CN108979668B - The information intelligent construction method and system of wet shot trolley - Google Patents
The information intelligent construction method and system of wet shot trolley Download PDFInfo
- Publication number
- CN108979668B CN108979668B CN201810784647.6A CN201810784647A CN108979668B CN 108979668 B CN108979668 B CN 108979668B CN 201810784647 A CN201810784647 A CN 201810784647A CN 108979668 B CN108979668 B CN 108979668B
- Authority
- CN
- China
- Prior art keywords
- tunnel
- wet shot
- injector head
- shot trolley
- trolley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000010276 construction Methods 0.000 title claims abstract description 41
- 238000002347 injection Methods 0.000 claims abstract description 32
- 239000007924 injection Substances 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000013461 design Methods 0.000 claims abstract description 8
- 239000007921 spray Substances 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 239000011295 pitch Substances 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 239000003795 chemical substances by application Substances 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000008676 import Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000004886 process control Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005507 spraying Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 230000005641 tunneling Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000006806 disease prevention Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
Abstract
The invention belongs to wet shot trolley technical fields.A kind of the information intelligent construction method and system of wet shot trolley, comprising: import tunnel size and coordinate data, and according to tunnel size and coordinate data, complete positioning of the wet shot trolley in tunnel；Tunnel Internal periphery model is obtained, is compared with tunnel Internal periphery design data, estimates concrete ejection amount, and generate the injection route of the injector head of the wet shot trolley；According to the injection route, obtains in the injector head motion process, support the motion profile of each support arm of the injector head；The movement of each support arm is controlled, so that the injector head is along the injection route construction operation.Information intelligent wet shot trolley of the present invention realizes construction process control, construction environment monitoring, product lifecycle monitoring, promotes safety in production and energy-saving and emission-reduction.Construction overall cost is reduced, realizes business capital synergy throttling.
Description
Technical field
The invention belongs to wet shot trolley technical fields, and in particular to a kind of information intelligent construction method of wet shot trolley and
System.
Background technique
Wet shot trolley is widely used in the fields such as water power railway tunnel, geotechnical engineering, underground installation and highway engineering construction.
And conventional wet shot trolley is passed through the movement of remote control control cantilever crane and nozzle by an operator, is sprayed to working face
It applies, entire gunning concrete thickness and flatness place one's entire reliance upon the experience ability of operator.There is spraying in work progress
Situations such as quality is uncontrollable, and spraying data can not record statistics, and operator is excessively exposed to unsafe conditions.
As industry 4.0 and Chinese intelligence make 2025 proposition, country requires more the intelligence of construction equipment with information-based
Height, to improve construction efficiency and working security, in line with efficient, safe construction concept, a kind of information intelligent wet shot trolley
The abreast of the times demand of invention, while with the invention of this information intelligence wet shot trolley, a kind of completely new construction work
Method is come into being.
Summary of the invention
The purpose of the present invention is in view of the above problems and insufficient, provide that a kind of construction efficiency is high, working security
The information intelligent construction method and system of high wet shot trolley.
In order to achieve the above objectives, it is adopted the technical scheme that:
A kind of information intelligent construction method of wet shot trolley, comprising: import tunnel size and coordinate data, and according to tunnel
Road size and coordinate data complete positioning of the wet shot trolley in tunnel；Tunnel Internal periphery model is obtained, is set with tunnel Internal periphery
Comparison is counted, concrete ejection amount is estimated, and generates the injection route of the injector head of the wet shot trolley；According to the injection
Route obtains in the injector head motion process, supports the motion profile of each support arm of the injector head；It controls each described
The movement of support arm, so that the injector head is along the injection route construction operation.
The positioning that wet shot trolley is completed in tunnel, specifically includes the following steps: being chosen at least on tunnel inner wall
Two known points, and be scanned by the way that total station is arranged, obtain coordinate data of the total station in tunnel；It is swept by total station
At least two reference points on the wet shot trolley are retouched, and obtain the coordinate data of each reference point；By each reference point
Coordinate data, realize wet shot trolley the positioning in tunnel.
It further include determining the injector head of the wet shot trolley after positioning of the completion wet shot trolley in tunnel
Position, specifically includes the following steps: installing angular transducer, stretching in the support arm additional at each artis of the support arm
Contracting position installs linear transducer additional；It is converted by three dimensional coordinate space, to obtain sky of the spray head relative to the wet shot trolley
Between position；And then obtain coordinate data of the spray head in tunnel.
In the injector head along the injection route construction operation, by obtaining the coordinate data of the injector head, control
The dynamic of accelerator processed matches；After the completion of injector head concrete ejection, the secondary acquisition of tunnel Internal periphery, and and tunnel are carried out
Internal periphery design data is compared again, is obtained the secondary the amount of injection that fills spray, is specified the secondary route that fills spray；And then control injector head
Carry out the secondary construction operation that fills spray.
Acquisition tunnel Internal periphery model, specifically includes the following steps: carrying out axially consecutive straight line by laser transit
The step pitches step-scan such as scanning, radial, obtains scanning point cloud data；Characteristics algorithm processing is carried out to scanning point cloud data, thus
Obtain the threedimensional model of current tunnel Internal periphery.
The processing of its characteristics algorithm includes filtering and noise reduction, signature analysis, segmentation, extraction and the reconstruction to scanning point cloud data；
For the scan blind spot of arch, operation is compensated using empirical data, to obtain accurately tunnel Internal periphery model.
A kind of information intelligent construction system of wet shot trolley, comprising: wet shot trolley；Locating module is used for according to tunnel
Road dimension data realizes the positioning of wet shot trolley and injector head in tunnel；Model group models block, is used for tunnel Internal periphery mould
Type compares with tunnel Internal periphery design data, estimates concrete ejection amount, and generates the injection of the injector head of the wet shot trolley
Route；And control module；For controlling the motion profile of each support arm, and controls injector head and carry out sprayed construction operation.
It further include memory module, for being acquired and storing to construction data.
The locating module includes: host computer, the editor for tunnel dimension data；Total station, for combining known point
Obtain its coordinate data and with reference to point coordinate data；With trolley computer, carried out for the coordinate data to editor's data and acquisition
Analytical calculation obtains the coordinate of wet shot trolley and injector head.
The model group modeling block includes: laser scanner, is used to be scanned tunnel Internal periphery, obtains scanning element
Cloud data；It with trolley computer, is used to scan point cloud data and carries out characteristics algorithm processing, obtain tunnel Internal periphery model, and pre-
Estimate concrete ejection amount and injection route.
By adopting the above technical scheme, acquired beneficial effect is:
Information intelligent wet shot trolley of the present invention is a kind of completely new product, and wet shot trolley is made to have sensor perceptional function,
Computer judges processing function from thinking, and construction data cloud is shared.
Information intelligent wet shot trolley of the present invention realizes construction process control, construction environment monitoring, the full Life Cycle of product
Phase monitoring, promotes safety in production and energy-saving and emission-reduction.Construction overall cost is reduced, realizes business capital synergy throttling.
Novel construction method derived from information intelligent wet shot trolley of the present invention, improves construction efficiency, and construction quality is fully controllable,
Labor intensity of operating staff is reduced, operator can carry out operator's injection in closed driver's cabin, improve person works' ring
Border facilitates occupational disease prevention.
Detailed description of the invention
Fig. 1 is the process flow chart of the information intelligent construction method of wet shot trolley of the present invention.
Fig. 2 is wet shot trolley self positioning structure schematic diagram of the present invention.
Fig. 3 is wet shot trolley support arm coordinate transformational structure schematic diagram of the invention.
Fig. 4 is laser scanner and the structural schematic diagram for spraying route.
Fig. 5 is the structural schematic diagram of wet shot trolley.
Serial number in figure: 100 for squirt trolley, 101 be support arm, 102 be injector head, 103 be supporting leg, 200 be total station,
300 be laser scanner.
Specific embodiment
Below in conjunction with attached drawing, specific embodiments of the present invention will be described in detail.
Referring to Fig. 1-Fig. 5, a kind of information intelligent construction method of wet shot trolley of the present invention, comprising: import tunnel size
And coordinate data, and according to tunnel size and coordinate data, complete positioning of the wet shot trolley in tunnel；Obtain tunnel Internal periphery
Model compares with tunnel Internal periphery design data, estimates concrete ejection amount, and generates the spray of the injector head of the wet shot trolley
Rays line；According to the injection route, obtains in the injector head motion process, support each support arm of the injector head
Motion profile；The movement of each support arm is controlled, so that the injector head is along the injection route construction operation.
Wherein, positioning of the wet shot trolley in tunnel specifically: wet shot trolley is to pass through in the location technology of tunnel internal
Dedicated upper computer software editor tunneling data, and import trolley computer system.Utilize the whole station being placed on behind wet shot trolley
Instrument removes known point P5, P6 on scanning-tunnelling wall, and the coordinate data of available total station P4 recycles total station to have sequence that must sweep
The reference point coordinate value for retouching two prism P1, P2 points on trolley, since the positional relationship of P0 and P1, P2 are it is known that available
Coordinate value of the trolley coordinate origin P0 in tunnel.Coordinate value P0 is transferred to using wireless communication technique and gives trolley computer,
Thereby realize the positioning of wet shot trolley tunnel internal.
Positioning of the injector head with respect to wet shot trolley coordinate origin P0 are as follows: the angle that computer system installs additional according to each joint of support arm
The linear transducer for spending sensor and flexible position installation, utilizes three dimensional coordinate space to convert P0(X0, Y0, Z0, O0)-(X1,
Y1, Z1, O1)-(X2, Y2, Z2, O2)-(X3, Y3, Z3, O3)-(X4, Y4, Z4, O4)-(X5, Y5, Z5, O5)-(X6, Y6, Z6,
O6) totally 6 conversions, calculate spatial position of the injector head P3 relative to trolley coordinate origin P0, have also just calculated spray in this way
Head is penetrated in the spatial position of entire tunnel internal, the fortune of real-time monitoring spray head is capable of additionally by the gyroscope being installed on spray head
Dynamic rail mark and dynamic posture P3 ' (X7, Y7, Z7, O7), to accurately grasp the injection direction of concrete.
The threedimensional model in tunnel is obtained using laser space scan: laser scanner uses axially consecutive linear scanning,
The step pitches step-scan such as radial, 10 °/s of axial scan maximum angular rate.Computer system is filtered the point cloud data of scanning
It makes an uproar, signature analysis, segmentation, extraction, rebuild scheduling algorithm processing, obtain the threedimensional model of current tunnel profile, and show man-machine
On interface, facilitates operator directly to observe and judge profile state.The scan blind spot of arch is mended using empirical data
Operation is repaid, improves the precision of tunnel threedimensional model as far as possible.
Intelligent injection control: computer system compares meter according to the tunnel threedimensional model of acquisition and the design size in tunnel
It calculates, injection route S1 or S2 the amount of injection Q1 or Q2 relevant with injection route S1 or S2 in space is marked according to calculating.Injector head and
The movement of support arm show that spray head is moved to joint action required for setting position using kinematics solution, and is obtained by algorithm
Optimal motion mode out, according to injector head, the different location in tunnel can intelligently adjust matching for accelerator to trolley computer system
Than.In view of injection rebound, pumping are emptied etc., a jeting effect caused by factors is not high, and computer system can carry out secondary sweep
It retouches, secondary injection.System has primary positioning-scanning-injection and secondary positioning-scanning-ejection function.
Construction data acquisition and remote transmission: computer system is to tunnel threedimensional model, work progress data, including each joint
Sensor values, the motion profile of injector head, the process injection side amount of concrete, the process dosage of accelerator can acquire,
And network (if in the case where having net) in tunnel can be connected by WiFi terminal, upload to service platform, can by webpage or
Data are checked in mobile phone terminal APP login.The process data of trolley computer system acquisition simultaneously also supports USB flash disk to export.
Entire construction circulation is described in detail below:
The tunneling data constructed in advance is edited using dedicated upper computer software, edited tunneling data is imported
The computer system of wet shot trolley, computer system has had the size and coordinate data in this section of tunnel at this time.Wet shot trolley
Pilot injection place is reached, wet shot trolley supporting leg is propped.And the obliquity sensor feedback angle by being mounted on vehicle body, by four
Supporting leg 103 is adjusted to horizontality, to guarantee the accuracy of following trolley positioning.Trolley computer system is provided using total station
Position data realize trolley automatic positioning.After the above work is completed, the tunnel of Vehicle-borne Laser Scanning instrument alignment prescan
Road edge, and scanning range is wanted in the tunnel contour figure selection shown on computer display screen, computer generates prescan road after confirmation
Line, if scanning the improper route that can be modified by man-machine interface of route, reaffirm rear laser scanner automatically into
Row profile scan.Tunnel contour three-dimensional model diagram is generated after tunnel contour scanning, computer system is according to actual scanning threedimensional model
Difference calculating is carried out with Tunnel Design outline data, estimates out cubic amount of concrete needed for operating area, and is shown on a display screen,
It can choose whether to refer to for mixing plant by wireless network transmissions to cloud by man-machine interface.
Computer system can generate injection route simultaneously, not alarm in each sensor, accelerator liquid level under normal circumstances, is pressed
" starting automatic injection " carries out automatic job, until completing all predefined paths.If spraying effect is not ideal enough, two can be carried out
Secondary profile scan, and secondary injection is carried out, repeat the above circulation.
The path of spraying is cooked up under the premise of following operating rule.Then spray is inversely calculated according to constraint condition
The optimum movement locus of each arm in head motion process moves to control spray head according to the path of planning.Computer system is applied
Work process data, including joint sensors numerical value, the motion profile of spray head, the process injection side amount of concrete, the mistake of accelerator
Journey dosage can be with acquisition and recording, and can connect network in tunnel by vehicle-mounted WiFi terminal and upload to service platform in real time,
Above data is stored in local and USB flash disk is supported to export simultaneously.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.
Claims (4)
1. a kind of information intelligent construction method of wet shot trolley characterized by comprising
Tunnel size and coordinate data are imported, and according to tunnel size and coordinate data, completes wet shot trolley and determines in tunnel
Position；
Tunnel Internal periphery model is obtained, is compared with tunnel Internal periphery design data, estimates concrete ejection amount, and generated described wet
The injection route of the injector head of spray booth vehicle；
According to the injection route, obtains in the injector head motion process, support the fortune of each support arm of the injector head
Dynamic rail mark；
The movement of each support arm is controlled, so that the injector head is along the injection route construction operation；
It further include the positioning to the injector head of the wet shot trolley after positioning of the completion wet shot trolley in tunnel,
Specifically includes the following steps:
It installs angular transducer additional at each artis of the support arm, install length sensing additional at the flexible position of the support arm
Device；
It is converted by three dimensional coordinate space, to obtain spatial position of the injector head relative to the wet shot trolley；
And then obtain coordinate data of the injector head in tunnel；
In the injector head along the injection route construction operation, by obtaining the coordinate data of the injector head, control speed
The dynamic proportion of solidifying agent；
After the completion of injector head concrete ejection, carry out tunnel Internal periphery secondary acquisition, and with tunnel Internal periphery design data
It is compared again, obtains the secondary the amount of injection that fills spray, specify the secondary route that fills spray；
And then it controls injector head and carries out the secondary construction operation that fills spray.
2. the information intelligent construction method of wet shot trolley according to claim 1, which is characterized in that the completion wet shot
Positioning of the trolley in tunnel, specifically includes the following steps:
At least two known points are chosen on tunnel inner wall, and are scanned by the way that total station is arranged, and obtain total station in tunnel
In coordinate data；
At least two reference points on the wet shot trolley are scanned by total station, and obtain the number of coordinates of each reference point
According to；
By the coordinate data of each reference point, the positioning in tunnel of wet shot trolley is realized.
3. the information intelligent construction method of wet shot trolley according to claim 1, which is characterized in that the acquisition tunnel
Internal periphery model, specifically includes the following steps:
The step pitches step-scan such as axially consecutive linear scanning, radial direction is carried out by laser transit, obtains scanning point cloud data；
Characteristics algorithm processing is carried out to scanning point cloud data；
To obtain the threedimensional model of current tunnel Internal periphery.
4. the information intelligent construction method of wet shot trolley according to claim 3, which is characterized in that
The processing of its characteristics algorithm includes filtering and noise reduction, signature analysis, segmentation, extraction and the reconstruction to scanning point cloud data；
For the scan blind spot of arch, operation is compensated using empirical data, to obtain accurately tunnel Internal periphery model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784647.6A CN108979668B (en) | 2018-07-17 | 2018-07-17 | The information intelligent construction method and system of wet shot trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784647.6A CN108979668B (en) | 2018-07-17 | 2018-07-17 | The information intelligent construction method and system of wet shot trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108979668A CN108979668A (en) | 2018-12-11 |
| CN108979668B true CN108979668B (en) | 2019-10-29 |
Family
ID=64549825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810784647.6A Active CN108979668B (en) | 2018-07-17 | 2018-07-17 | The information intelligent construction method and system of wet shot trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108979668B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882201A (en) * | 2019-03-01 | 2019-06-14 | 长沙辉格智能科技有限公司 | A kind of wet-spraying machine construction scanning means and scanning process |
| CN110259481B (en) * | 2019-06-24 | 2022-01-25 | 三一汽车制造有限公司 | Control method of wet spraying machine, wet spraying machine and computer readable storage medium |
| CN110939461A (en) * | 2019-10-25 | 2020-03-31 | 中铁隧道局集团有限公司 | Intelligent concrete spraying method |
| CN111618860A (en) * | 2020-06-09 | 2020-09-04 | 湖南五新隧道智能装备股份有限公司 | Mechanical arm, and motion trail planning system and method of mechanical arm |
| CN111828042B (en) * | 2020-06-23 | 2023-01-31 | 哈尔滨工业大学 | Intelligent guniting support method for wall surface overexcavation tunnel |
| CN112228107B (en) * | 2020-09-28 | 2023-06-27 | 中煤科工开采研究院有限公司 | Detection method and system for sealing spray layer for roadway support |
| CN112232558B (en) * | 2020-10-09 | 2024-02-20 | 中国铁建重工集团股份有限公司 | TBM (Tunnel boring machine) spraying and mixing system operation path planning method |
| CN112907601B (en) * | 2021-03-30 | 2021-09-24 | 中铁工程装备集团隧道设备制造有限公司 | Automatic extraction method and device for tunnel arch point cloud based on feature transformation |
| CN113688500B (en) * | 2021-07-14 | 2024-04-19 | 中铁工程装备集团有限公司 | Tunnel boring equipment guniting amount generalized calculation method and storage medium |
| CN113601505A (en) * | 2021-08-05 | 2021-11-05 | 中铁工程装备集团有限公司 | Intelligent control method and system for multifunctional installation trolley |
| CN114233329B (en) * | 2021-12-17 | 2023-03-17 | 中铁工程装备集团隧道设备制造有限公司 | Spraying area planning method for self-adaptive excavation profile |
| CN114247582A (en) * | 2021-12-17 | 2022-03-29 | 中铁工程装备集团隧道设备制造有限公司 | Spraying path planning method |
| CN115178400A (en) * | 2022-08-01 | 2022-10-14 | 重庆大学 | Intelligent guniting robot, guniting system and method |
| CN116441094B (en) * | 2023-04-20 | 2023-12-29 | 云南途腾智能装备有限公司 | Guniting mechanical arm for concrete wet spraying trolley |
| CN116163771B (en) * | 2023-04-26 | 2023-07-04 | 北京城建设计发展集团股份有限公司 | Intelligent control system for sprayed concrete on tunnel wall by mining method |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1213207A1 (en) * | 1983-12-14 | 1986-02-23 | Криворожский Филиал Всесоюзного Научно-Исследовательского Института Организации И Механизации Шахтного Строительства | Apparatus for supporting mine workings by shotcreting |
| SU1789711A1 (en) * | 1990-06-05 | 1993-01-23 | Inst Geotekhnicheskoi Mekhanik | Device for performance of concrete spraying |
| US5851580A (en) * | 1995-12-27 | 1998-12-22 | Amberg; Felix | Shotcrete spraying process |
| JP4599519B2 (en) * | 2007-03-07 | 2010-12-15 | 学校法人 芝浦工業大学 | Concrete dry spraying system and concrete dry spraying method |
| CN102929290A (en) * | 2012-10-10 | 2013-02-13 | 中联重科股份有限公司 | Injection machine control system, method and device applied to tunnel concrete injection |
| CN102979537A (en) * | 2012-12-06 | 2013-03-20 | 中联重科股份有限公司 | Nozzle control device, method and system for injection machine and engineering machinery |
| CN203383834U (en) * | 2013-08-06 | 2014-01-08 | 安徽佳乐建设机械有限公司 | Intelligent integrated wet shotcreting trolley |
| CN103713647A (en) * | 2013-12-23 | 2014-04-09 | 中联重科股份有限公司 | Concrete spraying machine, concrete spraying machine control method, concrete spraying machine control device and concrete spraying machine system |
| CN205135652U (en) * | 2015-11-09 | 2016-04-06 | 福州市尊品建设工程有限公司 | Automatic sand -blasting machine |
| CN106437772A (en) * | 2016-11-21 | 2017-02-22 | 长安大学 | Full-automatic intelligent wet-spraying concrete sprayer and method |
| JP2017133213A (en) * | 2016-01-27 | 2017-08-03 | 株式会社大林組 | Concrete spraying system |
| CN206636574U (en) * | 2016-11-21 | 2017-11-14 | 长安大学 | A kind of fully-automatic intelligent wet shotcreting spraying machine |
| CN107939418A (en) * | 2017-11-24 | 2018-04-20 | 中铁十局集团第四工程有限公司 | A kind of gunite concrete automated construction device and its construction method |
-
2018
- 2018-07-17 CN CN201810784647.6A patent/CN108979668B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1213207A1 (en) * | 1983-12-14 | 1986-02-23 | Криворожский Филиал Всесоюзного Научно-Исследовательского Института Организации И Механизации Шахтного Строительства | Apparatus for supporting mine workings by shotcreting |
| SU1789711A1 (en) * | 1990-06-05 | 1993-01-23 | Inst Geotekhnicheskoi Mekhanik | Device for performance of concrete spraying |
| US5851580A (en) * | 1995-12-27 | 1998-12-22 | Amberg; Felix | Shotcrete spraying process |
| JP4599519B2 (en) * | 2007-03-07 | 2010-12-15 | 学校法人 芝浦工業大学 | Concrete dry spraying system and concrete dry spraying method |
| CN102929290A (en) * | 2012-10-10 | 2013-02-13 | 中联重科股份有限公司 | Injection machine control system, method and device applied to tunnel concrete injection |
| CN102979537A (en) * | 2012-12-06 | 2013-03-20 | 中联重科股份有限公司 | Nozzle control device, method and system for injection machine and engineering machinery |
| CN203383834U (en) * | 2013-08-06 | 2014-01-08 | 安徽佳乐建设机械有限公司 | Intelligent integrated wet shotcreting trolley |
| CN103713647A (en) * | 2013-12-23 | 2014-04-09 | 中联重科股份有限公司 | Concrete spraying machine, concrete spraying machine control method, concrete spraying machine control device and concrete spraying machine system |
| CN205135652U (en) * | 2015-11-09 | 2016-04-06 | 福州市尊品建设工程有限公司 | Automatic sand -blasting machine |
| JP2017133213A (en) * | 2016-01-27 | 2017-08-03 | 株式会社大林組 | Concrete spraying system |
| CN106437772A (en) * | 2016-11-21 | 2017-02-22 | 长安大学 | Full-automatic intelligent wet-spraying concrete sprayer and method |
| CN206636574U (en) * | 2016-11-21 | 2017-11-14 | 长安大学 | A kind of fully-automatic intelligent wet shotcreting spraying machine |
| CN107939418A (en) * | 2017-11-24 | 2018-04-20 | 中铁十局集团第四工程有限公司 | A kind of gunite concrete automated construction device and its construction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108979668A (en) | 2018-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108979668B (en) | The information intelligent construction method and system of wet shot trolley | |
| EP3844355B1 (en) | Real size topography marking system | |
| CN101408410B (en) | Tunnel volume element deformation movable monitoring system and method | |
| CN104075691B (en) | Method for measuring topography by using ground laser scanner | |
| CN103913116B (en) | Large-scale stacking material volume both sides parallel measuring device and method | |
| CN101962925A (en) | Method for efficiently measuring three-dimensional coordinates of track based on track precise control net | |
| CN106639323B (en) | Building reconstruction system and method based on three-dimensional laser scanning and 3D printing | |
| US10399325B2 (en) | Systems and methods for preparing a worksite for additive construction | |
| CN104746884A (en) | Method for hoisting prefabricated parts of assembled building | |
| CN104563459B (en) | A kind of plastering machine and its leveling method | |
| RU2716035C1 (en) | Collision avoidance assist system for movable working platforms | |
| CN102878927A (en) | Device and method for automatically measuring volume of large open material yard based on vehicle carrier | |
| CN109764805A (en) | A kind of mechanical arm positioning device and method based on laser scanning | |
| CN109882201A (en) | A kind of wet-spraying machine construction scanning means and scanning process | |
| JP2022159504A (en) | Control system and method for optimizing machine placement for additional construction operation | |
| RU116862U1 (en) | DEVICE FOR DETERMINING SPATIAL PARAMETERS OF OBJECTS OF RAILWAY INFRASTRUCTURE | |
| CN105651202A (en) | Three-dimensional scanning method and device used for measuring volume of mine | |
| CN105544990B (en) | The line setting and template construction method of arc accommodation rail | |
| CN103020355B (en) | Method for realizing spatial arrangement scheduling of curved section of ship | |
| CN111147843B (en) | Dimension measuring method and system based on long and short focal length camera combination | |
| CN114418430A (en) | Unmanned dispatching system and method for external discharge type refuse dump | |
| CN115233996B (en) | Automatic paying-off system and method | |
| CN116910976A (en) | Laser radar reverse modeling guiding abnormal-shaped curtain wall construction method | |
| LU100766B1 (en) | Collision avoidance assistance system for movable work platforms | |
| KR20230173337A (en) | Unmanned mobile robot for crack inspection of buildings and crack inspection method using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Information intelligent construction method and system of wet spraying trolley Effective date of registration: 20221226 Granted publication date: 20191029 Pledgee: China Construction Bank Corporation Zhengzhou Railway Sub Branch Pledgor: CHINA RAILWAY ENGINEERING EQUIPMENT GROUP Co.,Ltd. Registration number: Y2022980029005 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20191029 Pledgee: China Construction Bank Corporation Zhengzhou Railway Sub Branch Pledgor: CHINA RAILWAY ENGINEERING EQUIPMENT GROUP Co.,Ltd. Registration number: Y2022980029005 |