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Automatic spraying motion planning of a shotcrete manipulator

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Abstract

Shotcrete manipulator has been widely used in the construction of high-speed railways, coal mines, and other tunnels. At present, workers are still using the remote controller to control the manipulator for spraying operations. However, the high-risk environment of tunnel construction poses an enormous threat to the personal safety of workers. In order to realize automatic shotcrete operation, an automatic shotcrete operation scheme is proposed in this paper based on tunnel 3D scanning and reconstruction. The method of tunnel 3D reconstruction is designed, taking the 2.5D growth method as the core. Based on the kinematic modeling and analysis of the shotcrete manipulator, the motion planning method of the shotcrete manipulator is designed according to the condition of the tunnel, and the verification experiment is carried out in the actual tunnel. The experimental results show that the precision of the automatic spraying method is less than 45 mm, which can meet the requirements of actual construction.

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Funding

This research was supported by the National Natural Science Foundation of China (Grant No. U21B6002), China Postdoctoral Science Foundation (No. 2014M561338, No. 2017T100232) and Innovation project of Hunan Province (No. 2019GK1014).

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Authors and Affiliations

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China

    Gangfeng Liu, Xianchao Sun, Yubin Liu, Tao Liu, Changle Li & Xuehe Zhang

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  1. Gangfeng Liu
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  2. Xianchao Sun
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  3. Yubin Liu
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  4. Tao Liu
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  5. Changle Li
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  6. Xuehe Zhang
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Corresponding authors

Correspondence to Gangfeng Liu or Changle Li.

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Liu, G., Sun, X., Liu, Y. et al. Automatic spraying motion planning of a shotcrete manipulator. Intel Serv Robotics 15, 115–128 (2022). https://doi.org/10.1007/s11370-021-00405-3

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  • DOI: https://doi.org/10.1007/s11370-021-00405-3

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