CN114483105A - Wet spraying construction method and wet spraying construction system - Google Patents
Wet spraying construction method and wet spraying construction system Download PDFInfo
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- CN114483105A CN114483105A CN202210129543.8A CN202210129543A CN114483105A CN 114483105 A CN114483105 A CN 114483105A CN 202210129543 A CN202210129543 A CN 202210129543A CN 114483105 A CN114483105 A CN 114483105A
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- 238000005507 spraying Methods 0.000 title claims abstract description 363
- 238000010276 construction Methods 0.000 title claims abstract description 104
- 238000013461 design Methods 0.000 claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 238000010408 sweeping Methods 0.000 claims abstract description 37
- 239000004567 concrete Substances 0.000 claims abstract description 34
- 238000004088 simulation Methods 0.000 claims abstract description 31
- 238000013486 operation strategy Methods 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000005422 blasting Methods 0.000 claims description 41
- 238000009412 basement excavation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 239000011378 shotcrete Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- Lining And Supports For Tunnels (AREA)
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
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a wet spraying construction method and a wet spraying construction system.
Background
The wet spraying machine is a mechanical device which sprays concrete mixture mixed in a certain proportion to a sprayed surface through a spraying arm and quickly condenses to form a sprayed concrete support layer, and is mainly used for tunneling construction of underground engineering such as tunnels or roadways.
However, the automation degree of the wet sprayer in the tunnel guniting construction is not high, the wet sprayer is operated on an operation table by operators in the construction process, the distance between a nozzle and a spraying surface, the spraying angle and the like are greatly influenced by the experience of the operators, the high rebound rate of sprayed concrete is caused, the material is seriously wasted, the dust concentration of an operation space is improved, and the health of constructors is seriously harmed. The control of the spraying thickness mainly adopts the traditional means of manual observation, post detection and the like, and has the defects of complex operation and incapability of accurate datamation. Therefore, how to improve the spraying quality of the wet spraying machine, achieve less humanization of guniting construction, and improve the operation safety is a problem which needs to be solved urgently at present.
Disclosure of Invention
Some embodiments of the present invention provide a wet blasting construction method and a wet blasting construction system, which are used to alleviate the problem of low construction quality.
In one aspect of the present invention, there is provided a wet blasting construction method, comprising the steps of:
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.
In some embodiments, the wet blasting construction method further comprises 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.
In some embodiments, 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.
In some embodiments, the three-dimensional model of the design working surface of the inner contour of the tunnel comprises a three-dimensional model of a design sprayed surface of the inner contour of the tunnel or a three-dimensional model of a design wet spraying finish surface of the inner contour of the tunnel.
In some embodiments, the step of obtaining a three-dimensional model of a design working 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.
In some embodiments, the step of obtaining a wet jet engine 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.
In some embodiments, the step of acquiring in-tunnel profile data after actual excavation includes: and scanning the inner contour of the actually excavated tunnel by adopting a three-dimensional laser scanner to obtain the data of the inner contour of the actually excavated tunnel.
In another aspect of the present invention, a wet spraying construction system is provided, which includes a wet spraying machine and a wet spraying informatization platform, wherein the wet spraying informatization platform and the wet spraying machine are configured to cooperate with each other to implement the above wet spraying construction method.
In some embodiments, 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 comprises a mechanical arm, a sensor and an on-board controller, wherein 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 a nozzle in a tunnel and collection of concrete consumption, and the on-board controller is in communication connection with the information platform.
Based on the technical scheme, the invention at least has the following beneficial effects:
in some embodiments, a tunnel wet spraying machine construction process is simulated through three-dimensional modeling software and construction simulation software, a wet spraying machine construction simulation scheme is established, a wet spraying machine operation guidance scheme, namely wet spraying machine action and operation strategies, is generated and sent to a wet spraying machine waiting for construction on site, and the wet spraying machine executes wet spraying operation according to the operation guidance scheme so as to improve the intelligent level, the construction quality is high, the rework rate is low, the construction efficiency is high, and the tunnel construction progress can be accelerated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic flow diagram of a wet blasting construction method according to some embodiments of the present disclosure;
FIG. 2 is a schematic structural relationship diagram of a spraying surface, a spraying surface and a nozzle moving path according to some embodiments of the invention;
FIG. 3 is a schematic flow chart of a secondary post-spray construction method according to some embodiments of the present disclosure;
FIG. 4 is a schematic flow chart illustrating modeling of wet jet engine operation provided in accordance with some embodiments of the present invention;
FIG. 5 is a schematic illustration of a 1:1 model of a wet-spray machine provided in accordance with some embodiments of the present invention;
FIG. 6 is a schematic flow diagram for generating a motion path for a wet-jet nozzle provided in accordance with some embodiments of the present invention;
FIG. 7 is a schematic flow chart of a method for generating a wet spray operation guidance plan and guiding a wet spray according to a movement path of a nozzle according to some embodiments of the present invention;
FIG. 8 is a schematic diagram of a wet-spray information platform for controlling a plurality of projects, according to some embodiments of the invention.
It should be understood that the dimensions of the various parts shown in the figures are not drawn to scale. Further, the same or similar reference numerals denote the same or similar components.
Detailed Description
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 merely illustrative and is in no way intended to limit the invention, its application, or uses. 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: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.
The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In the present invention, when it is described that a specific device is located between a first device and a second device, there may or may not be an intervening device between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, that particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
FIG. 1 is a schematic flow diagram of some embodiments of a wet blasting construction method according to the invention. Referring to fig. 1, in some embodiments, a wet spray construction method includes the steps of:
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 three-dimensional model of the sprayed surface with the three-dimensional model of the designed working surface to obtain the concrete spraying amount required by each position on the actual sprayed surface;
referring to fig. 2, establishing a spraying surface sweeping model of the nozzle of the wet spraying machine, wherein the distances between each position on the spraying surface sweeping 1 of the spraying surface sweeping model and the actual spraying surface 2 of the three-dimensional model of the actual spraying surface are equal, and selecting a plurality of wet spraying points 3 on the spraying surface sweeping 1 to form a movement path 4 of the nozzle;
acquiring a wet sprayer operation simulation model; enabling a nozzle 5 of the wet spraying machine to operate as a simulation model to run along a movement path 4 of the nozzle, simulating wet spraying, and keeping the nozzle to be always vertical 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.
In the above embodiment, the three-dimensional model of the design working surface and the three-dimensional model of the actual spraying receiving surface of the inner contour of the tunnel are obtained, so that the concrete consumption actually required by wet spraying of the inner contour of the tunnel can be obtained.
The construction process of the tunnel wet spraying machine is simulated through three-dimensional modeling software and construction simulation software, a wet spraying machine construction simulation scheme is established, a wet spraying machine operation guidance scheme, namely wet spraying machine action and operation strategies, is generated and sent to the wet spraying machine waiting for construction on site, and the wet spraying machine executes wet spraying operation according to the operation guidance scheme, so that the intelligent level and the construction quality are improved, the rework rate is low, the construction efficiency is high, and the tunnel construction progress can be accelerated.
Optionally, the three-dimensional modeling software includes AutoCAD, Solidworks, ProE, or the like.
Optionally, the construction simulation software includes 3D MAX or DELMIA, etc.
Referring to fig. 3, in some embodiments, the wet blasting construction method further includes 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 a secondary spraying surface of the secondary spraying surface sweeping model and the actual secondary spraying surface of the actual secondary spraying surface three-dimensional model is equal, and selecting a plurality of wet spraying points on the secondary spraying surface sweeping 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 sprayer operation simulation model runs along a secondary motion path of the nozzle to finish secondary simulated wet spraying, obtaining the action and operation strategy of the secondary wet sprayer; 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.
In the embodiment, the secondary supplementary spraying operation is guided by the secondary supplementary spraying operation guiding scheme, so that the wet spraying machine waiting for construction on site is guided to complete the secondary supplementary spraying operation, and the secondary supplementary spraying operation can be repeated for many times, so that the tertiary supplementary spraying operation or more than three supplementary spraying operations can be realized until the thickness of a sprayed layer meets the construction requirement, and the construction quality is improved.
In some embodiments, the wet-blasting machine action and operation strategy includes 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.
The wet spraying machine executes the actions and operation strategies of the wet spraying machine to realize the automatic control of construction operation, the accurate control of the distance between the nozzle and the construction surface and the angle is included, and the concrete spraying rebound rate can be reduced.
Referring to fig. 7, the action and operation strategy of the wet blasting machine is a wet blasting operation guidance scheme, and the wet blasting operation guidance scheme includes a visual wet blasting operation scheme, a sprayed surface concrete spraying amount planning scheme, a wet blasting machine position coordinate parameter and a wet blasting machine mechanical arm motion track parameter.
In some embodiments, the three-dimensional model of the design working surface of the inner contour of the tunnel comprises a three-dimensional model of a design sprayed surface of the inner contour of the tunnel or a three-dimensional model of a design wet spraying finish surface of the inner contour of the tunnel.
In the primary wet spraying process, comparing the actual three-dimensional model of the sprayed surface with the three-dimensional model of the designed working surface, and in the secondary wet spraying process, comparing the actual three-dimensional model of the secondary sprayed surface with the three-dimensional model of the designed working surface, wherein the three-dimensional model of the designed working surface can comprise the three-dimensional model of the designed sprayed surface of the inner contour of the tunnel or the three-dimensional model of the designed wet spraying finishing surface of the inner contour of the tunnel.
In some embodiments, the step of obtaining a three-dimensional model of a design work surface of an interior 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.
Establishing a tunnel three-dimensional design model by using three-dimensional modeling software according to the tunnel design information; and obtaining a three-dimensional model of the design working surface of the inner contour of the tunnel through the three-dimensional design model of the tunnel. And comparing the three-dimensional model of the sprayed surface with the three-dimensional design model of the tunnel, so that the concrete spraying amount required by each position on the actual sprayed surface can be obtained, and the total concrete consumption can be predicted.
Optionally, the wet-spraying informatization platform comprises a 3D experiment or a self-built platform and the like.
Referring to FIG. 4, in some embodiments, the step of obtaining a wet jet engine operation simulation model includes:
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.
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, referring to fig. 5.
In some embodiments, the step of acquiring in-tunnel profile data after actual excavation comprises: and scanning the inner contour of the actually excavated tunnel by adopting a three-dimensional laser scanner to obtain the data of the inner contour of the actually excavated tunnel.
The method comprises the steps of scanning an inner contour of an actual tunnel after excavation by using a three-dimensional laser scanner, obtaining data of the inner contour of the actual tunnel after excavation, uploading the data of the inner contour of the actual tunnel after excavation to a wet spraying informatization platform through an on-vehicle controller of a wet spraying machine, and establishing a three-dimensional model of an actual sprayed surface.
The wet spraying informatization platform can utilize three-dimensional modeling software to establish a tunnel three-dimensional model and process three-dimensional scanning data, can utilize construction simulation software to simulate the actual walking of the wet spraying machine and the actions and the moving ranges of the mechanical arm such as rotation, pitching and swinging, and simulates the actual construction of the wet spraying machine in the tunnel and outputs a wet spraying machine operation guidance scheme.
Some embodiments also provide a wet spraying construction system, which comprises a wet spraying machine and a wet spraying informatization platform, wherein the wet spraying informatization platform and the wet spraying machine are configured to cooperate with each other to realize the wet spraying construction method.
The wet spraying informatization platform can receive and store tunnel construction information, call three-dimensional modeling software to realize three-dimensional construction scene modeling and three-dimensional scanning data processing, call construction simulation software to realize wet spraying machine construction operation simulation, and generate and output a construction operation guidance scheme.
The wet spraying informatization platform simulates a wet spraying process of a tunnel wet spraying machine, forms a wet spraying machine operation guide scheme and sends the wet spraying machine to a wet spraying machine waiting for construction on site, the wet spraying machine executes wet spraying operation of a sprayed surface according to the sending scheme, automatic control of the wet spraying machine construction operation, distance control of a nozzle and a construction surface and accurate control of the angle of the nozzle are achieved, the concrete spraying rebound rate is reduced, raw materials are saved, and the construction efficiency and the spraying layer quality are improved.
In some embodiments, 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 comprises a mechanical arm, a sensor and an on-board controller, wherein 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 a nozzle in a tunnel and collection of concrete consumption, the on-board controller is in communication connection with an information platform, and the on-board controller collects sensor data through a communication system.
Referring to fig. 5, each joint point of the robot arm of the wet blasting machine 10 includes a movable part support 11, a large arm 12, a first multi-joint arm 13, a second multi-joint arm 14, a third multi-joint arm 15, a nozzle holder 16, and a nozzle 17.
The sensor comprises a rotary encoder, a pull wire sensor, a pressure sensor, a flowmeter and the like.
Information transmission between the wet spraying informatization platform and the wet spraying machine is realized through the Internet of things. The vehicle-mounted controller of the wet spraying machine packages and transmits construction process data such as tunnel internal contour scanning data, nozzle positions, distances and angles between nozzles and a construction surface, concrete spraying amount and the like acquired by a three-dimensional laser scanner and a sensor to a wet spraying information platform, the wet spraying information platform analyzes and processes the data by using three-dimensional modeling software and construction simulation software, a wet spraying machine operation guidance scheme is generated according to a movement path of a nozzle of the wet spraying machine, the wet spraying information platform issues the wet spraying machine operation guidance scheme to the vehicle-mounted controller of the wet spraying machine waiting for construction on site, and the vehicle-mounted controller controls a mechanical arm and the nozzle of the wet spraying machine to complete wet spraying operation of sprayed surface concrete according to the issue scheme. The wet-spray informatization platform can also count the data and store the data in a designated database so as to form traceable historical data.
In some embodiments, the wet spraying informatization platform and the wet spraying machine are matched with each other to realize the wet spraying construction method, and the wet spraying construction method comprises the following steps:
importing a 1:1 model of the wet spraying machine into a wet spraying informatization platform, establishing a model assembly relation by using three-dimensional modeling software by using the wet spraying informatization platform, and establishing an action simulation model of the wet spraying machine by using construction simulation software;
referring to fig. 6, a tunnel three-dimensional design model is established using three-dimensional modeling software according to tunnel design information;
scanning the inner contour of the tunnel after excavation by adopting a three-dimensional laser scanner, acquiring the scanning data of the inner contour of the tunnel after excavation, uploading the scanning data of the inner contour of the tunnel to a wet spraying informatization platform through a wet spraying machine on-board controller, and establishing a three-dimensional model of a sprayed surface by utilizing three-dimensional modeling software;
comparing the three-dimensional model of the sprayed surface with the three-dimensional design model of the tunnel, obtaining the concrete spraying amount required by each position on the sprayed surface, and predicting the total concrete consumption;
establishing a wet spraying machine nozzle spraying surface sweeping model by using three-dimensional modeling software, wherein the distances between all positions of a spraying surface sweeping surface of the spraying surface sweeping model and a spraying surface of the spraying surface receiving model are equal;
selecting a plurality of wet spraying points on a spraying sweeping surface, and simulating the motion trail of each mechanical arm supporting a nozzle by using construction simulation software under the condition of ensuring that the nozzle of the wet spraying machine is always vertical to the spraying sweeping surface at the wet spraying points to form the motion path of the nozzle of the wet spraying machine;
the construction simulation software generates a wet spraying machine operation guidance scheme according to the movement path of a wet spraying machine nozzle;
the wet spraying informatization platform issues the wet spraying machine operation instruction scheme to a field wet spraying machine on-board controller, and the on-board controller controls a wet spraying machine mechanical arm and a nozzle to complete the wet spraying operation of the concrete on the sprayed surface according to the issuing scheme;
after the wet spraying operation of the sprayed surface is completed, scanning the inner contour of the tunnel by adopting a three-dimensional laser scanner, acquiring the data of the inner contour of the tunnel after the primary wet spraying, establishing a secondary sprayed surface three-dimensional model by utilizing three-dimensional software, comparing the secondary sprayed surface three-dimensional model with a tunnel three-dimensional design model, acquiring the secondary concrete supplementary spraying amount, generating a secondary supplementary spraying operation guidance scheme, and further guiding the wet spraying machine to complete the secondary supplementary spraying operation, so that the supplementary spraying operation is performed for three times or more until the thickness of a sprayed layer meets the construction requirement.
Referring to fig. 7, according to the movement path of the nozzle, the construction simulation software generates a wet spraying operation guidance scheme, where the wet spraying operation guidance scheme includes a visual wet spraying operation scheme, a sprayed surface concrete spraying amount planning scheme, a wet spraying machine position coordinate parameter, a wet spraying machine mechanical arm movement track parameter, and the like. And (4) issuing the wet spraying operation instruction scheme to a wet spraying machine waiting for construction on site, and finishing the wet spraying operation of the sprayed surface by the wet spraying machine according to the issuing scheme.
In some embodiments, the wet spraying construction method is realized by the mutual cooperation of a wet spraying informatization platform and a wet spraying machine, and specifically comprises the following steps:
step 1: the method comprises the steps of importing a three-dimensional model of the wet spraying machine into a wet spraying informatization platform, establishing an assembly relation of all parts of the three-dimensional model of the wet spraying machine by using three-dimensional modeling software, simulating mechanical arm actions according to an actual motion form and a motion range of an arm support of the wet spraying machine by using construction simulation software, and establishing a simulation model of the wet spraying machine.
Step 2: the method comprises the steps of importing tunnel design information into a wet spraying informatization platform, establishing a tunnel three-dimensional design model by utilizing three-dimensional modeling software, scanning an excavated inner contour of a tunnel by adopting a three-dimensional laser scanner to obtain scanning data of the inner contour of the tunnel, uploading the scanning data of the inner contour of the tunnel to the wet spraying informatization platform through a vehicle-mounted controller of a wet spraying machine, establishing a sprayed surface three-dimensional model by utilizing the three-dimensional modeling software, comparing the sprayed surface three-dimensional model with the tunnel three-dimensional design model, obtaining concrete spraying amount required by each position on a sprayed surface, and predicting the total concrete consumption.
And 3, step 3: a spray surface sweeping model of a nozzle of the wet spraying machine is established by three-dimensional modeling software, the distance between each position of a spray surface and a sprayed surface is equal, a plurality of wet spraying points are selected on the spray surface sweeping, and the motion tracks of mechanical arms supporting the nozzle are simulated by construction simulation software under the condition that the nozzle is always perpendicular to the spray surface sweeping at the wet spraying points to form the motion path of the nozzle of the wet spraying machine.
And 4, step 4: the construction simulation software outputs a wet spraying machine operation guidance scheme according to a movement path of a nozzle of the wet spraying machine, the wet spraying machine operation guidance scheme comprises a visual wet spraying operation scheme, a sprayed surface concrete spraying amount planning scheme, position coordinate parameters of the wet spraying machine in a tunnel and movement track parameters of a mechanical arm of the wet spraying machine, a wet spraying information platform issues the wet spraying machine operation guidance scheme to an on-site vehicle-mounted controller of the wet spraying machine, and the on-vehicle controller controls the mechanical arm and the nozzle of the wet spraying machine to complete the sprayed surface concrete wet spraying operation according to the issued scheme.
And 5: and after the wet spraying operation of the sprayed surface is finished, scanning the inner contour of the tunnel by adopting a three-dimensional laser scanner, acquiring the data of the inner contour of the tunnel after the primary wet spraying, establishing a secondary sprayed surface three-dimensional model by utilizing three-dimensional modeling software, comparing the secondary sprayed surface three-dimensional model with a tunnel three-dimensional design model, acquiring the secondary concrete supplementary spraying amount, generating a secondary supplementary spraying operation guidance scheme, and further guiding the wet spraying machine to finish the secondary supplementary spraying operation, wherein the operation is repeated in cycles until the thickness of a sprayed layer meets the construction requirement.
Referring to fig. 8, the wet-spraying informatization platform can realize simultaneous construction simulation and online management of a plurality of wet-spraying machines corresponding to a plurality of projects.
For example: the wet spraying informatization platform can realize 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 spraying construction method and the wet spraying construction system provided by the embodiment of the disclosure have the following beneficial effects:
the wet spraying informatization platform acquires the concrete spraying amount required by each position on the sprayed surface according to the comparison between the three-dimensional model of the sprayed surface and the three-dimensional design model of the tunnel, and predicts the total consumption of concrete; the concrete consumption of each position of the sprayed surface of the tunnel is predicted, the wet spraying machine can complete the wet spraying operation of the sprayed surface according to the preset concrete spraying amount, raw materials are saved, and the spraying layer quality is improved.
The wet spraying informatization platform analyzes and processes field construction data returned by the wet spraying machine to generate a tunnel primary wet spraying operation guide scheme and a supplementary spraying operation guide scheme, and sends the wet spraying operation guide scheme to the wet spraying machine, and the wet spraying machine realizes automatic control of construction operation and concrete spraying layer quality control according to the operation guide scheme.
Based on the embodiments of the invention described above, the technical features of one of the embodiments can be advantageously combined with one or more other embodiments without explicit negatives.
Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the invention. 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.
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| CN115217491A (en) * | 2022-06-10 | 2022-10-21 | 大连海事大学 | Full-automatic intelligent tunnel wet spraying vehicle with machine vision and slurry spraying method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115217491A (en) * | 2022-06-10 | 2022-10-21 | 大连海事大学 | Full-automatic intelligent tunnel wet spraying vehicle with machine vision and slurry spraying method |
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