CN114247582A - Spraying path planning method - Google Patents

Spraying path planning method Download PDF

Info

Publication number
CN114247582A
CN114247582A CN202111555451.8A CN202111555451A CN114247582A CN 114247582 A CN114247582 A CN 114247582A CN 202111555451 A CN202111555451 A CN 202111555451A CN 114247582 A CN114247582 A CN 114247582A
Authority
CN
China
Prior art keywords
spraying
arch
area
sprayed
base
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.)
Pending
Application number
CN202111555451.8A
Other languages
Chinese (zh)
Inventor
李光朋
黄艳
盖琛
刘延钊
张豪祺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Railway Engineering Equipment Group Tunnel Equipment Manufacturing Co Ltd
Original Assignee
Railway Engineering Equipment Group Tunnel Equipment Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Railway Engineering Equipment Group Tunnel Equipment Manufacturing Co Ltd filed Critical Railway Engineering Equipment Group Tunnel Equipment Manufacturing Co Ltd
Priority to CN202111555451.8A priority Critical patent/CN114247582A/en
Publication of CN114247582A publication Critical patent/CN114247582A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target

Landscapes

  • Lining And Supports For Tunnels (AREA)

Abstract

The invention belongs to the technical field of tunnel construction, and particularly relates to a spraying path planning method. The arch center area is divided into an arch center base area and a non-arch center base area, and the arch center base area is divided into a left arch center base area and a right arch center base area; in the spraying process, firstly, the arch center base area is sprayed, and then, the non-arch center base area is sprayed; when the arch base area is sprayed, the left arch base area is firstly continuously sprayed or the right arch base area is firstly continuously sprayed. The invention realizes the locking of the feet, reduces the rebound quantity/stripping quantity in the automatic spraying process, ensures the safety and stability of spraying and improves the spraying quality.

Description

Spraying path planning method
Technical Field
The invention belongs to the technical field of tunnel construction, and particularly relates to a spraying path planning method.
Background
Tunnels are buildings constructed underground, underwater, or in mountains for laying railways or constructing highways for motor vehicles to pass through. In the process of tunnel construction, the wet spraying machine is important equipment used for tunnel construction. The wet spraying machine is a mobile engineering machine carried on a self-made or general-purpose automobile chassis, and is characterized by that it utilizes hydraulic pressure to transfer the ready-mixed concrete mixture into spray gun by means of pipeline, and the compressed air and accelerating agent are connected into the mouth of spray gun to spray the mixture onto the sprayed surface at high speed, and then the mixture is quickly coagulated and hardened to form concrete supporting layer.
At present, tunnel whitewashing operation is most by the manual control patching machine arm, and the spraying does not have the regularity clear from particular, appears the phenomenon of repeated spraying or invalid spraying easily, and the spraying time is long, and is inefficient, and moreover, the irregular spraying appears the phenomenon that the concrete that is in the upper strata appears peeling off easily at the spraying in-process, and it is relatively poor to accomplish the quality. Therefore, the path planning of the spraying route is an essential link before the wet spraying machine performs spraying.
Disclosure of Invention
The invention provides a spraying path planning method, which is used for solving the problem of poor completion quality caused by no clear regularity of spraying in the prior art.
In order to solve the technical problems, the technical scheme and the corresponding beneficial effects of the technical scheme are as follows:
the invention discloses a spray path planning method, which comprises the following steps:
dividing the arch area into an arch base area SbAnd a non-arch base region Sp(ii) a So that the arch base region SbFor the region at the root of the arch, the non-arch base region SpIn the region S of the base of the archbAnd the arch base area SbDivided into left arch base areas SblAnd a right arch base area Sbr；
In the spraying process, the arch center base area S is firstly sprayedbSpraying and then coating the non-arch frame base area SpSpraying; in the region S of the base of the archbWhen spraying, firstly, the base area S of the left arch centering is sprayedblContinuously spraying or firstly spraying the base area S of the right arch framebrContinuous spraying is carried out.
The above techniqueThe beneficial effect of the scheme is as follows: the invention plans the arch center area to plan the base area S of the arch centerbAnd a non-arch base region SpWhen spraying, the arch center base area S is firstly sprayedb(including the left arch base region SblAnd a right arch base area Sbr) Spraying the non-arch centering base area S after all the spraying is finishedpTherefore, the locking pin is realized, the rebound quantity/stripping quantity in the automatic spraying process is reduced, the safety and stability of spraying are ensured, and the spraying quality is improved.
Further, in the base region S of the left archblWhen continuous spraying is carried out, the left arch center base area S is sprayedblThe spraying lines are divided into a plurality of lines, continuous spraying is carried out according to the sequence from bottom to top, the next line is sprayed after one line is sprayed, and the spraying lines are S-shaped.
The beneficial effects of the above technical scheme are: in the base region S of the left archblWhen the continuous spraying is carried out, the spraying is carried out according to a mode from bottom to top, the spraying path is continuous, and the ineffective spraying time/area is reduced while the rebound quantity/stripping quantity in the automatic spraying process is reduced.
Further, in the right arch base area SbrWhen continuous spraying is carried out, the base area S of the right arch frame is formedbrThe spraying lines are divided into a plurality of lines, continuous spraying is carried out according to the sequence from bottom to top, the next line is sprayed after one line is sprayed, and the spraying lines are S-shaped.
The beneficial effects of the above technical scheme are: in the base region S of the right archbrWhen the continuous spraying is carried out, the spraying is carried out according to a mode from bottom to top, the spraying path is continuous, and the ineffective spraying time/area is reduced while the rebound quantity/stripping quantity in the automatic spraying process is reduced.
Further, said non-arch base area SpIncluding a left non-arch base region SplAnd a right non-arch base area SprLeft non-arch base region S based on contour segmentsplDividing into left half areas, and dividing the right non-arch frame base area SprDividing the right half-width area into a plurality of right half-width areas; at a place whereSaid non-arch base area SpWhen continuous spraying is carried out, the left non-arch center base area S is firstly sprayedplSpraying or pre-coating the right non-arch base area SprAnd (5) spraying.
The beneficial effects of the above technical scheme are: in the region of the non-arch base SpWhen continuous spraying is carried out, the non-arch base area S is sprayedpThe spraying is carried out in different areas, so that the continuous movement path and time of the spray gun and the arm support are reduced.
Further, in the area S corresponding to the left non-arch baseplWhen spraying is carried out, all the left half areas are sprayed according to the sequence from bottom to top, and the next left half area is sprayed after the left half area is sprayed.
The beneficial effects of the above technical scheme are: in the base region S of the left non-arch centeringplWhen spraying, the left non-arch frame base area S is arrangedplThe left half-width areas are divided for spraying, so that the continuous movement path and time of a spray gun and an arm support are reduced; when the left half areas are sprayed, the spraying is also performed in the order from bottom to top, thereby reducing the rebound/peeling amount in the automatic spraying process.
Further, in the right non-arch base area SprWhen spraying is carried out, all the right half areas are sprayed according to the sequence from bottom to top, and after the spraying of one right half area is finished, the next right half area is sprayed.
The beneficial effects of the above technical scheme are: in the right non-arch base region SprWhen spraying, the right non-arch frame base area S is arrangedprThe spraying is carried out in a mode of being divided into a plurality of right half-width areas, and the continuous movement path and time of a spray gun and an arm support are reduced; when the right half areas are sprayed, the spraying is also performed in the order from bottom to top, thereby reducing the rebound/peeling amount in the automatic spraying process.
Furthermore, when a certain left half area is sprayed, the left half area is divided into a plurality of rows, continuous spraying is carried out according to the sequence of the tunneling direction, the next row is sprayed after the spraying of one row is finished, and the spraying route is S-shaped.
The beneficial effects of the above technical scheme are: when one of the left half areas is sprayed, continuous spraying is carried out according to the sequence of the tunneling direction, so that the time of the direct injection arch is obviously shortened.
Further, when a certain right half area is sprayed, the right half area is divided into a plurality of rows, continuous spraying is carried out according to the sequence of the tunneling direction, the next row is sprayed after the spraying of one row is finished, and the spraying route is S-shaped.
The beneficial effects of the above technical scheme are: when one of the right half areas is sprayed, continuous spraying is carried out according to the sequence of the tunneling direction, so that the time of the direct injection arch is obviously shortened.
Drawings
FIG. 1 is a schematic illustration of the optimal spray path planning of the present invention;
FIG. 2-1 is a fragmentary top-to-bottom schematic view of the top step of the present invention;
FIG. 2-2 is a schematic diagram of beginning and end segments of the lower stage of the present invention;
FIG. 3 is a schematic illustration of the division of the non-arch base area of the present invention;
FIG. 4-1 is a schematic view of the right non-arch base area of the upper step of the present invention;
FIG. 4-2 is a schematic view of the right non-arch base area of the lower step of the present invention;
FIG. 5-1 shows the base region S of the left arch of the present inventionblA processing sequence chart when the corresponding spraying area matrix is processed;
FIG. 5-2 shows the right arch base area S of the present inventionbrA processing sequence chart when the corresponding spraying area matrix is processed;
FIG. 6-1 is a processing sequence diagram of the present invention when processing a spray area matrix corresponding to the left half area;
fig. 6-2 is a processing sequence diagram when the spray area matrix corresponding to the right half area is processed according to the present invention.
Detailed Description
When a wet sprayer is used for spraying, the better spraying path meets the following conditions:
1) the rebound quantity/stripping quantity in the automatic spraying process can be reduced;
2) the direct injection time of the arch centering can be reduced;
3) the continuous movement path and time of the spray gun and the arm support can be reduced;
4) the spraying path is continuous, and the invalid spraying time/area can be reduced;
5) improve the automatic spraying security, carry out the spraying again after the firm bow member.
The above condition requirements can be simplified as the following rules: the spraying of the root of the arch frame is required to be finished in the initial section, then the spraying is carried out from bottom to top, and the motion amount of the arm frame in the adjacent spraying area is the least. Based on the method, the invention provides a spraying path planning method, which has the following basic concept: dividing a spraying area into an arch base (namely a root) area and a non-arch base area, firstly spraying the divided arch base area to ensure the safety and stability of spraying, and then continuously spraying the non-arch base area according to the principle of from bottom to top along the arch direction, wherein an ideal spraying path is shown in figure 1, wherein the arch direction is defined to be clockwise, and is shown in the arrow direction in figure 1; in addition, during the concrete implementation, the arch center base area is divided into a left arch center base area and a right arch center base area, the non-arch center base area is divided into a plurality of areas, and the spraying is carried out according to the continuous principle, so that the aim of locking the feet firstly and then spraying is fulfilled.
The spraying path planning method of the present invention is described below by taking the step excavation mode as an example, and the lower step excavation mode and the full-face excavation mode are similar to each other.
The spraying path planning method of the invention needs to divide the arch area into the arch base area SbAnd a non-arch base region SpBase area S of the archbFor the region at the root of the arch, the non-arch base region SpIn the region S of the base of the archbAbove (b). And, to the arch base region SbAnd a non-arch base region SpFurther subdivision is performed. Lower maskIntroduction is made.
1. And planning a spraying area.
Arch center base area SbAnd (4) dividing.
Centering base region S from the beginning and end segments of the upper step profilebDivided into left arch base areas SblAnd a right arch base area SbrAnd the right arch base area SbrHas a height h from the highest point to the bottom platerLeft arch base area SblHas a height h from the highest point to the bottom platel，hrAnd hlInfluenced by the accumulation of ground detritus in the working area and the division of the spoke intervals (A) in the spraying area1-A2) Influence of/n, typically take hr,hl∈(1000mm,1500mm)<＝Rsin((A1-A2) N), the initial and final segments of the original contour are shown in FIGS. 2-1 and 2-2, and the segment parameters are shown in Table 1, wherein P issAs starting point coordinates, PsAs starting point coordinates, PeAs end point coordinates, k is curvature, R is radius, OsAs a center of a circle, A1As the starting point argument, A2Is the terminal argument.
TABLE 1 contour Start and end segment parameters
Numbering Ps Pe k R O A1 A2
1 Ps1 Pe1 k1 R1 O1 A11 A12
n Psn Pen kn Rn On A1n A2n
The arch base and new start and end segment parameters segmented from the contour start and end segments are shown in table 2.
TABLE 2 contour Arch base, New Start and end segment parameters
Figure RE-GDA0003501517580000041
Figure RE-GDA0003501517580000051
Wherein,
Figure RE-GDA0003501517580000052
is the end point coordinate, O, of the left arch base profile segment1,xIs a center of a circle O1And so on, and so on.
Figure RE-GDA0003501517580000053
Is the starting point coordinate, O, of the right arch base profile segmentn,xIs a center of a circle OnAnd so on, and so on.
② non-arch base region SpAnd (4) dividing.
As shown in fig. 3, the arch base area SbAfter the division, the remaining segments of the contour of the upper step are uniformly distributed on the left and right half-frames of the tunnel, so that the non-arch frame base region S is formedpDivided into a left non-arch base region SplAnd a right non-arch base area Spr. Furthermore, the left non-arch base region S is cut based on the profile segments (clockwise rotation in the beginning and end of the excavation profile) andpldividing the left half area into two areas, namely an area I and an area II, and dividing the right non-arch frame base area SplThe two right half areas are divided into an area (c) and an area (c).
2. A matrix of spray areas is determined.
According to the spraying area planning of the contour segment, a spraying area matrix of all areas can be easily obtained. Left arch base area SblCorresponding spray area matrix SlRight arch base area SbrCorresponding spray area matrix SrRespectively as follows:
Figure RE-GDA0003501517580000054
wherein s islijShowing the left arch base area SblSmall regions in ith row and jth column, i 1,2, …, M, j 1,2, …, N; srijIndicating the right arch base area SbrIn the small region of the ith row and the jth column, i is 1,2, …, M, j is 1,2, …, N.
Non-arch base region SpThe corresponding non-arch base spray matrix is noted as:
Figure RE-GDA0003501517580000056
Figure RE-GDA0003501517580000055
wherein S isiThe ith area of the non-arch area is represented, wherein i is (i), (ii), (iii) and (iv); spijRepresenting a non-arch base region SpIn the small region of the ith row and the jth column, i is 1,2, …, M, j is 1,2, …, N.
3. And planning a spraying path.
Firstly, in the spraying process, the attached slurry is stripped because of insufficient supporting force, so that concave points are formed, and manual coating is needed. The spraying path from bottom to top enables the attached slurry in the first spraying area to support the attached slurry, and the stripping amount can be obviously reduced. Therefore, the whole spraying process is to lock the feet firstly and then spray, namely to the base area S of the arch frame firstlybSpraying and then coating the non-arch frame base area SpSpraying; furthermore, the locking process may be spraying the left arch base area S firstblRecoating the right arch base area SbrThen the spraying sequence is as follows:
Sbr→Sbl→Sp
secondly, according to the description of the profile segments, the initial and final directions of the excavated profile rotate clockwise, and then a non-arch frame base area matrix S corresponding to the left half areaiNon-arch base region matrix S corresponding to right half regions arranged from bottom to top in sequenceiArranged sequentially from top to bottom as shown in FIGS. 4-1 and 4-2.
Obviously, the right arch base area SbrCorresponding spray area matrix SrThe spraying sequence can be adjusted from bottom to top according to the row-to-row sequencing, namely:
Figure RE-GDA0003501517580000061
for the same reason, for the non-arch base region SpRight half area S ofprCorresponding spray area matrix SiThe spraying sequence from bottom to top can also be adjusted according to the sequence of rows and inverses.
Figure RE-GDA0003501517580000062
In most cases, there is more than one contour segment in the left and right halves of the contour, and the contour segments in the right half also need to be inverted to adjust to the order from the bottom up, namely:
Figure RE-GDA0003501517580000063
or more generally:
Figure RE-GDA0003501517580000064
the foot locking effect of the spraying path of the arch base area along the tunneling direction is faster and better, and the time of directly spraying the arch can be obviously reduced for the spraying path of the non-arch base area along the arch direction. Therefore, it is necessary to sort the spraying region matrices corresponding to the arch base region and the non-arch base region in rows and columns.
According to the principle of spray area planning, each row of the spray area matrix represents the same arch, each column represents the same spray amplitude angle, therefore, in order to obtain a continuous spray path, the arch base areas are ordered in rows and connected end to end, and the left arch base area S is subjected to the treatment ofblThe processing sequence of the corresponding spraying area matrix is shown in figure 5-1, namely continuous spraying is carried out according to the sequence from bottom to top, the next line is sprayed after one line is sprayed, and the spraying route is S-shaped; for right arch frame base area SbrThe corresponding processing sequence of the matrix of spray areas is shown in fig. 5-2, i.e. in terms ofAnd continuously spraying from bottom to top, and spraying the next line after one line is sprayed, wherein the spraying route is S-shaped. The non-arch frame base areas are sequenced in columns and are connected end to end, the matrix processing sequence of the spraying areas corresponding to the left half area is shown in figure 6-1, namely continuous spraying is carried out according to the sequence of the tunneling direction, the next column is sprayed after one column of spraying is finished, and the spraying route is S-shaped; the sequence of matrix processing of the spraying areas corresponding to the right half area is shown in fig. 6-2, namely, continuous spraying is carried out according to the sequence of the tunneling direction, the next row is sprayed after one row is sprayed, and the spraying route is S-shaped.
Based on the introduced theoretical knowledge, the embodiment of the spray path planning method of the invention can be realized, specifically:
step one, the left arch base area S is processed in the following wayblSpraying: the left arch base area SblThe spraying lines are divided into a plurality of lines, continuous spraying is carried out according to the sequence from bottom to top, the next line is sprayed after one line is sprayed, and the spraying lines are S-shaped.
Step two, the right arch frame base area S is processed in the following waybrSpraying: the right arch base area SbrThe spraying lines are divided into a plurality of lines, continuous spraying is carried out according to the sequence from bottom to top, the next line is sprayed after one line is sprayed, and the spraying lines are S-shaped. To this end, the centering of the arch base region S is completed by the first step and the second stepbThe spraying of (2) realizes the lock foot, has guaranteed the safety and the stability of spraying, reduces the resilience volume/the amount of peeling off among the automatic spraying process, has improved the security of spraying.
And step three, spraying the left half area I and the left half area II in sequence according to the following modes: dividing the left half area into a plurality of rows, continuously spraying according to the sequence of the tunneling direction, and spraying the next row after one row is sprayed, wherein the spraying route is S-shaped; and dividing the left half area II into a plurality of rows, continuously spraying according to the sequence of the tunneling direction, and spraying the next row after the spraying of one row is finished, wherein the spraying route is S-shaped.
And fourthly, spraying the right half-width areas ((a), (b)) in sequence as follows: will be rightDividing the half-width area into a plurality of rows, continuously spraying according to the sequence of the tunneling direction, and spraying the next row after one row is sprayed, wherein the spraying route is S-shaped; and the right half area is divided into a plurality of rows, continuous spraying is carried out according to the sequence of the tunneling direction, the next row is sprayed after the spraying of one row is finished, and the spraying route is S-shaped. To this end, the non-arch base region S is completed by the third step and the fourth steppThe spraying path is continuous, and the ineffective spraying time/area is reduced.
Thus, the spraying can be finished. In conclusion, the invention meets the five conditions, improves the guniting work of the wet-spraying arm on different geologies and can adapt to the changed excavation section profile or the vertical arch condition.
In this embodiment, the arch base region S is aligned in the first and second stepsbWhen spraying, the base area S of the left arch centering is firstly sprayedblSpraying and then coating the base area S of the right arch framebrAnd (5) spraying. As another embodiment, the right arch base area S can be firstly alignedbrSpraying and then coating the base area S of the left arch frameblAnd (5) spraying.
In the present embodiment, the non-arch base region S is subjected to the third and fourth stepspSpraying is carried out, namely, the left non-arch center base area S is firstly sprayedplSpraying and then coating the right non-arch frame base area SprAnd (5) spraying. As another embodiment, the right non-arch base region S may be treated firstprSpraying and then coating the left non-arch frame base area SplAnd (5) spraying.

Claims (8)

1. A spray route planning method is characterized by comprising the following steps:
dividing the arch area into an arch base area SbAnd a non-arch base region Sp(ii) a So that the arch base region SbFor the region at the root of the arch, the non-arch base region SpIn the region S of the base of the archbAnd the arch base area SbDivided into left arch base areas SblAnd a right arch base area Sbr；
In the spraying process, the arch center base area S is firstly sprayedbSpraying and then coating the non-arch frame base area SpSpraying; in the region S of the base of the archbWhen spraying, firstly, the base area S of the left arch centering is sprayedblContinuously spraying or firstly spraying the base area S of the right arch framebrContinuous spraying is carried out.
2. The spray path planning method according to claim 1, wherein the left arch base region S is defined as a region of the left arch baseblWhen continuous spraying is carried out, the left arch center base area S is sprayedblThe spraying lines are divided into a plurality of lines, continuous spraying is carried out according to the sequence from bottom to top, the next line is sprayed after one line is sprayed, and the spraying lines are S-shaped.
3. The spray path planning method according to claim 1, wherein the right arch base region S is defined as a region of the right arch basebrWhen continuous spraying is carried out, the base area S of the right arch frame is formedbrThe spraying lines are divided into a plurality of lines, continuous spraying is carried out according to the sequence from bottom to top, the next line is sprayed after one line is sprayed, and the spraying lines are S-shaped.
4. The spray path planning method according to claim 1, wherein the non-arch base region SpIncluding a left non-arch base region SplAnd a right non-arch base area SprLeft non-arch base region S based on contour segmentsplDividing into left half areas, and dividing the right non-arch frame base area SprDividing the right half-width area into a plurality of right half-width areas; in the region of the non-arch base SpWhen continuous spraying is carried out, the left non-arch center base area S is firstly sprayedplSpraying or pre-coating the right non-arch base area SprAnd (5) spraying.
5. The spray path planning method according to claim 4, wherein the left non-arch is subjected toBase region SplWhen spraying is carried out, all the left half areas are sprayed according to the sequence from bottom to top, and the next left half area is sprayed after the left half area is sprayed.
6. The spray path planning method according to claim 4, wherein the right non-arch base region S isprWhen spraying is carried out, all the right half areas are sprayed according to the sequence from bottom to top, and after the spraying of one right half area is finished, the next right half area is sprayed.
7. The spray route planning method according to claim 5, wherein when a left half area is sprayed, the left half area is divided into a plurality of rows, continuous spraying is performed in the sequence of the tunneling direction, and after one row is sprayed, the next row is sprayed, and the spray route is S-shaped.
8. The spray route planning method according to claim 6, wherein when a right half area is sprayed, the right half area is divided into a plurality of rows, continuous spraying is performed in the sequence of the tunneling direction, the next row is sprayed after the spraying of one row is completed, and the spray route is in an S shape.
CN202111555451.8A 2021-12-17 2021-12-17 Spraying path planning method Pending CN114247582A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111555451.8A CN114247582A (en) 2021-12-17 2021-12-17 Spraying path planning method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111555451.8A CN114247582A (en) 2021-12-17 2021-12-17 Spraying path planning method

Publications (1)

Publication Number Publication Date
CN114247582A true CN114247582A (en) 2022-03-29

Family

ID=80792883

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111555451.8A Pending CN114247582A (en) 2021-12-17 2021-12-17 Spraying path planning method

Country Status (1)

Country Link
CN (1) CN114247582A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1905952A (en) * 2004-06-01 2007-01-31 Abb株式会社 Painting method
CN103713647A (en) * 2013-12-23 2014-04-09 中联重科股份有限公司 Concrete sprayer and control method, device and system thereof
US20150198041A1 (en) * 2012-06-12 2015-07-16 Abb Inc. Method of applying a thin spray-on liner and robotic applicator therefor
CN207420592U (en) * 2017-11-20 2018-05-29 中建路桥集团第六工程有限公司 Spray concrete cover construction system in tunnel
CN108979668A (en) * 2018-07-17 2018-12-11 中铁工程装备集团有限公司 The information intelligent construction method and system of wet shot trolley
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
CN111828045A (en) * 2020-07-10 2020-10-27 哈尔滨工业大学 Four-layer multi-block tunnel guniting operation planning method for automatic wet spraying machine
CN111828042A (en) * 2020-06-23 2020-10-27 哈尔滨工业大学 Intelligent guniting support method for wall surface overexcavation tunnel

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1905952A (en) * 2004-06-01 2007-01-31 Abb株式会社 Painting method
US20150198041A1 (en) * 2012-06-12 2015-07-16 Abb Inc. Method of applying a thin spray-on liner and robotic applicator therefor
CN103713647A (en) * 2013-12-23 2014-04-09 中联重科股份有限公司 Concrete sprayer and control method, device and system thereof
CN207420592U (en) * 2017-11-20 2018-05-29 中建路桥集团第六工程有限公司 Spray concrete cover construction system in tunnel
CN108979668A (en) * 2018-07-17 2018-12-11 中铁工程装备集团有限公司 The information intelligent construction method and system of wet shot trolley
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
CN111828042A (en) * 2020-06-23 2020-10-27 哈尔滨工业大学 Intelligent guniting support method for wall surface overexcavation tunnel
CN111828045A (en) * 2020-07-10 2020-10-27 哈尔滨工业大学 Four-layer multi-block tunnel guniting operation planning method for automatic wet spraying machine

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
刘俊峦: "隧道喷射混凝土回弹率控制措施", 《交通世界》 *
刘在政等: "喷射机械手智能控制系统与喷射路径规划设计研究", 《隧道建设(中英文)》 *
董翔宇等: "浅谈隧道初期支护喷射混凝土湿喷施工", 《北方交通》 *
韩勇等: "混凝土喷射台车工作臂逆向运动学研究", 《隧道建设》 *

Similar Documents

Publication Publication Date Title
CN112943364B (en) Dynamo and Revit-based parameterized modeling method for long tunnel
CN114247582A (en) Spraying path planning method
CN107869353A (en) Multifunctional tunnel Mobile workbench
CN111022091B (en) Multi-angle supporting rod for tunnel preliminary bracing
CN106050246B (en) The arching method of arched type precutting trough equipment
WO1998007961B1 (en) Tunnelling process and device
CN111576389A (en) Bottom-to-top graded electroosmosis drainage deep and soft foundation treatment method and device based on&#39; electrode movement
CN111828045B (en) Four-layer multi-block tunnel guniting operation planning method for automatic wet spraying machine
JPH0742496A (en) Repair method of tunnel
CN111764923B (en) Construction method for dismantling temporary inverted arch of existing tunnel with cross-cut downward
CN108691417B (en) Multi-nozzle foam concrete distributing device and operation method
DE69302198T2 (en) Device for manufacturing concrete pillars
CN202611721U (en) concrete sprayer
JPH0636681B2 (en) Subsoil improvement method and work equipment for subsoil improvement
CN114233329B (en) Spraying area planning method for self-adaptive excavation profile
CN101845816B (en) Adjustable support for spraying of building foundation pits and side slopes
CN207419572U (en) A kind of rotate excavates device for casting
CN115142388B (en) Aqueduct concrete composite road formwork construction method
CN109779684A (en) Integrated form vcehicular tunnel cable trough fast standard constructing device and construction method
CN217523477U (en) Small-size sprinkling irrigation machine
CN113235556A (en) Leveling process for foundation for building construction
CN212681565U (en) Paint recovery device
CN207620809U (en) A kind of concrete spray maintenance rack
CN116988816A (en) Safe and rapid operation construction method for super-large-span tunnel high-strength shotcrete
CN207140044U (en) Flusher for concrete curing

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
RJ01 Rejection of invention patent application after publication

Application publication date: 20220329

RJ01 Rejection of invention patent application after publication