Abstract:

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.

Key words: intelligent spraying control system, spraying manipulator, localization algorithm, environmental identification system, path planning