为提高隧道施工中混凝土喷射的效率与质量，减轻劳动强度并使作业人员远离喷射区域，在机械化操作的基础上，研发喷射机械手智能化控制系统，对智能化控制系统的构成、各子系统的原理与作用进行介绍。喷射机械手智能化控制系统采用全站仪作为测量仪器，采用定位算法计算隧道大地坐标系与湿喷机基坐标系之间的转换关系； 采用三维激光扫描仪获取待喷面的点云空间坐标，计算待喷面的超欠挖信息； 利用机器人学建立喷射机械手运动学模型，设计正解算法与逆解算法计算喷射机械手的空间位姿，并根据目标空间位姿反算喷射机械手各关节运动值的路径规划系统。工程实践结果表明： 智能化喷射控制系统可以对周边环境进行识别，根据识别结果规划喷射路径，并根据不同区域的超欠挖情况动态控制喷射参量。

It is urgent to improve the efficiency and quality of concrete spraying in tunnel construction, reduce the labor intensity and keep operators away from the spraying area. Hence, an intelligent control system of spraying manipulator is developed on the basis of mechanized operation. The structural components of the system and the working principles and functions of every subsystem are introduced. The intelligent control system of spraying manipulator uses the total station as the measuring instrument and the localization algorithm to calculate the conversion relationship between the tunnel geodetic coordinate system and the base coordinate system of the wet spraying machine. The threedimensional laser scanner is used to obtain the spatial coordinates of point cloud on the surface to be sprayed, and the overbreak and underbreak information on the surface to be sprayed is calculated. The kinematics model of the spraying manipulator is established by using robotics; the forward and reverse solutions are designed to calculate the spatial pose of the spraying manipulator; and the path planning system of each joint motion of the spraying manipulator is calculated according to the spatial pose of the target. The results of engineering practice show that the intelligent spraying control system can recognize the surrounding environment, plan the spraying path according to the recognition results, and dynamically control the spraying parameters according to the overbreak and underbreak information in different areas.