CN114483105A - Wet spraying construction method and wet spraying construction system - Google Patents

Abstract

The invention relates to a wet spraying construction method and a wet spraying construction system. The wet spraying construction method comprises the following steps: acquiring a three-dimensional model of a design working surface of the inner contour of the tunnel; acquiring an actual spraying surface three-dimensional model of the inner contour of the tunnel; comparing the actual sprayed surface three-dimensional model with the designed working surface three-dimensional model to obtain the concrete spraying amount; establishing a spraying surface sweeping model of a nozzle of the wet spraying machine, wherein the distance between each position on the spraying surface sweeping is equal to the distance between the position on the actual spraying surface, and selecting a plurality of wet spraying points on the spraying surface sweeping to form a movement path of the nozzle; enabling a nozzle of the wet spraying machine as a simulation model to run along a motion path of the nozzle, simulating wet spraying, and keeping the nozzle vertical to a spraying sweeping surface at a wet spraying point all the time; after the simulated wet spraying is finished, obtaining the action and operation strategy of the wet spraying machine; and enabling the wet spraying machine waiting for construction on site to carry out primary wet spraying on the tunnel according to the action and operation strategy of the wet spraying machine. The method is used for improving the construction quality and the construction efficiency and accelerating the tunnel construction progress.

Description

Wet spray construction method and wet spray construction system

technical field

The invention relates to the technical field of tunnel construction, in particular to a wet spray construction method and a wet spray construction system.

Background technique

The wet spraying machine is a mechanical equipment that sprays a certain proportion of the mixed concrete mixture to the sprayed surface through the spraying arm, and quickly solidifies to form a sprayed concrete supporting layer.

However, the degree of automation of wet spraying machine in tunnel shotcrete construction is not high. The use of wet spraying machine in construction is operated by the operator on the operating table. The distance between the nozzle and the spraying surface and the spraying angle are greatly affected by the operator's experience. , resulting in a high rebound rate of shotcrete, causing serious waste of materials, and increasing the dust concentration in the working space, seriously endangering the health of construction workers. The control of injection thickness mainly adopts traditional methods such as manual observation and post-event inspection, which is cumbersome to operate and cannot be accurately digitized. Therefore, how to improve the spray quality of the wet sprayer, achieve less manpower in the shotcrete construction, and improve the operation safety is an urgent problem to be solved at present.

SUMMARY OF THE INVENTION

Some embodiments of the present invention provide a wet spray construction method and a wet spray construction system for alleviating the problem of low construction quality.

In one aspect of the present invention, there is provided a wet spray construction method, comprising the following steps:

Obtain the 3D model of the designed working face of the inner contour of the tunnel;

Obtain the inner contour data of the tunnel after the actual excavation, and establish a three-dimensional model of the actual sprayed surface of the inner contour of the tunnel;

Compare the 3D model of the actual sprayed surface with the 3D model of the designed working surface to obtain the concrete shot quantity required for each position on the actual sprayed surface;

A model of the swept spray surface of the nozzle of the wet spray machine is established. The distances between each position on the swept spray surface and the actual spray surface are equal, and a plurality of wet spray points are selected on the swept spray surface to form the movement path of the nozzle;

Obtain the action simulation model of the wet spraying machine; make the nozzle of the wet spraying machine action simulation model run along the movement path of the nozzle to simulate the wet spraying, and in the process, keep the nozzle at the wet spraying point and the sweeping spray surface always perpendicular;

After the nozzle of the wet spraying machine action simulation model runs along the movement path of the nozzle and completes the simulated wet spraying, the wet spraying machine action and operation strategy are obtained; and

Send the wet spraying machine action and operation strategy to the wet spraying machine waiting for construction on site, so that the wet spraying machine can perform the initial wet spraying on the tunnel according to the wet spraying machine action and operation strategy.

In some embodiments, the wet spray construction method further comprises the steps of:

Obtain the data of the inner profile of the tunnel after the initial wet spraying, and establish a three-dimensional model of the actual secondary spraying surface;

Comparing the 3D model of the actual secondary sprayed surface with the 3D model of the designed working surface, and obtained the concrete supplementary injection amount required for each position on the actual secondary sprayed surface;

A model of the secondary swept spray surface of the nozzle of the wet spraying machine is established. The distances between the positions on the secondary swept spray surface and the actual secondary sprayed surface are equal, and a plurality of wet spray points are selected on the secondary swept spray surface to form the second nozzle of the nozzle. secondary motion path;

Make the nozzle of the wet spray machine action simulation model run along the secondary motion path of the nozzle to simulate the second wet spray, and in the process, keep the nozzle at the wet spray point and the secondary sweep surface always perpendicular;

After the nozzle of the wet spraying machine action simulation model runs along the secondary motion path of the nozzle and completes the second simulated wet spraying, the action and operation strategy of the second wet spraying machine are obtained; and

The action and operation strategy of the secondary wet spraying machine is sent to the wet spraying machine waiting for construction on site, so that the wet spraying machine can perform secondary wet spraying on the tunnel according to the action and operation strategy of the secondary wet spraying machine.

In some embodiments, the wet spraying machine action and operation strategy include motion trajectory parameters of each robotic arm of the wet spraying machine supporting the nozzle and position parameters of the wet spraying machine in the tunnel.

In some embodiments, the three-dimensional model of the designed working surface of the inner contour of the tunnel includes a three-dimensional model of the designed sprayed surface of the inner contour of the tunnel or a three-dimensional model of the designed wet sprayed finish surface of the inner contour of the tunnel.

In some embodiments, the step of obtaining the three-dimensional model of the designed working face of the inner contour of the tunnel includes:

Import tunnel design information into the wet spray information platform; and

The wet spray information platform calls the 3D modeling software to build the 3D design model of the tunnel, and the 3D design model of the tunnel includes the 3D model of the design working face of the inner contour of the tunnel.

In some embodiments, the step of obtaining the action simulation model of the wet sprayer includes:

Import the 3D model of the wet spraying machine established by the external 3D software into the wet spraying information platform;

The wet spray information platform calls the 3D modeling software to establish the assembly relationship of the 3D model of the wet spray machine; and

The wet spraying information platform calls the construction simulation software to establish the action simulation model of the wet spraying machine.

In some embodiments, the step of acquiring the inner contour data of the actually excavated tunnel includes: scanning the inner contour of the actually excavated tunnel with a three-dimensional laser scanner, and acquiring the actual excavated inner contour data of the tunnel.

In another aspect of the present invention, there is provided a wet spraying construction system, comprising a wet spraying machine and a wet spraying information platform, wherein the wet spraying information platform and the wet spraying machine are configured to cooperate with each other to realize the above-mentioned wet spraying. Spray construction method.

In some embodiments, the information transmission between the wet spraying machine and the information platform is realized through the Internet of Things.

In some embodiments, the wet spraying machine includes a robotic arm, a sensor and an on-board controller, the sensor is provided at each joint point of the robotic arm, the sensor is electrically connected to the on-board controller, the The sensor is configured to realize the positioning of the nozzle in the tunnel and collect the amount of concrete, and the vehicle-mounted controller is connected in communication with the information platform.

Based on the above technical solutions, the present invention at least has the following beneficial effects:

In some embodiments, through three-dimensional modeling software and construction simulation software, the construction process of the wet spraying machine in the tunnel is simulated, the construction simulation scheme of the wet spraying machine is established, the operation instruction scheme of the wet spraying machine is generated, that is, the action and operation strategy of the wet spraying machine, and The wet spraying machine that is dispatched to the site waiting for construction, the wet spraying machine executes the wet spraying operation according to the operation instruction plan to improve the level of intelligence, high construction quality, low rework rate, high construction efficiency, and can speed up the tunnel construction progress.

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a schematic flowchart of a wet spray construction method provided according to some embodiments of the present invention;

FIG. 2 is a schematic diagram showing the structural relationship of the sweeping spray surface, the spray receiving surface and the nozzle movement path provided according to some embodiments of the present invention;

3 is a schematic flowchart of a construction method for secondary supplementary spraying provided according to some embodiments of the present invention;

FIG. 4 is a schematic flowchart of establishing an action simulation model of a wet sprayer provided according to some embodiments of the present invention;

5 is a schematic diagram of a 1:1 model of a wet sprayer provided according to some embodiments of the present invention;

FIG. 6 is a schematic flowchart of generating a motion path of a wet spray nozzle according to some embodiments of the present invention;

FIG. 7 is a schematic flowchart of generating a wet spray operation guidance scheme according to a movement path of a nozzle and instructing wet spray according to some embodiments of the present invention;

FIG. 8 is a schematic diagram of a wet spray information platform controlling multiple items according to some embodiments of the present invention.

It should be understood that the dimensions of the various parts shown in the drawings are not to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components.

Detailed ways

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is illustrative only and in no way limits the invention, its application or uses in any way. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. It should be noted that unless specifically stated otherwise, the relative arrangements of parts and steps, compositions of materials, numerical expressions and numerical values set forth in these embodiments are to be interpreted as illustrative only and not as limiting.

"First," "second," and similar words used herein do not denote any order, quantity, or importance, but are merely used to distinguish the different parts. "Comprising" or "comprising" and similar words mean that the element preceding the word covers the elements listed after the word, and does not exclude the possibility that other elements are also covered. "Up", "Down", "Left", "Right", etc. are only used to represent the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

In the present invention, when it is described that a specific device is located between the first device and the second device, an intervening device may or may not exist between the specific device and the first device or the second device. When it is described that a specific device is connected to other devices, the specific device may be directly connected to the other device without intervening devices, or may not be directly connected to the other device but have intervening devices.

All terms (including technical or scientific terms) used in the present invention have the same meaning as understood by one of ordinary skill in the art to which this invention belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general-purpose dictionaries should be construed to have meanings consistent with their meanings in the context of the related art, and not to be construed in an idealized or highly formalized sense, unless explicitly stated herein. Defined like this.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

FIG. 1 is a schematic flowchart of some embodiments of wet spray construction methods according to the present invention. Referring to Figure 1, in some embodiments, a wet spray construction method includes the following steps:

Obtain the 3D model of the designed working face of the inner contour of the tunnel;

Obtain the inner contour data of the tunnel after the actual excavation, and establish a three-dimensional model of the actual sprayed surface of the inner contour of the tunnel;

Compare the 3D model of the actual sprayed surface with the 3D model of the designed working surface to obtain the concrete shot quantity required for each position on the actual sprayed surface;

Referring to Fig. 2, the swept spray surface model of the nozzle of the wet spray machine is established. The distances between the positions on the swept spray surface 1 of the swept spray surface model and the actual spray surface 2 of the three-dimensional model of the actual spray surface are equal. Select a plurality of wet spray points 3 to form the movement path 4 of the nozzle;

Obtain the action simulation model of the wet spraying machine; make the nozzle 5 of the wet spraying machine action simulation model run along the movement path 4 of the nozzle to simulate wet spraying, and in the process, keep the nozzle at the wet spraying point and the sweeping spray surface always vertical;

After the nozzle of the wet spraying machine action simulation model runs along the movement path of the nozzle and completes the simulated wet spraying, the wet spraying machine action and operation strategy are obtained; and

Send the wet spraying machine action and operation strategy to the wet spraying machine waiting for construction on site, so that the wet spraying machine can perform the initial wet spraying on the tunnel according to the wet spraying machine action and operation strategy.

In the above embodiment, by obtaining the three-dimensional model of the designed working surface and the three-dimensional model of the actual sprayed surface of the inner contour of the tunnel, the actual amount of concrete required for wet spraying of the inner contour of the tunnel can be obtained.

Through 3D modeling software and construction simulation software, simulate the construction process of the tunnel wet sprayer, establish a wet sprayer construction simulation plan, generate the wet sprayer operation guidance plan, that is, the wet sprayer action and operation strategy, and send it to the site for construction The wet spraying machine performs the wet spraying operation according to the operation guidance plan to improve the level of intelligence and construction quality, with low rework rate and high construction efficiency, which can speed up the tunnel construction progress.

Optionally, the three-dimensional modeling software includes AutoCAD, Solidworks, or ProE, and the like.

Optionally, the construction simulation software includes 3D MAX or DELMIA, etc.

Referring to Figure 3, in some embodiments, the wet spray construction method further comprises the steps of:

Obtain the data of the inner profile of the tunnel after the initial wet spraying, and establish a three-dimensional model of the actual secondary spraying surface;

Comparing the 3D model of the actual secondary sprayed surface with the 3D model of the designed working surface, and obtained the concrete supplementary injection amount required for each position on the actual secondary sprayed surface;

The secondary swept spray surface model of the nozzle of the wet sprayer is established. The distances between the positions on the secondary swept spray surface of the secondary swept spray surface model and the actual secondary spray surface of the three-dimensional model of the actual secondary spray surface are equal. A plurality of wet spray points are selected on the secondary sweep spray surface to form the secondary movement path of the nozzle;

Make the nozzle of the wet spray machine action simulation model run along the secondary motion path of the nozzle to simulate the second wet spray, and in the process, keep the nozzle at the wet spray point and the secondary sweep surface always perpendicular;

After the nozzle of the wet spraying machine action simulation model runs along the secondary motion path of the nozzle and completes the second simulated wet spraying, the action and operation strategy of the second wet spraying machine are obtained; and

The action and operation strategy of the secondary wet spraying machine is sent to the wet spraying machine waiting for construction on site, so that the wet spraying machine can perform secondary wet spraying on the tunnel according to the action and operation strategy of the secondary wet spraying machine.

In the above embodiment, the secondary supplementary spray operation guidance scheme is used to instruct the wet sprayer waiting for construction on the site to complete the secondary supplementary spray operation, which can be repeated many times to achieve three supplementary spray operations or more than three supplementary spray operations until The thickness of the spray layer meets the construction requirements and improves the construction quality.

In some embodiments, the wet spraying machine action and operation strategy include motion trajectory parameters of each robotic arm of the wet spraying machine supporting the nozzle and position parameters of the wet spraying machine in the tunnel.

The wet spraying machine performs the wet spraying machine action and operation strategy to realize the automatic control of the construction operation, including the distance control between the nozzle and the construction surface and the precise control of the angle, which can reduce the rebound rate of concrete spraying.

Referring to Figure 7, the action and operation strategy of the wet spraying machine is also the wet spraying operation guidance scheme. The wet spraying operation guidance scheme includes the visual wet spraying operation plan, the spraying quantity planning scheme of the sprayed surface, the position coordinate parameters of the wet spraying machine and the wet spraying machine. The parameters of the motion trajectory of the robotic arm.

In some embodiments, the 3D model of the designed working face of the inner contour of the tunnel includes the 3D model of the designed sprayed surface of the inner contour of the tunnel or the 3D model of the designed wet sprayed finish surface of the inner contour of the tunnel.

During the first wet spraying process, the actual 3D model of the sprayed surface is compared with the 3D model of the designed working surface, and in the second wet spraying process, the actual 3D model of the second sprayed surface is compared with the 3D model of the designed working surface. Wherein, the three-dimensional model of the designed working face may include the three-dimensional model of the designed spray surface of the inner contour of the tunnel or the three-dimensional model of the designed wet spray finish surface of the inner contour of the tunnel.

In some embodiments, the step of obtaining a three-dimensional model of the designed working face of the inner contour of the tunnel includes:

Import tunnel design information into the wet spray information platform; and

The wet spray information platform calls the 3D modeling software to build the 3D design model of the tunnel, and the 3D design model of the tunnel includes the 3D model of the design working face of the inner contour of the tunnel.

According to the tunnel design information, the 3D design model of the tunnel is established by using 3D modeling software; Comparing the 3D model of the sprayed surface with the 3D design model of the tunnel, it is possible to obtain the concrete shot quantity required for each position on the actual sprayed surface and predict the total amount of concrete.

Optionally, the wet spray informatization platform includes 3D exprience or a self-built platform.

Referring to FIG. 4 , in some embodiments, the step of obtaining a simulation model of the action of the wet sprayer includes:

Import the 3D model of the wet spraying machine established by the external 3D software into the wet spraying information platform;

The wet spray information platform calls the 3D modeling software to establish the assembly relationship of the 3D model of the wet spray machine; and

The wet spraying information platform calls the construction simulation software to establish the action simulation model of the wet spraying machine.

Optionally, the three-dimensional model of the wet spraying machine established by the three-dimensional software is a 1:1 three-dimensional model of the wet spraying machine, refer to FIG. 5 .

In some embodiments, the step of acquiring the inner contour data of the actually excavated tunnel includes: scanning the inner contour of the actually excavated tunnel with a three-dimensional laser scanner, and acquiring the actual excavated inner contour data of the tunnel.

Use a 3D laser scanner to scan the inner contour of the actual tunnel after excavation, and obtain the inner contour data of the actual tunnel after excavation. The actual inner contour data of the tunnel after excavation can be uploaded to the wet spraying informatization through the on-board controller of the wet spraying machine. platform, and establish a three-dimensional model of the actual spray surface.

The wet spray information platform can use the 3D modeling software to build a 3D model of the tunnel, process the 3D scanning data, and use the construction simulation software to simulate the actual wet spray machine walking and the rotation, pitch, swing and other actions and activities of the robotic arm, and simulate the wet spray. The actual construction of the machine in the tunnel and output the operation guidance plan of the wet spray machine.

Some embodiments also provide a wet spraying construction system, which includes a wet spraying machine and a wet spraying information platform, and the wet spraying information platform and the wet spraying machine are configured to cooperate with each other to realize the above-mentioned wet spraying construction method.

The wet spraying information platform can receive tunnel construction information and store the information, call 3D modeling software to realize 3D construction scene modeling and 3D scanning data processing, call construction simulation software to realize wet spraying machine construction operation simulation, as well as the construction operation guidance plan. Generate and output.

The wet spraying information platform simulates the wet spraying process of the tunnel wet spraying machine, forms a wet spraying machine operation guidance plan and sends it to the wet spraying machine on site waiting for construction. The automatic control of the construction operation of the wet spraying machine, the control of the distance between the nozzle and the construction surface, and the precise control of the nozzle angle can reduce the rebound rate of concrete spraying, save raw materials, and improve the construction efficiency and spray layer quality.

In some embodiments, the information transmission between the wet spraying machine and the information platform is realized through the Internet of Things.

In some embodiments, the wet spraying machine includes a robotic arm, a sensor and a vehicle-mounted controller, the sensor is provided at each joint point of the robotic arm, the sensor is electrically connected with the vehicle-mounted controller, and the sensor is configured to realize the positioning and To collect the amount of concrete, the on-board controller communicates with the information platform, and the on-board controller collects sensor data through the communication system.

Referring to FIG. 5 , each joint point of the robotic arm of the wet spraying machine 10 includes a movable part support 11 , a large arm 12 , a first multi-section arm 13 , a second multi-section arm 14 , a third multi-section arm 15 , and a nozzle holder 16 and nozzle 17.

Sensors include rotary encoders, pull-wire sensors, pressure sensors, and flow meters.

The information transmission between the wet spray information platform and the wet spray machine is realized through the Internet of Things. The on-board controller of the wet spraying machine packs and transmits the construction process data such as the scanning data of the tunnel profile, the nozzle position, the distance and angle between the nozzle and the construction surface, and the amount of concrete injection collected by the 3D laser scanner and sensor to the wet spraying information platform. , the wet spraying information platform uses 3D modeling software and construction simulation software to analyze and process these data, and generates the wet spraying machine operation guidance plan according to the movement path of the wet spraying machine nozzle. The wet spraying information platform issues the wet spraying machine operation guidance plan To the on-board controller of the wet spraying machine waiting for construction at the site, the on-board controller controls the mechanical arm and nozzle of the wet spraying machine to complete the wet spraying operation of the sprayed surface according to the issued plan. The wet spray information platform can also count these data and store them in a designated database to form traceable historical data.

In some embodiments, the wet spraying information platform and the wet spraying machine cooperate with each other to realize the above-mentioned wet spraying construction method, including the following steps:

Import the 1:1 model of the wet spraying machine into the wet spraying information platform, the wet spraying information platform uses the 3D modeling software to establish the model assembly relationship, and uses the construction simulation software to establish the wet spraying machine action simulation model;

Referring to Figure 6, according to the tunnel design information, a three-dimensional design model of the tunnel is established by using three-dimensional modeling software;

Use a 3D laser scanner to scan the inner contour of the tunnel after excavation, obtain the scanning data of the inner contour after the tunnel excavation, upload the scanning data of the inner contour of the tunnel to the wet spray information platform through the on-board controller of the wet spray machine, and use the three The mold software establishes a three-dimensional model of the sprayed surface;

Comparing the 3D model of the sprayed surface with the 3D design model of the tunnel, obtain the required amount of concrete shot at each position on the sprayed surface, and predict the total amount of concrete;

The 3D modeling software is used to establish the model of the nozzle swept surface of the wet sprayer, and the distances between the swept surfaces of the swept surface model and the receiving surface of the receiving surface model are equal;

Select multiple wet spray points on the sweeping spray surface, and use the construction simulation software to simulate the motion trajectory of each robotic arm supporting the nozzle under the condition that the nozzle of the wet spraying machine is always perpendicular to the sweeping spray surface to form wet spraying. The movement path of the nozzle of the machine;

The construction simulation software generates the wet spraying machine operation guidance plan according to the movement path of the wet spraying machine nozzle;

The wet spraying information platform sends the wet spraying machine operation guidance plan to the on-site wet spraying machine on-board controller, and the on-board controller controls the wet spraying machine mechanical arm and nozzle to complete the sprayed surface concrete wet spraying operation according to the issued plan;

After the wet spraying operation of the spray receiving surface is completed, use a 3D laser scanner to scan the inner contour of the tunnel to obtain the data of the inner contour of the tunnel after the initial wet spraying, and use 3D software to build a 3D model of the secondary spray receiving surface. Compare the three-dimensional design model of the tunnel, obtain the amount of secondary supplementary injection of concrete, and generate a guidance plan for the secondary supplementary injection operation, and then guide the wet sprayer to complete the secondary supplementary injection operation. Construction requirements.

Referring to Figure 7, according to the movement path of the nozzle, the construction simulation software generates the wet spraying operation guidance plan. The wet spraying operation guidance plan includes the visual wet spraying operation plan, the concrete spraying quantity planning plan for the sprayed surface, the position coordinate parameters of the wet spraying machine and the wet spraying operation plan. machine manipulator motion trajectory parameters, etc. The wet spraying operation guidance plan is issued to the wet spraying machine waiting for construction on site, and the wet spraying machine completes the wet spraying operation on the sprayed surface according to the issued plan.

In some embodiments, the wet spray construction method is realized through the cooperation of the wet spray information platform and the wet spray machine, which specifically includes the following steps:

Step 1: Import the 3D model of the wet spraying machine into the wet spraying information platform, use the 3D modeling software to establish the assembly relationship of each part of the wet spraying machine 3D model, and use the construction simulation software according to the actual movement form and movement range of the wet spraying machine boom. Simulate the action of the robotic arm and establish a simulation model of the wet sprayer.

Step 2: Import the tunnel design information into the wet spray information platform, use 3D modeling software to build a 3D design model of the tunnel, use a 3D laser scanner to scan the inner contour of the tunnel after excavation, obtain the scanning data of the inner contour of the tunnel, and scan the inner contour of the tunnel. The data is uploaded to the wet spraying information platform through the on-board controller of the wet spraying machine, and the three-dimensional model of the sprayed surface is established by using 3D modeling software. The required amount of concrete shot, and the total amount of concrete is predicted.

Step 3: Use 3D modeling software to build a model of the spray surface of the nozzle of the wet spray machine. The distance between each position of the spray surface and the spray surface is equal. Select multiple wet spray points on the sweep surface to ensure that the nozzles are at the wet spray points. Using the construction simulation software to simulate the motion trajectory of each mechanical arm supporting the nozzle under the condition that it is always perpendicular to the spraying surface, the motion path of the nozzle of the wet sprayer is formed.

Step 4: The construction simulation software outputs the wet spraying machine operation guidance plan according to the movement path of the wet spraying machine nozzle. The wet spraying machine operation guidance plan includes the visual wet spraying operation plan, the spraying quantity planning plan of the sprayed surface, and the wet spraying machine in the tunnel. The position coordinate parameters of the wet sprayer and the motion trajectory parameters of the mechanical arm of the wet spraying machine, the wet spraying information platform sends the wet spraying machine operation guidance plan to the on-site wet spraying machine on-board controller, and the on-board controller controls the wet spraying machine machinery according to the issued plan. The arm and nozzle complete the wet spraying of concrete on the sprayed surface.

Step 5: After the wet spraying operation of the sprayed surface is completed, use a 3D laser scanner to scan the inner contour of the tunnel, obtain the data of the inner contour of the tunnel after the initial wet spraying, and use the 3D modeling software to build a 3D model of the secondary sprayed surface, and then use the 3D modeling software to build a 3D model of the secondary sprayed surface. The surface 3D model is compared with the 3D design model of the tunnel to obtain the secondary injection volume of concrete, and generate a secondary injection operation guidance plan, and then guide the wet sprayer to complete the secondary injection operation, and repeat until the thickness of the injection layer meets the construction requirements.

Referring to Figure 8, the wet spray information platform can realize simultaneous construction simulation and online management of multiple wet spray machines corresponding to multiple projects.

For example, the wet spraying information platform can realize the simultaneous construction simulation and online management of the first wet spraying machine, the second wet spraying machine and the third wet spraying machine corresponding to the first project, the second project and the third project.

The wet spray construction method and wet spray construction system provided by the embodiments of the present disclosure have the following beneficial effects:

Based on the comparison between the three-dimensional model of the sprayed surface and the three-dimensional design model of the tunnel, the wet spraying information platform obtains the concrete spraying amount required for each position on the sprayed surface, and predicts the total amount of concrete; The machine can complete the wet spraying operation of the sprayed surface according to the preset concrete spraying amount, save raw materials and improve the quality of sprayed layer.

The wet spraying information platform analyzes and processes the on-site construction data returned by the wet spraying machine to generate the tunnel initial wet spraying operation guidance plan and the supplementary spraying operation guidance plan, and sends the wet spraying operation guidance plan to the wet spraying machine, and the wet spraying machine operates according to the operation. The guidance scheme realizes automatic control of construction operations and quality control of concrete sprayed layers.

Based on the above-mentioned embodiments of the present invention, the technical features of one of the embodiments can be beneficially combined with one or more other embodiments unless there is no explicit negation.

While some specific embodiments of the present invention have been described in detail by way of example, those skilled in the art will appreciate that the above examples are provided for illustration only and not for the purpose of limiting the scope of the invention. It should be understood by those skilled in the art that, without departing from the scope and spirit of the present invention, the above embodiments can be modified or some technical features can be equivalently replaced. The scope of the invention is defined by the appended claims.

Claims (10)

1. The wet spraying construction method is characterized by comprising the following steps:

acquiring a three-dimensional model of a design working surface of the inner contour of the tunnel;

acquiring data of an actually excavated inner contour of the tunnel, and establishing an actual sprayed surface three-dimensional model of the inner contour of the tunnel;

comparing the actual sprayed surface three-dimensional model with the designed working surface three-dimensional model to obtain the concrete spraying amount required by each position on the actual sprayed surface;

establishing a spraying surface sweeping model of a nozzle of the wet spraying machine, wherein the distance between each position on the spraying surface sweeping is equal to the distance between the position on the actual spraying surface, and selecting a plurality of wet spraying points on the spraying surface sweeping to form a movement path of the nozzle;

acquiring a wet sprayer operation simulation model; enabling a nozzle of the wet spraying machine as a simulation model to run along a motion path of the nozzle to simulate wet spraying, and keeping the nozzle perpendicular to a spraying sweeping surface at a wet spraying point in the process;

after the nozzle of the wet spraying machine action simulation model runs along the movement path of the nozzle to finish simulating wet spraying, obtaining the action and operation strategy of the wet spraying machine; and

and sending the action and the operation strategy of the wet spraying machine to the wet spraying machine waiting for construction on site, and enabling the wet spraying machine to carry out primary wet spraying on the tunnel according to the action and the operation strategy of the wet spraying machine.

2. The wet blasting construction method according to claim 1, further comprising the steps of:

acquiring data of the inner contour of the tunnel after primary wet spraying, and establishing an actual secondary sprayed surface three-dimensional model;

comparing the actual secondary sprayed surface three-dimensional model with the designed working surface three-dimensional model to obtain the concrete gunning amount required by each position on the actual secondary sprayed surface;

establishing a secondary spraying surface sweeping model of a nozzle of the wet spraying machine, wherein the distance between each position on the secondary spraying surface sweeping surface and the actual secondary spraying surface is equal, and selecting a plurality of wet spraying points on the secondary spraying surface sweeping surface to form a secondary motion path of the nozzle;

enabling a nozzle of the wet spraying machine operation simulation model to run along a secondary motion path of the nozzle, simulating secondary wet spraying, and keeping the nozzle perpendicular to a secondary spraying sweeping surface at a wet spraying point in the process;

after the nozzle of the wet spraying machine action simulation model runs along the secondary motion path of the nozzle to complete secondary simulation wet spraying, obtaining the action and operation strategy of the secondary wet spraying machine; and

and sending the action and the operation strategy of the secondary wet spraying machine to the wet spraying machine waiting for construction on site, and enabling the wet spraying machine to carry out secondary wet spraying on the tunnel according to the action and the operation strategy of the secondary wet spraying machine.

3. The wet blasting method according to claim 1 or 2, wherein the wet blasting machine action and operation strategy comprises a motion trajectory parameter of each mechanical arm of the wet blasting machine supporting the nozzle and a position parameter of the wet blasting machine in the tunnel.

4. The wet blasting construction method according to claim 1 or 2, wherein the three-dimensional model of the design working surface of the inner contour of the tunnel comprises a three-dimensional model of the design sprayed surface of the inner contour of the tunnel or a three-dimensional model of the design wet blasting completion surface of the inner contour of the tunnel.

5. The wet blasting construction method as claimed in claim 1 or 2, wherein the step of obtaining a three-dimensional model of a design work surface of an inner contour of a tunnel comprises:

importing tunnel design information into a wet spraying informatization platform; and

and the wet spraying informatization platform calls three-dimensional modeling software to establish a tunnel three-dimensional design model, and the tunnel three-dimensional design model comprises a design working surface three-dimensional model of the inner contour of the tunnel.

6. The wet blasting construction method according to claim 1 or 2, wherein the step of obtaining a wet blasting machine operation simulation model comprises:

importing a wet spraying machine three-dimensional model established by external three-dimensional software into a wet spraying informatization platform;

the wet spraying informatization platform calls three-dimensional modeling software to establish an assembly relation of a three-dimensional model of the wet spraying machine; and

and the wet spraying informatization platform calls construction simulation software to establish a wet spraying machine action simulation model.

7. The wet blasting method as claimed in claim 1 or 2, wherein the step of acquiring in-tunnel profile data after actual excavation comprises: and scanning the actually excavated inner contour of the tunnel by adopting a three-dimensional laser scanner to obtain the data of the actually excavated inner contour of the tunnel.

8. A wet blasting construction system comprising a wet blasting machine and a wet blasting informatization platform, wherein the wet blasting informatization platform and the wet blasting machine are configured to cooperate with each other to realize the wet blasting construction method according to any one of claims 1 to 7.

9. The wet blasting construction system of claim 8, wherein information transmission between the wet blasting machine and the informatization platform is realized through the Internet of things.

10. The wet blasting construction system of claim 8 or 9, wherein the wet blasting machine comprises a mechanical arm, a sensor and an on-board controller, the sensor is arranged at each joint of the mechanical arm, the sensor is electrically connected with the on-board controller, the sensor is configured to realize positioning of the nozzle in the tunnel and collection of concrete consumption, and the on-board controller is in communication connection with the information platform.

Images