Perception
recognition and path planning technologies are investigated in this study to
address the various issues faced during the spraying process, such as
challenging accurate environmental perception, hard evaluation of wet spraying
effect, and complex spraying path planning. Traditional spraying equipments
have accumulated several unreliable spraying faults, which lead to inconsistent
spraying quality of each ring as well as considerable rebound spalling. To
increase the shotcrete robot′s ability to perceive its external
environment, a tunnel model based on an axis normalization approach and multiprocess scanning strategy is employed to realize the tunnel
environment recognition, vehicle body positioning, and spraying quality
perception. Due to the poor adaptability of traditional slurry spraying
equipment in complex heterogeneous tunnels, the spraying trajectory cannot be
adjusted flexibly. Therefore, a proposal for a multicycle
perception recognition and path planning technique is proposed. Furthermore, to
reduce the coupling between the shotcrete robot and tunnel excavation method,
optimal spraying path planning and continuous spray path planning method are
explored and designed to reduce direct spray arch. Technical achievements have
been used in projects like Guodashan and Renjiagou tunnels, and notable
results, such as a 93% accuracy rate of perception and identification of crosssection arch, a positioning accuracy and arm compensation error
within 50 mm, and a 11.9 % comprehensive rebound rate have been achieved.
XU Jian′an
,
JIA Lianhui
,
JING Liujie
,
LI Guangpeng
,
REN Yuexiao
,
LI Kaifang
. Adaptive Spray Path Planning of Shotcrete Robot[J]. Tunnel Construction, 2022
, 42(11)
: 1963
-1971
.
DOI: 10.3973/j.issn.2096-4498.2022.11.017
