Automatic spraying motion planning of a shotcrete manipulator

Shotcrete manipulator has been widely used in the construction of high-speed railways, coal mines, and other tunnels. At present, workers are still using the remote controller to control the manipulator for spraying operations. However, the high-risk environment of tunnel construction poses an enormous threat to the personal safety of workers. In order to realize automatic shotcrete operation, an automatic shotcrete operation scheme is proposed in this paper based on tunnel 3D scanning and reconstruction. The method of tunnel 3D reconstruction is designed, taking the 2.5D growth method as the core. Based on the kinematic modeling and analysis of the shotcrete manipulator, the motion planning method of the shotcrete manipulator is designed according to the condition of the tunnel, and the verification experiment is carried out in the actual tunnel. The experimental results show that the precision of the automatic spraying method is less than 45 mm, which can meet the requirements of actual construction.