried out.

摘要：【中文】本发明公开了一种仓内孤石的处理方法，对于硬度较高，体积较大的孤石，孤石周边土体无法提供足够握裹力时，导致盾构不能直接掘进通过，应立即停止推进并锁定千斤顶，防止盾构后退；根据仓内孤石分布情况，采用液压割锯、岩石分裂机进行孤石处理，再利用倒链通过孤石捆绑后，人工打捞出仓；通过控制措施进一步实现了盾构施工的安全顺利进行。 【EN】The invention discloses a method for treating boulders in a warehouse, which is characterized in that when soil around boulders with higher hardness and larger volume cannot provide enough gripping force, a shield cannot be directly tunneled and passed, and the propulsion should be stopped immediately and a jack should be locked to prevent the shield from retreating; according to the distribution condition of the boulders in the bin, a hydraulic cutting saw and a rock splitter are adopted for boulder treatment, and then a chain block is utilized to be bound through the boulders, and the boulders are manually fished out of the bin; the safe and smooth shield construction is further realized through control measures.

摘要：【中文】本发明提供了一种电力检修作业平台及电力检修车，涉及电力检修技术领域。电力检修作业平台上设置有绝缘斗、驱动装置和作业机器人，驱动装置与绝缘斗连接，驱动装置的活动外端与作业机器人连接，用于带动作业机器人相对于绝缘斗运动。当整个电力检修作业平台被提升到一定位置时，绝缘斗可以不再运动，而单独的移动作业机器人，将其调整至合适的位置，在移动的过程中，作业机器人更容易移动到检修位置，并且，因为作业机器人可以相对于绝缘斗进行移动，所以，绝缘斗内的工作人员也可以通过调整绝缘斗和作业机器人的相对位置，找到更加容易观测到待检修的位置，避免操作过程中被作业机器人遮挡视线。 【EN】The invention provides an electric power overhaul operating platform and an electric power overhaul vehicle, and relates to the technical field of electric power overhaul. Be provided with insulating fill, drive arrangement and work robot on the electric power overhauls work platform, drive arrangement is connected with insulating fill, and drive arrangement's activity outer end is connected with work robot for take action robot to fight the motion for insulating. When whole electric power overhauls work platform is promoted a certain position, insulating fill can no longer move, and the solitary action robot that moves, adjust it to suitable position, at the in-process that removes, the operation robot moves the maintenance position more easily, and, because the operation robot can move for insulating fill, so, staff in the insulating fill also can be through the relative position of adjusting insulating fill and operation robot, find and observe the position of waiting to overhaul more easily, avoid sheltering from the sight by operation robot in the operation process.

摘要：【中文】本发明公开了一种盾构施工中基岩凸起地层处理方法，该方法包括打爆破孔、在爆破孔中装入乳化炸药、对爆破孔进行防护及压盖、起爆、在爆破孔位置注浆这几个步骤；其中注浆步骤包括布孔‑钻孔作业‑封闭泥浆置换‑袖阀管安设‑置换套壳料‑注浆施工‑注浆顺序等步骤，在袖阀管插入过程中要边插入边灌入清水，保持管内外的压力平衡，减少管的浮力，利于下管；采用特定配比的套壳料，在孔口部位2～3m范围采用水泥砂浆封孔，取得更好的封闭效果。减少基岩爆破对施工带来的影响，确保盾构机作业时不发生冒浆、坍塌，提高施工过程的安全性。 【EN】The invention discloses a method for treating a bedrock raised stratum in shield construction, which comprises the steps of blasting a blast hole, filling emulsion explosive into the blast hole, protecting and capping the blast hole, detonating and grouting at the position of the blast hole; the grouting step comprises the steps of hole distribution, drilling operation, closed mud replacement, sleeve valve pipe installation, sleeve material replacement, grouting construction, grouting sequence and the like, wherein clear water is poured while inserting the sleeve valve pipe in the inserting process, so that the pressure balance inside and outside the pipe is kept, the buoyancy of the pipe is reduced, and the pipe can be lowered conveniently; the casing material with a specific proportion is adopted, cement mortar is adopted to seal the hole in the 2-3 m range of the orifice, and a better sealing effect is obtained. The influence of bedrock blasting on construction is reduced, slurry leakage and collapse are avoided during operation of the shield tunneling machine, and the safety of the construction process is improved.

摘要：【中文】本发明公开了一种隧道的明挖结构控制及管片预制拼装方法，包括：建设防护围墙、明挖结构建设、管片拼装步骤；另外，从明挖结构和管片预制和拼装方面进行详细规定，从而实现管片和隧道砼结构的良好耐久性和裂缝控制，解决了管片和隧道砼结构的耐久性和裂缝问题，基本消除管片和砼结构对隧道整体质量和安全的影响。 【EN】The invention discloses a tunnel open cut structure control and duct piece prefabrication and assembly method, which comprises the following steps: building a protective enclosing wall, building an open cut structure and assembling segments; in addition, detailed regulations are carried out in the aspects of prefabricating and assembling the open cut structure and the duct pieces, so that the good durability and crack control of the duct pieces and the tunnel concrete structure are realized, the problems of the durability and the crack of the duct pieces and the tunnel concrete structure are solved, and the influence of the duct pieces and the concrete structure on the overall quality and the safety of the tunnel is basically eliminated.

摘要：【中文】本发明公开了一种加固区外孤石处理方法，根据加固区外孤石、基岩突起段的大小、厚度、分布、强度，加固区外孤石主要采用旋挖钻机机械处理+爆破处理方法，对于粒径大于1米的孤石首选采用旋挖钻机取出的方法，若处理效果不好和工期长，则采用深孔控制爆破处理的方法。结合实际工程情况，确定了旋挖钻机机械处理+爆破处理方法的具体工艺，确保盾构施工的安全顺利进行。 【EN】The invention discloses a method for treating boulders outside a reinforced area, which mainly adopts a rotary drilling rig mechanical treatment and blasting treatment method according to the size, thickness, distribution and strength of boulders outside the reinforced area and protruding sections of bedrock, a rotary drilling rig taking-out method is preferably adopted for boulders with particle sizes larger than 1m, and a deep hole blasting treatment method is adopted if the treatment effect is poor and the construction period is long. The concrete process of the mechanical treatment and blasting treatment method of the rotary drilling rig is determined by combining the actual engineering situation, and the safe and smooth shield construction is ensured.

摘要：【中文】本发明提供了单臂带电作业机器人的人机交互系统和人机协同系统，包括：执行器、工控机和机器人控制柜，执行器和机器人控制柜分别与工控机相连接，其中，执行器包括人机交互平板；人机交互平板用于获取作业人员的操作指令信息；工控机用于根据操作指令信息获取作业流程信息；机器人控制柜用于接收工控机发送的作业流程信息，根据作业流程信息控制机器人执行相应操作，并将响应信息发送给工控机，以使工控机将响应信息发送给人机交互平板；其中，响应信息为机器人根据作业流程信息执行的过程信息，可以通过人机交互平板实现人机协同的作业方式，从而更好的观察作业环境和作业流程，及时发现问题和解决问题，以及降低操作步骤的复杂程度。 【EN】The invention provides a human-computer interaction system and a human-computer cooperation system of a single-arm live working robot, which comprise: the system comprises an actuator, an industrial personal computer and a robot control cabinet, wherein the actuator and the robot control cabinet are respectively connected with the industrial personal computer, and the actuator comprises a human-computer interaction panel; the human-computer interaction panel is used for acquiring operation instruction information of an operator; the industrial personal computer is used for acquiring operation flow information according to the operation instruction information; the robot control cabinet is used for receiving the operation flow information sent by the industrial personal computer, controlling the robot to execute corresponding operation according to the operation flow information, and sending response information to the industrial personal computer so that the industrial personal computer sends the response information to the human-computer interaction panel; the response information is process information executed by the robot according to the operation flow information, and a man-machine cooperative operation mode can be realized through the man-machine interaction panel, so that the operation environment and the operation flow can be better observed, problems can be timely found and solved, and the complexity of operation steps can be reduced.

摘要：【中文】本发明提供了定位导引装置、定位系统和方法及电子设备，上述定位导引装置包括：差分GPS导引模块和导引辅助模块；其中，导引辅助模块包括激光测距传感器，且，激光测距传感器设置在末端作业工具上；差分GPS导引模块用于对待作业目标进行定位，以得到待作业目标相应的导引点的坐标信息；导引辅助模块用于通过激光测距传感器检测末端作业工具与待作业目标的距离，并根据距离对导引点的坐标信息进行修正，得到修正后的导引点的位置信息。本发明可以缓解现有的带电作业机器人定位系统采集数据存在缺失及不准确性的技术问题，且，实现了定位系统的误差修正。 【EN】The invention provides a positioning guide device, a positioning system and a method and an electronic device, wherein the positioning guide device comprises: the GPS navigation system comprises a differential GPS navigation module and a navigation auxiliary module; the guiding auxiliary module comprises a laser ranging sensor, and the laser ranging sensor is arranged on the tail end operation tool; the differential GPS guiding module is used for positioning the target to be operated so as to obtain the coordinate information of the corresponding guiding point of the target to be operated; the guiding auxiliary module is used for detecting the distance between the tail end operation tool and the target to be operated through the laser ranging sensor, and correcting the coordinate information of the guiding point according to the distance to obtain the corrected position information of the guiding point. The invention can relieve the technical problems of data acquisition loss and inaccuracy of the existing positioning system of the live working robot, and realizes the error correction of the positioning system.

摘要：【中文】本发明提供了带电作业机器人的导引系统和方法，包括：机械臂、控制面板、摄像头、工控机和绝缘导引杆，其中，绝缘导引杆上设置有靶标；摄像头用于接收所述控制面板发送的开启信息，并根据开启信息采集绝缘导引杆移动至目标位置时的当前图像信息；工控机，用于将当前图像信息进行处理，计算当前靶标的大小和当前靶标的边长；将当前靶标的大小与预存的靶标的大小进行比较，得到比较结果，以及根据当前靶标的边长计算旋转角度；根据比较结果或旋转角度控制机械臂执行相应的操作，直至机械臂到达目标位置，可以通过导引的方式，使带电作业机器人在恶劣环境下，准确识别作业目标。 【EN】The invention provides a guide system and a method of an electric working robot, comprising the following steps: the device comprises a mechanical arm, a control panel, a camera, an industrial personal computer and an insulating guide rod, wherein a target is arranged on the insulating guide rod; the camera is used for receiving the starting information sent by the control panel and acquiring the current image information when the insulating guide rod moves to the target position according to the starting information; the industrial personal computer is used for processing the current image information and calculating the size of the current target and the side length of the current target; comparing the size of the current target with the size of a pre-stored target to obtain a comparison result, and calculating a rotation angle according to the side length of the current target; and controlling the mechanical arm to execute corresponding operation according to the comparison result or the rotation angle until the mechanical arm reaches the target position, so that the live working robot can accurately identify the working target in a severe environment in a guiding manner.

摘要：【中文】本发明提供了一种电力检修设备，涉及电力检修设备技术领域，所述电力检修设备包括：定位装置，定位装置包括导引机构，导引机构上连接有绝缘杆；定位装置用于采集导引机构所在位置的位置信息和姿态信息，并将位置信息和姿态信息发送给作业机器人。通过人工引导作业机器人到达指定位点，缓解了现有技术中，单纯依靠视觉设备所造成的阳光下产生的图像缺失，以及作业环境复杂妨碍视觉设备对作业点位置的图像采集的问题。该设备对环境的要求低，定位准确。 【EN】The invention provides electric power overhaul equipment, and relates to the technical field of electric power overhaul equipment, wherein the electric power overhaul equipment comprises: the positioning device comprises a guide mechanism, and an insulating rod is connected to the guide mechanism; the positioning device is used for acquiring position information and posture information of the position where the guide mechanism is located and sending the position information and the posture information to the operating robot. The working robot is guided to reach the designated site manually, so that the problems that in the prior art, images generated under sunlight are lacked only by virtue of visual equipment, and the operating environment is complex and the visual equipment is prevented from acquiring the images of the operating point position are solved. The equipment has low requirement on environment and accurate positioning.