Full-automatic wet spraying control method and full-automatic wet spraying system

Abstract

The invention discloses a full-automatic wet spraying control method and a full-automatic wet spraying system. The full-automatic wet spraying control method comprises the following steps: scanning aconstruction face and modeling for the construction face; acquiring spraying motion parameters of a mechanical arm and a nozzle by utilizing a 3D (three-dimensional) model of the construction face; controlling the mechanical arm and the nozzle to automatically act according to motion parameters, so as to complete the spraying operation of the construction face. The whole spraying process is automatic and efficient as well as time-saving and labor-saving, so that the requirement on skills of operators can be lowered, and the spraying quality is improved; in addition, no operation or remote operation can be achieved in a high risk environment, so that the control method is higher in safety.

Description

technical field [0001] The invention relates to the technical field of concrete wet spraying, in particular to a fully automatic wet spraying control method. In addition, the invention also relates to a fully automatic wet spraying system. Background technique [0002] Concrete spraying machine refers to the support machinery that uses pressure to deliver concrete mixture directly to the rock surface through the nozzle to form a consolidated concrete layer. It is mainly used for engineering support such as underground mine shafts and tunnels, and can also be used for spraying enclosures Rock seepage and weathering protective layer, and used in conjunction with bolts to improve support capacity. [0003] At present, when the concrete spraying machine is used, the operator manipulates the hydraulic system on the operating platform to realize the lifting, turning, telescoping and machine walking of the mechanical arm, so that the nozzle can flexibly change the angle and orient...

AI Technical Summary

Problems solved by technology

Manual control not only requires high professional skills and operating experience of operators, but the quality of wet spraying cannot be guaranteed, but also has low work efficiency and high labor intensity, and the personal safety of operators cannot be guaranteed in some high-risk environments.

[0004] Therefore, how to solve the problems of time-consuming and labor-intensive manual operation of wet spraying machines, low safety and difficult control of wet spraying quality is a technical problem that those skilled in the art need to solve at present.

Images