JP2022121586A - Concrete material spraying device and spraying method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothen a finished surface with constant precision while securing spraying thickness.

SOLUTION: A concrete material spraying device 100 includes a 3D scanner 10, a spraying machine 20, a controller 60, and a storage unit 50 that stores a relation between a spraying thickness of the concrete material and a spraying parameter. The spraying parameters include a flow rate of the concrete material sprayed from a nozzle 21. The controller 60 measures the cross-sectional shape of an inner wall surface RS of a tunnel T, calculates a required spray thickness, determines a primary spraying parameter based on the relation stored in the storage unit 50 and the required spray thickness, performs primary spraying by controlling the spraying machine 20 based on the primary spraying parameter, and controls the spraying machine 20 based on a secondary spraying parameter determined to be a value smaller than the flow rate of the primary spraying parameter to perform the secondary spraying of further concrete material.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to an apparatus and method for spraying concrete material onto the inner walls of tunnels.

In the NATM construction method, which is mainly used for the construction of mountain tunnels, tunnels are constructed in the axial direction by repeating a blasting process, a muck removal process, and a concrete material spraying process at predetermined intervals. The inner wall surface of the natural ground exposed after the muck removal process may collapse, which is dangerous. The concrete material spraying process is performed to stabilize the inner wall surface of the natural ground. Specifically, the inner wall surface of the natural ground is stabilized by spraying the concrete material onto the inner wall surface of the natural ground. Since the stability of the inner wall of the ground is affected by the thickness of the sprayed concrete material, it is required to grasp and control the thickness of the sprayed concrete material.

Patent Literature 1 discloses a method of controlling the spraying thickness based on the inner cross-sectional shape of the tunnel before and after the concrete material is sprayed. The cross-sectional shape of the hollow before spraying the concrete material is the cross-sectional shape of the hollow of the ground, and the thickness of the spraying is calculated by comparing the cross-sectional shape of the hollow before and after the spraying of the concrete material. If the calculated spraying thickness is less than the predetermined thickness, additional concrete material is sprayed onto the inner wall surface of the tunnel so that the spraying thickness is equal to or greater than the predetermined thickness.

JP-A-2003-13699

By the way, in the concrete material spraying process, it is required to smooth the inner peripheral surface (finished surface) of the tunnel after spraying. Since unevenness is formed on the inner wall surface of the natural ground after the removal process, it is necessary to change the spraying thickness according to the unevenness of the inner wall surface of the natural ground in order to smooth the finished surface.

However, in the method disclosed in Patent Document 1, the concrete material is sprayed onto the inner wall surface of natural ground so that the spray thickness is substantially constant regardless of the unevenness of the inner wall surface of natural ground. Therefore, unevenness is formed on the finished surface according to the inner wall surface of the ground. In order to obtain a smooth finished surface, it is necessary for a worker to operate a sprayer to spray the concrete material onto the inner wall surface of the tunnel. The spraying work performed by workers largely depends on the skill level of the workers, and there is a problem that the smoothness of the finished surface differs depending on the worker.

SUMMARY OF THE INVENTION An object of the present invention is to smoothen the finished surface with a certain accuracy while ensuring the spray thickness.

The present invention is a concrete material spraying apparatus for spraying concrete material onto the inner wall surface of a tunnel, comprising a measurement unit for measuring the cross-sectional shape of the inner wall surface, and a sprayer for spraying the concrete material from a nozzle onto the inner wall surface. , a control unit that controls the measuring unit and the spraying machine, and a storage unit that stores the relationship between the spraying thickness of the concrete material and the spraying parameters of the concrete material sprayed from the nozzle, wherein the spraying parameter is from the nozzle The control unit measures the cross-sectional shape of the inner wall surface of the tunnel using the measurement unit, and compares the measured cross-sectional shape with the cross-sectional shape of the predetermined design inner wall surface of the tunnel. , the flow rate of the primary spraying parameter is determined based on the calculated required spraying thickness and the relationship stored in the storage unit, and the determined primary spraying parameter Control the sprayer based on the flow rate to perform primary spraying to spray the concrete material on the inner wall of the tunnel, and based on the flow rate of the secondary spraying parameter, which is determined to be smaller than the flow rate of the primary spraying parameter to control the spraying machine to perform secondary spraying, in which the concrete material sprayed by the primary spraying is further sprayed with the concrete material.
Further, the spraying parameters include the swing speed of the nozzle in the circumferential direction of the tunnel. The machine is controlled to perform secondary spraying, in which concrete material is further sprayed onto the concrete material sprayed by the primary spraying.
In addition, the spraying parameter includes the swing angle of the nozzle in the circumferential direction of the tunnel, and the control unit performs spraying based on the swing angle of the secondary spraying parameter, which is determined to be a larger value than the swing angle of the primary spraying parameter. The machine is controlled to perform secondary spraying, in which concrete material is further sprayed onto the concrete material sprayed by the primary spraying.
Further, the spraying parameters include the nozzle scanning speed in the axial direction of the tunnel, and the control unit performs spraying based on the scanning speed of the secondary spraying parameters, which is determined to be a value larger than the scanning speed of the primary spraying parameters. The machine is controlled to perform secondary spraying, in which concrete material is further sprayed onto the concrete material sprayed by the primary spraying.
In addition, the control unit calculates the primary required spray thickness for each of a plurality of predetermined first sections, calculates the secondary required spray thickness for each of a plurality of predetermined second sections, and calculates the The spraying machine is controlled based on the secondary spraying parameters determined based on the secondary required spraying thickness and the relationship stored in the storage unit, and the concrete material sprayed by the primary spraying is further sprayed with concrete material. is performed, and the second section is set larger than the first section.

The present invention also provides a concrete material spraying method for spraying a concrete material from a nozzle of a sprayer onto the inner wall surface of a tunnel, comprising: a measuring step of measuring the cross-sectional shape of the inner wall surface of the tunnel; A calculating step of calculating a necessary spraying thickness based on the shape and a predetermined cross-sectional shape of the design inner wall surface of the tunnel, a spraying thickness of the concrete material, and a spraying parameter of the concrete material sprayed from the nozzle. , and the calculated required spraying thickness, a determining step of determining primary spraying parameters including the flow rate of the concrete material sprayed from the nozzle, and based on the determined flow rate of the primary spraying parameters a primary spraying step in which the concrete material is sprayed onto the inner wall surface of the tunnel by controlling the spraying machine, and the secondary spraying parameter flow rate determined to be smaller than the flow rate of the primary spraying parameter. a secondary spraying step of controlling and spraying further concrete material onto the concrete material sprayed in the primary spraying step.
Further, the spraying parameter includes the swing speed of the nozzle in the circumferential direction of the tunnel, and in the secondary spraying step, the swing speed of the secondary spraying parameter is determined to be larger than the swing speed of the primary spraying parameter. controls the sprayer to spray more concrete material onto the concrete material sprayed in the primary spraying step.
Further, the spraying parameter includes the swing angle of the nozzle in the circumferential direction of the tunnel, and in the secondary spraying step, the swing angle of the secondary spraying parameter is determined to be larger than the swing angle of the primary spraying parameter. controls the sprayer to spray more concrete material onto the concrete material sprayed in the primary spraying step.
Also, the spraying parameter includes the scanning speed of the nozzle in the axial direction of the tunnel, and in the secondary spraying step, the scanning speed of the secondary spraying parameter is determined to be greater than the scanning speed of the primary spraying parameter. controls the sprayer to spray more concrete material onto the concrete material sprayed in the primary spraying step.
Further, in the concrete material spraying method, the primary calculation step calculates the primary required spraying thickness for each of a plurality of predetermined first sections, and the concrete material spraying method calculates a plurality of predetermined second sections. In the secondary spraying step, the secondary spraying parameter is determined based on the calculated secondary required spraying thickness and the relationship. The machine is controlled to spray more concrete material onto the concrete material sprayed in the first spraying step, and the second section is set larger than the first section.

ADVANTAGE OF THE INVENTION According to this invention, a finish surface can be made smooth with fixed precision, ensuring spraying thickness.

1 is a side view of a concrete material spraying device according to an embodiment of the present invention; FIG. FIG. 10 is a diagram showing the inner wall surface of the tunnel after the shear removal process and the predetermined design inner wall surface of the tunnel; FIG. 2 is an enlarged view showing the vicinity of the nozzle of the spraying machine, (a) being a view along the face of the tunnel T, and (b) being a view along the axial direction of the tunnel T; 3 is a block diagram of a controller; FIG. FIG. 4 is a diagram showing the relationship between the spray thickness of a concrete material and the spray parameters of the concrete material sprayed from the nozzle; 4 is a flowchart showing processing by a controller;

Hereinafter, a concrete material spraying apparatus 100 and a concrete material spraying method according to embodiments of the present invention will be described with reference to the drawings. Here, a concrete material spraying apparatus 100 and a concrete material spraying method used in the NATM construction method will be described with reference to FIGS. 1 to 6. FIG.

In the NATM construction method, a blasting process of crushing rocks of the natural ground using explosives, a process of carrying out the crushed rocks in the blasting process, and a concrete material spraying process of spraying the concrete material onto the inner wall surface RS of the natural ground are, for example, one. Build tunnel T axially by repeating every ~3m. In the concrete material spraying step, as shown in FIG. 1, the concrete material is sprayed onto the inner wall surface RS of the natural ground exposed after the slip removal step.

The inner wall surface RS of the bare ground may collapse, which is dangerous. The spraying of the concrete material is performed to stabilize the inner wall surface RS of the ground. Specifically, a concrete material that has not yet hardened is sprayed onto the inner wall surface RS of the natural ground, and the sprayed concrete hardens to form the concrete structure 1, thereby stabilizing the inner wall surface RS of the natural ground. Concrete materials are, for example, water-impermeable concrete and high-fluidity concrete. Mortar may be used as a concrete material. Further, in order to accelerate the hardening of the sprayed concrete when spraying the concrete material, a quick-setting agent is conveniently added.

Since the inner wall surface RS of the natural ground becomes more stable as the thickness of the sprayed concrete material increases, it is desirable to increase the thickness of the sprayed concrete material as much as possible. On the other hand, if the spraying thickness of the concrete material is increased, the internal space of the tunnel T after construction is reduced. Therefore, in the concrete material spraying step, the concrete material is required to be sprayed to the inner wall surface RS of the ground with a spray thickness of a predetermined value or more and not exceeding the predetermined designed inner wall surface of the tunnel T.

The concrete material spraying apparatus 100 and the concrete material spraying method spray the concrete material onto the natural ground inner wall surface RS based on the cross-sectional shape of the natural ground inner wall surface RS and the predetermined cross-sectional shape of the design inner wall surface of the tunnel T. . As a result, the concrete material can be sprayed onto the inner wall surface RS of the ground so that the spray thickness is equal to or greater than a predetermined value and the predetermined design inner wall surface of the tunnel T is not exceeded.

A waterproof sheet (not shown) is affixed to the inner wall surface 1a of the concrete structure 1 formed by spraying a concrete material to prevent groundwater from flowing into the tunnel T. As shown in FIG. If the inner wall surface 1a of the concrete structure 1 has unevenness, a gap may be formed between the waterproof sheet and the inner wall surface 1a, and the desired waterproof performance may not be obtained. For this reason, it is required to finish the inner wall surface 1a of the concrete structure 1 smoothly in the concrete material spraying process.

It is difficult to smoothen the inner wall surface RS of the natural ground in the blasting process and the removing process, and as shown in FIGS. Normal. Therefore, in order to finish the inner wall surface 1a of the concrete structure 1 smoothly, it is necessary to change the spraying thickness according to the cross-sectional shape of the inner wall surface RS of the ground.

The concrete material spraying apparatus 100 and the concrete material spraying method spray the concrete material onto the inner wall surface RS of natural ground so that the spraying thickness is changed according to the cross-sectional shape of the inner wall surface RS of natural ground. Therefore, the inner wall surface 1a of the concrete structure 1 can be finished smoothly. The concrete material spraying apparatus 100 and the concrete material spraying method will be specifically described below.

As shown in FIG. 1, the concrete material spraying apparatus 100 includes a 3D scanner 10 as a measuring unit, a sprayer 20 that sprays the concrete material from a nozzle 21, and a control unit that controls the 3D scanner 10 and the sprayer 20. a controller 60;

The 3D scanner 10 measures the cross-sectional shape of the inner wall surface of the tunnel T. In a state where concrete material is not sprayed onto the inner wall surface RS of the natural ground and the inner wall surface RS of the natural ground is exposed, the 3D scanner 10 measures the cross-sectional shape of the inner wall surface RS of the natural ground as the cross-sectional shape of the inner wall surface of the tunnel T. . In a state in which the concrete material is sprayed onto the inner wall surface RS of the natural ground and the inner wall surface RS of the natural ground is covered with the concrete structure 1, the 3D scanner 10 detects the cross-sectional shape of the inner wall surface 1a of the concrete structure 1 as the inner wall surface of the tunnel T. Measured as the cross-sectional shape of

The spraying machine 20 includes a carriage 22, a concrete pump 23 as pressure-feeding means for pressure-feeding the concrete material to the nozzle 21, and a quick-setting agent pump (a quick-setting agent adding device) as an adding means for adding a quick-setting agent to the concrete material. 24 and. The carriage 22 is self-propelled and can move in the tunnel T. When spraying the concrete material onto the inner wall surface RS of the ground, the spraying machine 20 moves to the face F and stops with the front part of the carriage 22 facing the face F. - 特許庁

The concrete pump 23 is provided on the truck 22 together with a hopper 25 that stores concrete material. The hopper 25 is mounted on the rear part of the truck 22, and the concrete material is thrown into the hopper 25 from the mixer truck M. The concrete pump 23 sucks the concrete material from the hopper 25 and pressure-feeds it to the nozzle 21 through a pipe (not shown). The pumped concrete material is mixed with high-pressure air and jetted from nozzles 21 .

A quick-setting agent pump (a quick-setting agent adding device) 24 is provided on the truck 22 in the same manner as the concrete pump 23 . A quick-setting agent pump (quick-setting agent adding device) 24 is connected to the nozzle 21 through a pipe (not shown), and supplies the quick-setting agent in a tank (not shown) to the nozzle 21 . The quick setting agent supplied to the nozzle 21 is added to the concrete material inside the nozzle 21 and is jetted from the nozzle 21 together with the concrete material.

The spraying machine 20 includes a nozzle driving section 30 that moves the nozzle 21 toward the inner wall surface of the tunnel T. As shown in FIG. By injecting the concrete material while moving the nozzle 21, the entire inner wall surface of the tunnel T can be sprayed with the concrete material.

The nozzle drive unit 30 includes a boom 31 swingably provided at the front of the carriage 22, an arm 32 swingably provided at the tip of the boom 31, a rotating shaft 33 rotatably provided at the tip of the arm 32, Prepare. The boom 31 and the arm 32 are telescopically formed. The nozzle 21 is attached to the tip of the rotating shaft 33 , and the nozzle 21 moves with respect to the carriage 22 by swinging and extending and retracting the boom 31 and the arm 32 .

The nozzle drive unit 30 includes a first boom cylinder 31 a that swings the boom 31 horizontally with respect to the truck 22 , a second boom cylinder 31 b that swings the boom 31 vertically with respect to the truck 22 , and a boom 31 that extends and retracts. and a third boom cylinder 31c. When the boom 31 swings and expands and contracts by driving the first to third boom cylinders 31 a to 31 c , the tip of the boom 31 moves vertically and horizontally in front of the carriage 22 .

Since the arm 32 is provided at the tip of the boom 31 and the nozzle 21 is provided at the tip of the arm 32, moving the tip of the boom 31 vertically and horizontally changes the distance between the nozzle 21 and the inner wall surface RS of the ground. In other words, the boom 31 and the first to third boom cylinders 31a to 31c constitute distance changing means for changing the distance between the nozzle 21 and the inner wall surface RS of the ground.

The nozzle drive unit 30 includes a first arm cylinder 32a for horizontally swinging the arm 32 with respect to the boom 31, and a second arm cylinder 32b for vertically swinging the arm 32 with respect to the boom 31. . When the arm 32 swings by driving the first and second arm cylinders 32a and 32b, the angle between the arm 32 and the boom 31 changes. Therefore, the orientation of the arm 32 can be adjusted so that the direction of expansion and contraction of the arm 32 substantially coincides with the axial direction of the tunnel T.

The nozzle driving section 30 further includes a third arm cylinder 32c for extending and retracting the arm 32. As shown in FIG. Since the nozzle 21 is provided at the tip of the arm 32, when the arm 32 is extended and retracted by driving the third arm cylinder 32c in a state in which the extension and retraction direction of the arm 32 is substantially aligned with the axial direction of the tunnel T, the nozzle 21 is scans the tunnel T in the axial direction. That is, scanning means for scanning the nozzle 21 in the axial direction of the tunnel T is configured by the arm 32 and the third arm cylinder 32c.

The rotating shaft 33 is supported by the arm 32 so as to be rotatable around an axis extending in the extension/contraction direction of the arm 32 . Therefore, when the rotary shaft 33 is rotated with the extension/contraction direction of the arm 32 substantially aligned with the axial direction of the tunnel T, the nozzle 21 swings in the circumferential direction of the tunnel T (see FIG. 3(b)).

As shown in FIG. 3A, a motor 33a is provided on the outer peripheral surface of the distal end of the arm 32. As shown in FIG. An output shaft 33b of the motor 33a is connected to the rotating shaft 33 via a plurality of gears (not shown) housed in a gearbox 33c. Therefore, when the rotating shaft 33 is rotated by driving the motor 33a, the nozzle 21 swings. That is, swing means for swinging the nozzle 21 in the circumferential direction of the tunnel T is configured by the rotating shaft 33 and the motor 33a.

In this manner, the nozzle driving section 30 of the spraying machine 20 moves the nozzle 21 toward the inner wall surface of the tunnel T. As shown in FIG. Therefore, the entire inner wall surface of the tunnel T can be sprayed with concrete material.

In the present embodiment, the concrete material spraying device 100 performs primary spraying for spraying the concrete material onto the inner wall surface RS of the natural ground, and further sprays the concrete material onto the concrete material sprayed onto the inner wall surface RS of the natural ground by the primary spraying. A secondary spraying to attach is performed. The primary spraying is also called main spraying, and the concrete structure 1 (see FIG. 1) is generally formed by the primary spraying. The secondary spraying is also called finishing spraying, and is performed to make the inner wall surface 1a of the concrete structure 1 smoother.

The primary spraying is performed for each of a plurality of predetermined first divisions D1. Secondary spraying is performed for each of a plurality of second divisions D2 that are smaller in number than the first divisions D1. In FIG. 2, first sections D1 are defined to divide the tunnel T into 12 sections at approximately 15 degree intervals in the circumferential direction, and second sections D2 are defined to divide the tunnel T into 6 sections at approximately 30 degree intervals in the circumferential direction. A defined example is shown. The primary spraying and the secondary spraying may be performed in order for each of the divisions D1 and D2.

Primary spraying and secondary spraying are performed by controlling the spraying machine 20 with the controller 60 .

The controller 60 includes a CPU (Central Processing Unit) that performs arithmetic processing, a ROM (Read-Only Memory) that stores control programs and the like executed by the CPU, and a RAM (random access memory) that stores the calculation results of the CPU and the like. and a microcomputer including The controller 60 may be composed of a single microcomputer, or may be composed of a plurality of microcomputers.

As shown in FIG. 4 , the controller 60 includes a required spray thickness calculation section 61 , a spray parameter determination section 62 and a control signal output section 63 . The required spray thickness calculator 61 , the spray parameter determiner 62 and the control signal output section 63 are virtual units that function as the controller 60 for controlling the spray machine 20 .

The required spray thickness calculation unit 61 calculates the required spray thickness based on the cross-sectional shape of the inner wall surface of the tunnel T measured by the 3D scanner 10 and the predetermined cross-sectional shape of the designed inner wall surface of the tunnel T. calculate. Specifically, the required spray thickness calculator 61 calculates the measured inner wall surface of the tunnel T and the tunnel By calculating the distance from T to the cross-sectional shape of the designed inner wall surface, the necessary spraying thickness is calculated.

Information on the design inner wall surface of the tunnel T is stored in advance in the storage unit 50 mounted on the spraying machine 20 (see FIG. 1). When calculating the required spray thickness, the required spray thickness calculation unit 61 acquires information on the designed inner wall surface of the tunnel T from the storage unit 50 .

The designed inner wall surface of the tunnel T is a first designed inner wall surface DS1 (see FIG. 2) determined for primary spraying and a second designed inner wall surface DS2 determined for secondary spraying (see FIG. 2). is. The required spraying thickness calculation unit 61 obtains the first design inner wall surface DS1 as the design inner wall surface of the tunnel T when performing the primary spraying, and obtains the design inner wall surface DS1 of the tunnel T when performing the secondary spraying. A second designed inner wall surface DS2 is obtained as the inner wall surface. The first design inner wall surface DS1 is set so as to be an area close to the inner wall surface RS in the radial area where the concrete material is sprayed onto the inner wall surface RS of the natural ground, and the first design inner wall surface DS1 is set to be closer to the inner wall surface RS than the first design inner wall surface DS1. The second designed inner wall surface DS2 is set so as to form a separate area. That is, it can be said that the primary spraying area is closer to the inner wall surface RS of the natural ground than the secondary spraying area.

Further, the required spray thickness calculation unit 61 calculates a plurality of local required spray thicknesses (for example, every 1 degree) in each of the first sections D1, and uses the calculated plurality of local required spray thicknesses. , the average required spray thickness is calculated for each of the first section D1 or the second section D2. Specifically, the required spraying thickness calculator 61 calculates the average required spraying thickness for each of the plurality of first sections D1 when performing the primary spraying, and , the average required spray thickness is calculated for each of the plurality of second sections D2.

The spraying parameter determining unit 62 determines the spraying parameter for each first section D1 or each second section D2 based on the calculated average required spraying thickness. The spraying parameters are the flow rate of the concrete material sprayed from the nozzle 21 per hour, that is, the discharge amount of the concrete material per hour, the distance between the nozzle 21 and the inner wall surface of the tunnel T, the swing speed of the nozzle 21, and the swing of the nozzle 21. The angle, the scanning speed of the nozzle 21, and the amount of quick-setting agent added to the concrete material.

The control signal output unit 63 controls the concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick setting agent pump 24 based on the determined spraying parameters. output a control signal to The concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick-setting agent pump 24 are driven in accordance with control signals to move the concrete material into the tunnel T. Spray on the inner wall.

In this way, in the primary spraying, the controller 60 calculates the required spraying thickness based on the measured cross-sectional shape of the inner wall surface RS of the ground and the cross-sectional shape of the first design inner wall surface DS1 of the tunnel T. do. The sprayer 20 is controlled by the controller 60 according to the required spraying thickness to spray the concrete material onto the inner wall surface RS of the ground. Therefore, the concrete material can be sprayed onto the inner wall surface RS of the natural ground so that the spray thickness is equal to or greater than a predetermined value and does not exceed the first designed inner wall surface DS1 of the tunnel T. The same applies to secondary spraying.

In the primary spraying, the controller 60 also calculates the average required spraying thickness for each of the plurality of first divisions D1, and controls the sprayer 20 based on the calculated average required spraying thickness. Therefore, the concrete material is sprayed onto the inner wall surface RS of the ground according to the average required spraying thickness calculated for each first section D1. Therefore, the spray thickness of the concrete material can be changed according to the unevenness of the inner wall surface RS of the ground, and the unevenness of the finished surface due to the primary spraying can be made smaller than the unevenness of the inner wall surface RS of the ground. As a result, the smoothness of the surface finished by the primary spraying can be improved.

Further, in the secondary spraying, the controller 60 controls each of the plurality of second sections D2 based on the cross-sectional shape of the finished surface by the primary spraying and the cross-sectional shape of the second designed inner wall surface DS2 of the tunnel T. An average required spray thickness is calculated, and the sprayer 20 is controlled based on the calculated average required spray thickness. Therefore, the concrete material is sprayed on the finished surface by the primary spraying according to the average required spraying thickness calculated for each second section D2. Therefore, the spraying thickness of the concrete material can be changed according to the unevenness of the finished surface due to the primary spraying, and the unevenness of the finished surface due to the secondary spraying is smaller than the unevenness of the finished surface due to the primary spraying. can do. As a result, the smoothness of the surface finished by secondary spraying, that is, the inner wall surface 1a of the concrete structure 1 can be improved.

The sprayer 20 is controlled by the controller 60 for primary spraying and secondary spraying. Therefore, the primary spraying and the secondary spraying are completed without depending on the operator's operation of the spraying machine 20 . Therefore, the finished surface by the primary and secondary spraying can be smoothed with a certain degree of accuracy.

By the way, not all of the concrete material sprayed from the nozzle 21 adheres to the inner wall surface of the tunnel T, but some rebounds and falls without adhering to the inner wall surface. The adhesion of the concrete material is determined by the flow rate of the concrete material injected from the nozzle 21, the distance between the nozzle 21 and the inner wall surface of the tunnel T, the swing speed of the nozzle 21, the swing angle of the nozzle 21, the scanning speed of the nozzle 21, and the rapid setting. Spraying parameters such as the amount of agent added are intertwined and change. Therefore, when the spraying parameters are different, even if the amount of concrete material sprayed from the nozzle 21 toward the inner wall surface is the same, the spraying thickness is different.

In the concrete material spraying apparatus 100 , the spraying parameter determining unit 62 determines the spraying parameter using the relationship between the spraying thickness of the concrete material and the spraying parameter of the concrete material sprayed from the nozzle 21 . Therefore, the spraying parameters can be determined according to the adhesion of the spraying thickness, and the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spraying thickness substantially the same as the calculated required spraying thickness. This makes it possible to further improve the smoothness of the surface finished by the primary spraying and the secondary spraying.

The configuration of the spraying parameter determination unit 62 will be described more specifically. The spraying parameter determination unit 62 includes a spraying parameter extraction unit 62a and a spraying parameter correction unit 62b. The spraying parameter extraction unit 62a extracts spraying parameters from the relationships stored in the storage unit 50 in advance.

The relationship stored in advance in the storage unit 50 is a table (see FIG. 5) showing the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material sprayed from the nozzle 21 . In the table shown in FIG. 5, values of spraying parameters (flow rate, distance, swing speed, swing angle, scanning speed and addition amount) suitable for spraying a concrete material with a given spray thickness are set.

The spraying parameter extraction unit 62a uses the required spraying thickness calculated by the required spraying thickness calculation unit 61 as the spraying thickness in the table of FIG. , extract the values of the scan rate and the amount added. Therefore, the spraying machine 20 can spray the concrete material onto the inner wall surface of the tunnel T with a spraying thickness close to the calculated required spraying thickness.

The table shown in FIG. 5 is previously obtained by experiment. Experiments are carried out by spraying concrete material horizontally on vertically extending walls. The spraying of the concrete material is carried out multiple times with varying spraying parameters. By measuring the thickness of the concrete material adhering to the wall each time the concrete material is sprayed, it is possible to obtain the relationship between the sprayed thickness of the concrete material and the parameters of the concrete material sprayed.

The flow rate of the concrete material sprayed from the nozzle 21 is set higher as the spray thickness increases, and is set higher for the primary spraying than for the secondary spraying.

The distance between the nozzle 21 and the inner wall surface of the tunnel T is set smaller as the spray thickness increases, and is set smaller for the primary spray than for the secondary spray.

The swing speed of the nozzle 21 is set slower as the spray thickness increases, and is set slower for the primary spray than for the secondary spray.

The swing angle of the nozzle 21 is set smaller as the spray thickness increases, and is set smaller for the primary spray than for the secondary spray.

The scanning speed of the nozzle 21 is set slower as the spray thickness increases, and is set slower for the primary spray than for the secondary spray.

The addition amount of the quick-setting agent added to the concrete material jetted from the nozzle 21 is set larger as the spraying thickness is thicker, and is set smaller for the primary spraying than for the secondary spraying.

Thus, in the concrete material spraying apparatus 100, spraying parameters are extracted in consideration of adhesion. Therefore, the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spraying thickness substantially the same as the calculated required spraying thickness. This makes it possible to further improve the smoothness of the surface finished by the primary spraying and the secondary spraying.

The spraying parameter correction unit 62b corrects the extracted spraying parameter based on the positions of the first section D1 and the second section D2. Specifically, the spraying parameter correction unit 62b corrects the spraying parameter so that the addition amount of the quick-setting agent is increased in the first section D1 and the second section D2 closer to the top surface. This is because, in the vicinity of the top surface of the tunnel T, the concrete material is sprayed upward on the inner wall surface of the tunnel T, so the adhesion is lower than in the experiment in which the concrete material is horizontally sprayed on the wall surface. By correcting the spraying parameters based on the positions of the first section D1 and the second section D2, the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spraying thickness closer to the calculated required spraying thickness. This makes it possible to further improve the smoothness of the surface finished by the primary spraying and the secondary spraying.

In addition, the spraying parameter correction unit 62b compares the cross-sectional shape of the inner wall surface of the tunnel T measured by the 3D scanner 10 after the primary spraying with the first design inner wall surface DS1 (see FIG. 2), and determines whether the concrete material The spraying parameters extracted by the spraying parameter extraction 62a in the secondary spraying are corrected based on the actual adhesion condition of the spraying. Therefore, in the secondary spraying, the concrete material is sprayed on the inner wall surface of the tunnel T in consideration of adhesion in the tunnel T. Therefore, the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spraying thickness closer to the calculated required spraying thickness. This makes it possible to further improve the smoothness of the surface finished by the primary spraying and the secondary spraying.

Next, the operation of the concrete material spraying device 100 will be described with reference to FIG. Here, the operation from stopping the spraying machine 20 at a desired position after the shear removal process to completing the secondary spraying will be described.

In step S601, the 3D scanner 10 is used to measure the cross-sectional shape of the inner wall surface of the tunnel T (primary measurement step). At this point, the concrete material has not yet been sprayed onto the inner wall surface RS of the ground. Therefore, the cross-sectional shape of the inner wall surface of the tunnel T measured by the 3D scanner 10 is approximately the cross-sectional shape of the inner wall surface RS of the ground, which is the cross-sectional shape before the concrete material is sprayed.

In step S602, the required spray thickness is calculated for each spray section (primary calculation step). Specifically, in order to perform the primary spraying, the average required spraying thickness is calculated for each first section D1 based on the measured cross-sectional shape of the inner wall surface RS of the ground and the first design inner wall surface DS1. do.

In step S603, a spraying parameter is determined based on the calculated average required spraying thickness (primary determination step). Specifically, the information of the table shown in FIG. 5 is acquired from the storage unit 50, and the spraying parameter is extracted for each first section D1 using the acquired table. After that, the extracted spray parameters are corrected based on the position of the first section D1 to determine the spray parameters.

In step S604, the concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick setting agent pump 24 are driven based on the determined spraying parameters. (primary spraying step). As a result, the concrete material is jetted from the nozzle 21 to perform primary spraying.

In step S605, the 3D scanner 10 is used to measure the cross-sectional shape of the inner wall surface of the tunnel T (secondary measurement step). At this point, the concrete material is sprayed on the inner wall surface RS of the ground. Therefore, the 3D scanner 10 measures, as the cross-sectional shape of the inner wall surface of the tunnel T, the cross-sectional shape of the inner wall surface of the tunnel T after the primary spraying.

In step S606, the average required spray thickness is calculated for each second section D2 based on the cross-sectional shape measured in step S604 and the second designed inner wall surface DS2 (second calculation step).

In step S607, a spraying parameter is determined based on the average required spraying thickness calculated in step S606 (secondary determination step). Specifically, the information of the table shown in FIG. 5 is acquired from the storage unit 50, and the spraying parameter is extracted for each second section D2 using the acquired table. After that, the extracted spray parameters are corrected based on the position of the second section D2 to determine the spray parameters.

In step S608, the spray parameters determined in step S607 are corrected (correction step). Specifically, the cross-sectional shape of the inner wall surface of the tunnel T measured in step S605 is compared with the first design inner wall surface DS1 (see FIG. 2) to calculate the actual degree of adhesion of the concrete material. The spray parameters determined in step S607 are corrected based on the calculated degree of adhesion.

In step S609, the concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick setting agent pump are controlled based on the spraying parameters corrected in step S608. 24 (secondary spraying step). As a result, the concrete material is sprayed from the nozzle 21 and secondary spraying is performed.

Thus, the spraying by the concrete material spraying device 100 is completed, and the operation of the concrete material spraying device 100 is completed.

According to the above embodiment, the following operational effects are obtained.

In the concrete material spraying apparatus 100 and the concrete material spraying method, based on the measured cross-sectional shape of the inner wall surface of the tunnel T and the cross-sectional shape of the designed inner wall surface of the tunnel T, necessary for each of a plurality of predetermined sections The spray thickness is calculated, and the spray machine 20 is controlled based on the calculated required spray thickness. Therefore, the concrete material can be sprayed onto the inner wall surface RS of the ground so that the spray thickness is equal to or greater than a predetermined value and the designed inner wall surface of the tunnel T is not exceeded. In addition, the spray thickness of the concrete material can be changed according to the unevenness of the inner wall surface of the tunnel T, and the smoothness of the finished surface by spraying can be improved. Additionally, for spraying, the sprayer 20 is controlled by a controller 60 . Therefore, the spraying can be completed without depending on the operator's operation of the spraying machine 20, and the finished surface can be smoothed with a certain degree of precision. In addition, it is possible to suppress variation in the spraying work due to the skill level of the operator.

In the concrete material spraying apparatus 100 and the concrete material spraying method, the spraying parameters are determined using the relationship between the spraying thickness of the concrete material and the spraying parameter of the concrete material sprayed from the nozzle 21 . Therefore, the concrete material is sprayed onto the inner wall surface of the tunnel T with spraying parameters according to the adhesion for each spraying thickness. Therefore, the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spraying thickness substantially the same as the calculated required spraying thickness, and the smoothness of the finished surface by spraying can be further improved.

Further, in the concrete material spraying device 100 and the concrete material spraying method, the spraying machine 20 is controlled based on the required spraying thickness calculated for each of the plurality of sections and the position of the corresponding section. Therefore, the concrete material is sprayed on the inner wall surface of the tunnel T according to the position of the section. Therefore, the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spraying thickness closer to the calculated required spraying thickness, and the smoothness of the finished surface by spraying can be further improved.

Further, in the concrete material spraying apparatus 100 and the concrete material spraying method, when performing the secondary spraying, the cross-sectional shape of the first designed inner wall surface DS1 is compared with the cross-sectional shape measured after the primary spraying. Then, using the comparison result and the table shown in FIG. 5, spray parameters are determined. Therefore, in the secondary spraying, the concrete material is sprayed on the inner wall surface of the tunnel T in consideration of adhesion in the tunnel T. Therefore, the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spraying thickness closer to the calculated required spraying thickness. As a result, the smoothness of the surface finished by secondary spraying can be further improved.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments. do not have.

In the above embodiment, the spraying is performed twice, divided into the primary spraying and the secondary spraying. Also, it may be once. Also, the spraying may be performed in three or more steps.

In the above embodiment, the storage unit 50 stores the first designed inner wall surface DS1 and the second designed inner wall surface DS2. Only the second designed inner wall surface DS2 is stored in the storage unit 50, and the first designed inner wall surface DS1 may be calculated using the second designed inner wall surface DS2.

The first section D1 and the second section D2 may be defined identically.

In the above embodiment, the spraying parameter determination unit 62 determines the flow rate of the concrete material sprayed from the nozzle 21, the distance between the nozzle 21 and the inner wall surface of the tunnel T, the swing speed of the nozzle 21, the swing angle of the nozzle 21, the The scanning speed and the amount of accelerator added are all determined. The spraying parameter determination unit 62 may be configured to determine at least one of these spraying parameter items.

If the spraying parameter determination unit 62 is configured to determine at least two of these spraying parameter items, two or more spraying parameters can be changed at the same time, so that the finished surface can be made smoother. can do. Two of the spraying parameter items are specifically:
(1) A combination of the flow rate of the concrete material injected from the nozzle 21 and the distance between the nozzle 21 and the inner wall surface of the tunnel T (2) The flow rate of the concrete material injected from the nozzle 21 and the swing of the nozzle 21 (3) Combination of flow rate of concrete material jetted from nozzle 21 and swing angle of nozzle 21 (4) Flow rate of concrete material jetted from nozzle 21 and scanning of nozzle 21 (5) the combination of the flow rate of the concrete material injected from the nozzle 21 and the amount of the quick-setting agent added; (6) the distance between the nozzle 21 and the inner wall surface of the tunnel T, and (7) Combination of the distance between the nozzle 21 and the inner wall surface of the tunnel T and the swing angle of the nozzle 21 (8) The distance between the nozzle 21 and the inner wall surface of the tunnel T and the nozzle (9) Combination of the distance between the nozzle 21 and the inner wall surface of the tunnel T and the amount of quick-setting agent added (10) The swing speed of the nozzle 21 and the swing of the nozzle 21 (11) combination of the swing speed of the nozzle 21 and the scan speed of the nozzle 21 (12) combination of the swing speed of the nozzle 21 and the amount of quick-setting agent added (13) Combination of the swing angle of the nozzle 21 and the scanning speed of the nozzle 21 (14) Combination of the swing angle of the nozzle 21 and the amount of quick-setting agent added (15) Scanning speed of the nozzle 21 and quick-setting and the amount of agent added. The spraying parameters (flow rate, distance, swing speed, swing angle, scanning speed and addition amount) are conveniently selected and set.

By appropriately setting the combination of (1), that is, the flow rate of the concrete material sprayed from the nozzle and the distance between the nozzle 21 and the inner wall surface of the tunnel T, the spraying parameter items Rebound of the concrete material sprayed on the wall can be reduced.

The combination of (2) to (4), ie, the flow rate of the concrete material sprayed from the nozzle and the swing speed, swing angle, or scanning speed of the nozzle 21, is appropriately set. Therefore, the concrete material to be sprayed can be stably sprayed on the inner wall surface of the tunnel T as planned, so that the finished surface can be made smooth.

By appropriately setting the combination of (5), that is, the combination of the flow rate of the concrete material sprayed from the nozzle 21 and the amount of quick setting agent added, the spraying parameter items adhere to the inner wall surface of the tunnel T. Since the concrete material is stabilized and the addition amount of the quick-setting agent can be appropriately maintained, the amount of the quick-setting agent used can be reduced.

The combination of (6) to (8), that is, the combination of the spray parameter items of the distance between the nozzle 21 and the inner wall surface of the tunnel T and the swing speed, swing angle, or scanning speed of the nozzle 21 is appropriately set. By doing so, the rebound of the concrete material sprayed onto the inner wall surface of the tunnel T can be reduced.

By appropriately setting the combination of (9), that is, the combination of the spray parameter items of the distance between the nozzle 21 and the inner wall surface of the tunnel T and the amount of quick-setting agent added, Since the concrete material to be used is stabilized and the addition amount of the quick-setting agent can be appropriately maintained, the amount of the quick-setting agent used can be reduced.

The combination of (10), (11) and (13), i.e., the swing speed or swing angle of the nozzle 21, or the scanning speed, should be appropriately set. Therefore, the concrete material to be sprayed can be stably sprayed on the inner wall surface of the tunnel T as planned, so that the finished surface can be made smooth.

The combination of (12), (14) and (15), i.e., the swing speed, swing angle, or scanning speed of the nozzle 21 and the amount of quick-setting agent added, is appropriately set. As a result, the concrete adhering to the inner wall surface of the tunnel T is stabilized, and the addition amount of the quick-setting agent can be appropriately maintained, so that the amount of the quick-setting agent used can be reduced.

10 3D scanner (measurement unit)
20... Spraying machine 21... Nozzle 50... Storage part 60... Controller (control part)
100... Concrete material spraying device D1... First section D2... Second section RS... Inner wall surface of ground T... Tunnel

Claims (10)

A concrete material spraying device for spraying a concrete material onto the inner wall surface of a tunnel,
a measuring unit that measures the cross-sectional shape of the inner wall surface;
a sprayer for spraying a concrete material from a nozzle onto the inner wall surface;
a control unit that controls the measuring unit and the spraying machine;
a storage unit that stores the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material sprayed from the nozzle;
the spraying parameters include a flow rate of the concrete material sprayed from the nozzle;
The control unit
measuring the cross-sectional shape of the inner wall surface of the tunnel using the measurement unit;
calculating the required spraying thickness based on the measured cross-sectional shape and the predetermined cross-sectional shape of the designed inner wall surface of the tunnel;
determining the flow rate of the primary spraying parameter based on the calculated required spraying thickness and the relationship stored in the storage unit;
Controlling the sprayer based on the flow rate of the determined primary spraying parameter to perform primary spraying for spraying the concrete material onto the inner wall surface of the tunnel;
The sprayer is controlled based on the flow rate of the secondary spraying parameter determined to be smaller than the flow rate of the primary spraying parameter, and the concrete material sprayed by the primary spraying is further concreted. perform a secondary spraying of the material,
Concrete material spraying equipment. A concrete material spraying device for spraying a concrete material onto the inner wall surface of a tunnel,
a measuring unit that measures the cross-sectional shape of the inner wall surface;
a sprayer for spraying a concrete material from a nozzle onto the inner wall surface;
a control unit that controls the measuring unit and the spraying machine;
a storage unit that stores the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material sprayed from the nozzle;
the spray parameters include a swing speed of the nozzle in the circumferential direction of the tunnel;
The control unit
measuring the cross-sectional shape of the inner wall surface of the tunnel using the measurement unit;
calculating the required spraying thickness based on the measured cross-sectional shape and the predetermined cross-sectional shape of the designed inner wall surface of the tunnel;
determining the swing speed of the primary spraying parameter based on the calculated required spraying thickness and the relationship stored in the storage unit;
Controlling the sprayer based on the determined swing speed of the primary spraying parameter to perform primary spraying for spraying the concrete material onto the inner wall surface of the tunnel;
controlling the spray machine based on the swing speed of the secondary spray parameter determined to be a value greater than the swing speed of the primary spray parameter, to the concrete material sprayed by the primary spray; Furthermore, perform secondary spraying to spray concrete material,
Concrete material spraying equipment. A concrete material spraying device for spraying a concrete material onto the inner wall surface of a tunnel,
a measuring unit that measures the cross-sectional shape of the inner wall surface;
a sprayer for spraying a concrete material from a nozzle onto the inner wall surface;
a control unit that controls the measuring unit and the spraying machine;
a storage unit that stores the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material sprayed from the nozzle;
the spray parameters include a swing angle of the nozzle in the circumferential direction of the tunnel;
The control unit
measuring the cross-sectional shape of the inner wall surface of the tunnel using the measurement unit;
calculating the required spraying thickness based on the measured cross-sectional shape and the predetermined cross-sectional shape of the designed inner wall surface of the tunnel;
determining the swing angle of the primary spraying parameter based on the calculated required spraying thickness and the relationship stored in the storage unit;
Controlling the sprayer based on the determined swing angle of the primary spraying parameter to perform primary spraying for spraying the concrete material onto the inner wall surface of the tunnel;
The sprayer is controlled based on the swing angle of the secondary spraying parameter determined to be larger than the swing angle of the primary spraying parameter, and the concrete material sprayed by the primary spraying is controlled. Furthermore, perform secondary spraying to spray concrete material,
Concrete material spraying equipment. A concrete material spraying device for spraying a concrete material onto the inner wall surface of a tunnel,
a measuring unit that measures the cross-sectional shape of the inner wall surface;
a sprayer for spraying a concrete material from a nozzle onto the inner wall surface;
a control unit that controls the measuring unit and the spraying machine;
a storage unit that stores the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material sprayed from the nozzle;
the spray parameters include a scanning speed of the nozzle in the axial direction of the tunnel;
The control unit
measuring the cross-sectional shape of the inner wall surface of the tunnel using the measurement unit;
calculating the required spraying thickness based on the measured cross-sectional shape and the predetermined cross-sectional shape of the designed inner wall surface of the tunnel;
determining the scanning speed of the primary spraying parameter based on the calculated required spraying thickness and the relationship stored in the storage unit;
Controlling the spray machine based on the scanning speed of the determined primary spray parameters to perform primary spray for spraying the concrete material onto the inner wall surface of the tunnel;
controlling the sprayer based on the scanning speed of the secondary spraying parameter determined to be a value greater than the scanning speed of the primary spraying parameter to the concrete material sprayed by the primary spraying; Furthermore, perform secondary spraying to spray concrete material,
Concrete material spraying equipment. A concrete material spraying device for spraying a concrete material onto the inner wall surface of a tunnel,
a measuring unit that measures the cross-sectional shape of the inner wall surface;
a sprayer for spraying a concrete material from a nozzle onto the inner wall surface;
a control unit that controls the measuring unit and the spraying machine;
a storage unit that stores the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material sprayed from the nozzle;
The control unit
measuring the cross-sectional shape of the inner wall surface of the tunnel using the measurement unit;
Based on the measured cross-sectional shape and the predetermined cross-sectional shape of the design inner wall surface of the tunnel, a primary required spraying thickness is calculated for each of a plurality of predetermined first sections,
determining a primary spraying parameter based on the calculated primary required spraying thickness and the relationship stored in the storage unit;
Controlling the sprayer based on the determined primary spraying parameters to perform primary spraying to spray the concrete material onto the inner wall surface of the tunnel;
Calculate the secondary required spray thickness for each of a plurality of predetermined second sections,
The spraying machine is controlled based on the secondary spraying parameter determined based on the calculated secondary required spraying thickness and the relationship stored in the storage unit, and the spraying is performed by the primary spraying. Perform secondary spraying for further spraying the concrete material onto the concrete material,
The second section is set larger than the first section,
Concrete material spraying equipment. A concrete material spraying method for spraying a concrete material from a nozzle of a sprayer onto the inner wall surface of a tunnel,
a measuring step of measuring the cross-sectional shape of the inner wall surface of the tunnel;
a calculation step of calculating a required spraying thickness based on the measured cross-sectional shape and a predetermined cross-sectional shape of the design inner wall surface of the tunnel;
including the flow rate of the concrete material sprayed from the nozzle based on the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material sprayed from the nozzle, and the calculated required spray thickness; a determination step of determining next spray parameters;
a primary spraying step of controlling the sprayer based on the flow rate of the determined primary spraying parameter to spray the concrete material onto the inner wall surface of the tunnel;
The sprayer is controlled based on the flow rate of the secondary spraying parameter determined to be smaller than the flow rate of the primary spraying parameter, and the concrete material sprayed in the primary spraying step is further a secondary spraying step of spraying concrete material;
Concrete material spraying method. A concrete material spraying method for spraying a concrete material from a nozzle of a sprayer onto the inner wall surface of a tunnel,
a measuring step of measuring the cross-sectional shape of the inner wall surface of the tunnel;
a calculation step of calculating a required spraying thickness based on the measured cross-sectional shape and a predetermined cross-sectional shape of the design inner wall surface of the tunnel;
The swing speed of the nozzle in the circumferential direction of the tunnel is determined based on the relationship between the spray thickness of the concrete material, the spray parameters of the concrete material sprayed from the nozzle, and the calculated required spray thickness. a determining step of determining primary spray parameters comprising
a primary spraying step of controlling the sprayer based on the determined swing speed of the primary spraying parameter to spray the concrete material onto the inner wall surface of the tunnel;
Concrete material sprayed in the primary spraying step by controlling the sprayer based on the swing speed of the secondary spraying parameter determined to be greater than the swing speed of the primary spraying parameter. a secondary spraying step of spraying more concrete material onto the
Concrete material spraying method. A concrete material spraying method for spraying a concrete material from a nozzle of a sprayer onto the inner wall surface of a tunnel,
a measuring step of measuring the cross-sectional shape of the inner wall surface of the tunnel;
a calculation step of calculating a required spraying thickness based on the measured cross-sectional shape and a predetermined cross-sectional shape of the design inner wall surface of the tunnel;
The swing angle of the nozzle in the circumferential direction of the tunnel is determined based on the relationship between the spray thickness of the concrete material, the spray parameters of the concrete material sprayed from the nozzle, and the calculated required spray thickness. a determining step of determining primary spray parameters comprising
a primary spraying step of controlling the sprayer based on the determined swing angle of the primary spraying parameter to spray the concrete material onto the inner wall surface of the tunnel;
Concrete material sprayed in the primary spraying step by controlling the sprayer based on the swing angle of the secondary spraying parameter determined to be larger than the swing angle of the primary spraying parameter. a secondary spraying step of spraying more concrete material onto the
Concrete material spraying method. A concrete material spraying method for spraying a concrete material from a nozzle of a sprayer onto the inner wall surface of a tunnel,
a measuring step of measuring the cross-sectional shape of the inner wall surface of the tunnel;
a calculation step of calculating a required spraying thickness based on the measured cross-sectional shape and a predetermined cross-sectional shape of the design inner wall surface of the tunnel;
The scanning speed of the nozzle in the axial direction of the tunnel is determined based on the relationship between the spray thickness of the concrete material, the spray parameters of the concrete material sprayed from the nozzle, and the calculated required spray thickness. a determining step of determining primary spray parameters comprising
a primary spraying step of controlling the sprayer based on the determined scanning speed of the primary spraying parameter to spray the concrete material onto the inner wall surface of the tunnel;
Concrete material sprayed in the primary spraying step by controlling the sprayer based on the scanning speed of the secondary spraying parameter determined to be a value greater than the scanning speed of the primary spraying parameter. a secondary spraying step of spraying more concrete material onto the
Concrete material spraying method. A concrete material spraying method for spraying a concrete material from a nozzle of a sprayer onto the inner wall surface of a tunnel,
a measuring step of measuring the cross-sectional shape of the inner wall surface of the tunnel;
Primary calculation for calculating a primary required spraying thickness for each of a plurality of predetermined first sections based on the measured cross-sectional shape and a predetermined cross-sectional shape of the design inner wall surface of the tunnel. a step;
a determination step of determining a primary spraying parameter based on the relationship between the spraying thickness of the concrete material and the spraying parameter of the concrete material sprayed from the nozzle, and the calculated primary required spraying thickness;
a primary spraying step of controlling the sprayer based on the determined primary spraying parameters to spray concrete material onto the inner wall surface of the tunnel;
a secondary calculation step of calculating a secondary required spray thickness for each of a plurality of predetermined second sections;
The sprayer is controlled based on the secondary spraying parameter determined based on the calculated secondary required spraying thickness and the relationship, and the concrete material sprayed in the primary spraying step is a secondary spraying step of spraying concrete material;
The second section is set larger than the first section,
Concrete material spraying method.

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