摘要：【中文】本发明公开了一种海上大直径钢管立桩方法及其立桩装置，其包括桩导架、吊装机构、打桩架、调直机构以及定位机构，其采用在打桩导架上安装吊桩辅助装置，钩住钢管桩底部，采用外部起重设备钩住钢管桩起吊部位，吊桩辅助装置钢丝绳缓缓下降，外部起重设备钢丝绳缓缓上升，达到将钢管桩立至垂直状态的目的，且采用该种工艺可以极大降低海上风电大直径钢管桩对船机设备的性能要求，同时减少了船机设备驻位，打桩平台既是立桩辅助设备，又是立桩限位装置，可以极大提高立桩及钢管桩驻位效率。 【EN】The invention discloses an offshore large-diameter steel pipe pile erecting method and a pile erecting device thereof, which comprise a pile guide frame, a hoisting mechanism, a pile driving frame, a straightening mechanism and a positioning mechanism, wherein a pile hoisting auxiliary device is arranged on the pile driving guide frame to hook the bottom of a steel pipe pile, external hoisting equipment is adopted to hook the hoisting part of the steel pipe pile, a steel wire rope of the pile hoisting auxiliary device slowly descends, and a steel wire rope of the external hoisting equipment slowly ascends to achieve the purpose of erecting the steel pipe pile to a vertical state.

摘要：【中文】本发明公开了一种浇筑设备的定位方法，包括通过示教录入示教点坐标、主臂回转角度和副臂回转角度，从而设置相交圆以确定设备初始中心点坐标，再通过设备初始中心点坐标求解出设备最终中心点坐标、主臂初始角度，最终求出主臂初始化角度并对控制系统进行角度补偿修正，将控制系统建立的坐标系转换为测量坐标系，即可根据输入的仓格编号来控制浇筑设备进行自动寻孔和自动浇筑，实现了浇筑设备自身的定位精度达到毫米级，满足控制系统自动寻孔的精度要求，提高了混凝土浇筑的自动化程度，提高生产效率。 【EN】The invention discloses a positioning method of pouring equipment, which comprises the steps of inputting teaching point coordinates, main arm rotation angles and auxiliary arm rotation angles through teaching, setting an intersecting circle to determine initial center point coordinates of the equipment, solving final center point coordinates of the equipment and initial main arm angles through the initial center point coordinates of the equipment, finally solving initial main arm angles and carrying out angle compensation correction on a control system, converting a coordinate system established by the control system into a measurement coordinate system, controlling the pouring equipment to carry out automatic hole searching and automatic pouring according to input bin numbers, achieving the positioning accuracy of the pouring equipment to reach a millimeter level, meeting the accuracy requirement of the automatic hole searching of the control system, improving the automation degree of concrete pouring and improving the production efficiency.

摘要：【中文】本发明提供一种煤矿井下越界开采的快速识别方法，包括如下步骤：携带UWB定位标签和惯性导航定位装置，进入待检查的煤矿井下；前往首个UWB定位基站，利用惯性导航定位装置确定所述首个UWB定位基站位置的绝对坐标；在所述待检查的煤矿井下的开采区域内行进，进行轨迹定位，并将轨迹信息上传；根据所述轨迹信息生成基于绝对坐标系的所述待检查的煤矿井下的开采区域的边界图；将所述边界图与采矿范围线图比对，若所述边界图超过所述采矿范围线图，即可判别为越界开采。本发明采用UWB精确定位技术设置基准点、利用惯性导航技术实现无UWB网络覆盖区域的轨迹识别相结合的方式，实现煤矿井下矿图重构，并与采矿范围线图的对比，实现越界开采的快速识别。 【EN】The invention provides a method for quickly identifying coal mine underground border-crossing mining, which comprises the following steps: carrying a UWB positioning tag and an inertial navigation positioning device, and entering a coal mine to be inspected; the method comprises the steps of moving to a first UWB positioning base station, and determining the absolute coordinate of the position of the first UWB positioning base station by using an inertial navigation positioning device; advancing in the underground coal mine mining area to be inspected, positioning the track, and uploading track information; generating a boundary diagram of the underground mining area of the coal mine to be inspected based on an absolute coordinate system according to the track information; and comparing the boundary diagram with a mining range line diagram, and judging as boundary-crossing mining if the boundary diagram exceeds the mining range line diagram. The invention adopts UWB accurate positioning technology to set reference points, utilizes inertial navigation technology to realize the mode of combining track identification of areas without UWB network coverage, realizes the reconstruction of underground mine maps of coal mines, compares the underground mine maps with a mine range map, and realizes the rapid identification of cross-border mining.