The information intelligent construction method and system of wet shot trolley
Technical field
The invention belongs to wet shot trolley technical fields, and in particular to a kind of information intelligent construction method of wet shot trolley and
System.
Background technique
Wet shot trolley is widely used in the fields such as water power railway tunnel, geotechnical engineering, underground installation and highway engineering construction.
And conventional wet shot trolley is passed through the movement of remote control control cantilever crane and nozzle by an operator, is sprayed to working face
It applies, entire gunning concrete thickness and flatness place one's entire reliance upon the experience ability of operator.There is spraying in work progress
Situations such as quality is uncontrollable, and spraying data can not record statistics, and operator is excessively exposed to unsafe conditions.
As industry 4.0 and Chinese intelligence make 2025 proposition, country requires more the intelligence of construction equipment with information-based
Height, to improve construction efficiency and working security, in line with efficient, safe construction concept, a kind of information intelligent wet shot trolley
The abreast of the times demand of invention, while with the invention of this information intelligence wet shot trolley, a kind of completely new construction work
Method is come into being.
Summary of the invention
The purpose of the present invention is in view of the above problems and insufficient, provide that a kind of construction efficiency is high, working security
The information intelligent construction method and system of high wet shot trolley.
In order to achieve the above objectives, it is adopted the technical scheme that:
A kind of information intelligent construction method of wet shot trolley, comprising: import tunnel size and coordinate data, and according to tunnel ruler
Very little and coordinate data completes positioning of the wet shot trolley in tunnel;Tunnel Internal periphery model is obtained, designs number with tunnel Internal periphery
According to comparison, concrete ejection amount is estimated, and generates the injection route of the injector head of the wet shot trolley;According to the injection road
Line obtains in the injector head motion process, supports the motion profile of each support arm of the injector head;Control each branch
The movement of brace, so that the injector head is along the injection route construction operation.
The positioning that wet shot trolley is completed in tunnel, specifically includes the following steps: being chosen at least on tunnel inner wall
Two known points, and be scanned by the way that total station is arranged, obtain coordinate data of the total station in tunnel;It is swept by total station
At least two reference points on the wet shot trolley are retouched, and obtain the coordinate data of each reference point;By each reference point
Coordinate data, realize wet shot trolley the positioning in tunnel.
It further include determining the injector head of the wet shot trolley after positioning of the completion wet shot trolley in tunnel
Position, specifically includes the following steps: installing angular transducer, stretching in the support arm additional at each artis of the support arm
Contracting position installs linear transducer additional;It is converted by three dimensional coordinate space, to obtain sky of the spray head relative to the wet shot trolley
Between position;And then obtain coordinate data of the spray head in tunnel.
In the injector head along the injection route construction operation, by obtaining the coordinate data of the injector head, control
The dynamic of accelerator processed matches;After the completion of injector head concrete ejection, the secondary acquisition of tunnel Internal periphery, and and tunnel are carried out
Internal periphery design data is compared again, is obtained the secondary the amount of injection that fills spray, is specified the secondary route that fills spray;And then control injector head
Carry out the secondary construction operation that fills spray.
Acquisition tunnel Internal periphery model, specifically includes the following steps: carrying out axially consecutive straight line by laser transit
The step pitches step-scan such as scanning, radial, obtains scanning point cloud data;Characteristics algorithm processing is carried out to scanning point cloud data, thus
Obtain the threedimensional model of current tunnel Internal periphery.
The processing of its characteristics algorithm includes filtering and noise reduction, signature analysis, segmentation, extraction and the reconstruction to scanning point cloud data;
For the scan blind spot of arch, operation is compensated using empirical data, to obtain accurately tunnel Internal periphery model.
A kind of information intelligent construction system of wet shot trolley, comprising: wet shot trolley;Locating module is used for according to tunnel
Road dimension data realizes the positioning of wet shot trolley and injector head in tunnel;Model group models block, is used for tunnel Internal periphery mould
Type compares with tunnel Internal periphery design data, estimates concrete ejection amount, and generates the injection of the injector head of the wet shot trolley
Route;And control module;For controlling the motion profile of each support arm, and controls injector head and carry out sprayed construction operation.
It further include memory module, for being acquired and storing to construction data.
The locating module includes: host computer, the editor for tunnel dimension data;Total station, for combining known point
Obtain its coordinate data and with reference to point coordinate data;With trolley computer, carried out for the coordinate data to editor's data and acquisition
Analytical calculation obtains the coordinate of wet shot trolley and injector head.
The model group modeling block includes: laser scanner, is used to be scanned tunnel Internal periphery, obtains scanning element
Cloud data;It with trolley computer, is used to scan point cloud data and carries out characteristics algorithm processing, obtain tunnel Internal periphery model, and pre-
Estimate concrete ejection amount and injection route.
By adopting the above technical scheme, acquired beneficial effect is:
Information intelligent wet shot trolley of the present invention is a kind of completely new product, and wet shot trolley is made to have sensor perceptional function, computer
Processing function is judged from thinking, and construction data cloud is shared.
Information intelligent wet shot trolley of the present invention realizes construction process control, construction environment monitoring, the full Life Cycle of product
Phase monitoring, promotes safety in production and energy-saving and emission-reduction.Construction overall cost is reduced, realizes business capital synergy throttling.
Novel construction method derived from information intelligent wet shot trolley of the present invention, improves construction efficiency, and construction quality is fully controllable,
Labor intensity of operating staff is reduced, operator can carry out operator's injection in closed driver's cabin, improve person works' ring
Border facilitates occupational disease prevention.
Detailed description of the invention
Fig. 1 is the process flow chart of the information intelligent construction method of wet shot trolley of the present invention.
Fig. 2 is wet shot trolley self positioning structure schematic diagram of the present invention.
Fig. 3 is wet shot trolley support arm coordinate transformational structure schematic diagram of the invention.
Fig. 4 is laser scanner and the structural schematic diagram for spraying route.
Fig. 5 is the structural schematic diagram of wet shot trolley.
Serial number in figure: 100 for squirt trolley, 101 be support arm, 102 be injector head, 103 be supporting leg, 200 be total station,
300 be laser scanner.
Specific embodiment
Below in conjunction with attached drawing, specific embodiments of the present invention will be described in detail.
Referring to Fig. 1-Fig. 5, a kind of information intelligent construction method of wet shot trolley of the present invention, comprising: import tunnel size
And coordinate data, and according to tunnel size and coordinate data, complete positioning of the wet shot trolley in tunnel;Obtain tunnel Internal periphery
Model compares with tunnel Internal periphery design data, estimates concrete ejection amount, and generates the spray of the injector head of the wet shot trolley
Rays line;According to the injection route, obtains in the injector head motion process, support each support arm of the injector head
Motion profile;The movement of each support arm is controlled, so that the injector head is along the injection route construction operation.
Wherein, positioning of the wet shot trolley in tunnel specifically: wet shot trolley is to pass through in the location technology of tunnel internal
Dedicated upper computer software editor tunneling data, and import trolley computer system.Utilize the whole station being placed on behind wet shot trolley
Instrument removes known point P5, P6 on scanning-tunnelling wall, and the coordinate data of available total station P4 recycles total station to have sequence that must sweep
The reference point coordinate value for retouching two prism P1, P2 points on trolley, since the positional relationship of P0 and P1, P2 are it is known that available
Coordinate value of the trolley coordinate origin P0 in tunnel.Coordinate value P0 is transferred to using wireless communication technique and gives trolley computer,
Thereby realize the positioning of wet shot trolley tunnel internal.
Positioning of the injector head with respect to wet shot trolley coordinate origin P0 are as follows: the angle that computer system installs additional according to each joint of support arm
The linear transducer for spending sensor and flexible position installation, utilizes three dimensional coordinate space to convert P0(X0, Y0, Z0, O0)-(X1,
Y1, Z1, O1)-(X2, Y2, Z2, O2)-(X3, Y3, Z3, O3)-(X4, Y4, Z4, O4)-(X5, Y5, Z5, O5)-(X6, Y6, Z6,
O6) totally 6 conversions, calculate spatial position of the injector head P3 relative to trolley coordinate origin P0, have also just calculated spray in this way
Head is penetrated in the spatial position of entire tunnel internal, the fortune of real-time monitoring spray head is capable of additionally by the gyroscope being installed on spray head
Dynamic rail mark and dynamic posture P3 ' (X7, Y7, Z7, O7), to accurately grasp the injection direction of concrete.
The threedimensional model in tunnel is obtained using laser space scan: laser scanner uses axially consecutive linear scanning,
The step pitches step-scan such as radial, 10 °/s of axial scan maximum angular rate.Computer system is filtered the point cloud data of scanning
It makes an uproar, signature analysis, segmentation, extraction, rebuild scheduling algorithm processing, obtain the threedimensional model of current tunnel profile, and show man-machine
On interface, facilitates operator directly to observe and judge profile state.The scan blind spot of arch is mended using empirical data
Operation is repaid, improves the precision of tunnel threedimensional model as far as possible.
Intelligent injection control: computer system compares meter according to the tunnel threedimensional model of acquisition and the design size in tunnel
It calculates, injection route S1 or S2 the amount of injection Q1 or Q2 relevant with injection route S1 or S2 in space is marked according to calculating.Injector head and
The movement of support arm show that spray head is moved to joint action required for setting position using kinematics solution, and is obtained by algorithm
Optimal motion mode out, according to injector head, the different location in tunnel can intelligently adjust matching for accelerator to trolley computer system
Than.In view of injection rebound, pumping are emptied etc., a jeting effect caused by factors is not high, and computer system can carry out secondary sweep
It retouches, secondary injection.System has primary positioning-scanning-injection and secondary positioning-scanning-ejection function.
Construction data acquisition and remote transmission: computer system is to tunnel threedimensional model, work progress data, including each joint
Sensor values, the motion profile of injector head, the process injection side amount of concrete, the process dosage of accelerator can acquire,
And network (if in the case where having net) in tunnel can be connected by WiFi terminal, upload to service platform, can by webpage or
Data are checked in mobile phone terminal APP login.The process data of trolley computer system acquisition simultaneously also supports USB flash disk to export.
Entire construction circulation is described in detail below:
The tunneling data constructed in advance is edited using dedicated upper computer software, edited tunneling data is imported wet shot
The computer system of trolley, computer system has had the size and coordinate data in this section of tunnel at this time.Wet shot trolley is reached
Wet shot trolley supporting leg is propped in pilot injection place.And the obliquity sensor feedback angle by being mounted on vehicle body, by four branch
Leg 103 is adjusted to horizontality, to guarantee the accuracy of following trolley positioning.The position that trolley computer system utilizes total station to provide
Set the automatic positioning that data realize trolley.After the above work is completed, the tunnel side of Vehicle-borne Laser Scanning instrument alignment prescan
Edge, and scanning range is wanted in the tunnel contour figure selection shown on computer display screen, computer generates prescan route after confirmation, if
It is the scanning improper route that can be modified by man-machine interface of route, reaffirms that rear laser scanner carries out profile automatically
Scanning.Tunnel contour three-dimensional model diagram is generated after tunnel contour scanning, computer system is according to actual scanning threedimensional model and tunnel
Design profile data carry out difference calculating, estimate out cubic amount of concrete needed for operating area, and show on a display screen, can pass through
Man-machine interface chooses whether to refer to by wireless network transmissions to cloud for mixing plant.
Computer system can generate injection route simultaneously, not alarm in each sensor, accelerator liquid level under normal circumstances, is pressed
" starting automatic injection " carries out automatic job, until completing all predefined paths.If spraying effect is not ideal enough, two can be carried out
Secondary profile scan, and secondary injection is carried out, repeat the above circulation.
The path of spraying is cooked up under the premise of following operating rule.Then spray is inversely calculated according to constraint condition
The optimum movement locus of each arm in head motion process moves to control spray head according to the path of planning.Computer system is applied
Work process data, including joint sensors numerical value, the motion profile of spray head, the process injection side amount of concrete, the mistake of accelerator
Journey dosage can be with acquisition and recording, and can connect network in tunnel by vehicle-mounted WiFi terminal and upload to service platform in real time,
Above data is stored in local and USB flash disk is supported to export simultaneously.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.