Shotcreting method of concrete and wet shotcreting equipment

Abstract

The present invention discloses a method for spraying concrete and a wet spraying device. The method includes: obtaining a three-dimensional model corresponding to an object to be operated; determining an operation reference of the object to be operated based on the model parameters of the three-dimensional model; calculating the spraying speed and spraying time of the spraying device based on the operation reference; and controlling the spraying device to spray concrete on the object to be operated at the spraying speed and spraying time. The present invention is used to solve the defects of poor quality, long duration and low efficiency caused by relying on the experience of operators to control the wet spraying machine for spraying operations in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of wet shotcreting machines, and particularly to a method for spraying concrete and a wet spraying device. Background Art

[0002] Wet shotcreting machines are widely used in fields such as hydropower railway tunnels, geotechnical engineering, underground facilities, and highway engineering construction.

[0003] In the existing wet shotcreting machine, an operator controls the movement of the boom and nozzle through a remote control to complete the spraying operation on the working surface. The entire spraying process completely depends on the personal experience and ability of the operator. Due to the inconsistent experience of each operator, many problems such as uncontrollable spraying quality, increased overall operation time, and reduced operation efficiency are caused. Summary of the Invention

[0004] Embodiments of the present invention provide a method for spraying concrete and a wet spraying device, which are used to solve the defects of poor quality, long duration, and low efficiency caused by relying on the experience of operators to control the wet shotcreting machine for spraying operations in the prior art, and to achieve automatic, accurate, and rapid completion of spraying operations by the wet shotcreting machine.

[0005] The present invention provides a method for spraying concrete, including:

[0006] Obtaining a three-dimensional model corresponding to the object to be operated;

[0007] Based on the model parameters of the three-dimensional model, determining the operation reference of the object to be operated;

[0008] Based on the operation reference, calculating the spraying speed and spraying time of the spraying device;

[0009] Controlling the spraying device to spray concrete on the object to be operated at the spraying speed and the spraying time.

[0010] According to the method for spraying concrete of the present invention, the determining the operation reference of the object to be operated based on the model parameters of the three-dimensional model includes:

[0011] Describing the model parameters of the three-dimensional model in a three-dimensional coordinate system;

[0012] Filtering out the coordinate points corresponding to the distance from the coordinate points corresponding to the model parameters to the coordinate origin being greater than a preset value, and obtaining the remaining coordinate points after filtering;

[0013] Taking the plane formed by the midpoints of the distances between each of the remaining coordinate points and the coordinate origin as the operation reference.

[0014] According to the concrete spraying method of the present invention, calculating the spraying speed and spraying time of the spraying equipment based on the operation reference includes:

[0015] Based on the remaining coordinate points and the operation reference, determine the flatness of the object to be operated;

[0016] Based on the flatness and the preset spraying thickness, calculate the spraying speed and the spraying time of the spraying equipment.

[0017] According to the concrete spraying method of the present invention, controlling the spraying equipment to spray concrete on the object to be operated at the spraying speed and the spraying time includes:

[0018] Divide the object to be operated into at least one operation area, and determine the spraying sequence of each operation area;

[0019] Based on the spraying sequence, control the spraying equipment to spray the concrete on each operation area at the spraying speed and the spraying time.

[0020] According to the concrete spraying method of the present invention, based on the spraying sequence, controlling the spraying equipment to spray the concrete on each operation area at the spraying speed and the spraying time includes:

[0021] Determine the sub - flatness corresponding to each operation area;

[0022] Based on the sub - flatness and the preset spraying thickness, calculate the sub - spraying speed and sub - spraying time respectively corresponding to each operation area;

[0023] Based on the spraying sequence, control the spraying equipment to spray the concrete on each operation area at the sub - spraying speed and the sub - spraying time.

[0024] According to the concrete spraying method of the present invention, controlling the spraying equipment to spray the concrete on each operation area at the sub - spraying speed and the sub - spraying time includes:

[0025] Control the spraying equipment to spray the concrete on the current operation area at the sub - spraying speed and the sub - spraying time;

[0026] After controlling the spraying equipment to spray the concrete on the current operation area at the sub - spraying speed and the sub - spraying time, it further includes:

[0027] When it is determined that the spraying of the current operation area by the spraying equipment is completed, obtain a new three - dimensional model;

[0028] Calculate the actual spraying thickness corresponding to the current working area based on the dimension information of the new three-dimensional model;

[0029] Compare the actual spraying thickness with the preset spraying thickness to obtain a comparison result;

[0030] When the comparison result is within the preset range, determine that the spraying of the current working area is completed.

[0031] According to the concrete spraying method of the present invention, after determining that the spraying of the current working area is completed, it further includes:

[0032] Add completion mark information to the current working area, and control the spraying device to spray the concrete to the next working area at the sub-spraying speed and the sub-spraying time.

[0033] According to the concrete spraying method of the present invention, the method further includes:

[0034] When the comparison result is not within the preset range, determine that the spraying of the current working area is not completed, and control the spraying device to perform a secondary supplementary spraying operation on the current working area.

[0035] According to the concrete spraying method of the present invention, the calculating the spraying speed and spraying time of the spraying device based on the operation reference includes:

[0036] Obtain the ratio of each material in the concrete;

[0037] Based on the ratio of the concrete, determine the rebound rate of the concrete;

[0038] Based on the operation reference and the rebound rate, calculate the spraying speed and spraying time of the spraying device.

[0039] The present invention also provides a wet spraying device, which includes: a device body and a controller, and the controller is used to implement the steps of the concrete spraying method described in any one of the above.

[0040] The concrete spraying method and wet spraying equipment provided by the present invention obtain a three-dimensional model corresponding to the object to be operated; determine the operation reference of the object to be operated based on the model parameters of the three-dimensional model; calculate the spraying speed and spraying time of the spraying equipment based on the operation reference. It can be seen that after obtaining the three-dimensional model of the object to be operated, the corresponding spraying speed and spraying time can be obtained, and there is no need to rely on manual experience to predict the spraying speed and spraying time. Furthermore, control the spraying equipment to spray the object to be operated at the spraying speed and spraying time. The entire spraying process is automatically completed without manual control, solving the defects of poor quality, long duration, and low efficiency caused by relying on the experience of operators to control the wet spraying machine for spraying operations in the prior art, improving the operation efficiency, reducing the operation duration, improving the operation quality, and realizing automatic, accurate, and rapid completion of spraying operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is one of the flow charts of a concrete spraying method based on tunnel concrete provided by an embodiment of the present invention;

[0043] Figure 2 It is the second flow chart of a concrete spraying method based on tunnel concrete provided by an embodiment of the present invention;

[0044] Figure 3 It is the third flow chart of a concrete spraying method based on tunnel concrete provided by an embodiment of the present invention;

[0045] Figure 4 It is the fourth flow chart of a concrete spraying method based on tunnel concrete provided by an embodiment of the present invention;

[0046] Figure 5 It is the fifth flow chart of a concrete spraying method based on tunnel concrete provided by an embodiment of the present invention;

[0047] Figure 6 It is the structural diagram of a concrete spraying device based on tunnel concrete provided by an embodiment of the present invention;

[0048] Figure 7 It is the structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0050] The following will Figures 1 to 5 describe the concrete spraying method of the embodiments of the present invention.

[0051] The embodiments of the present invention provide a concrete spraying method, which can be applied to intelligent terminals, such as mobile phones, computers, tablets, etc., can also be applied to servers, and can also be applied to the controller of spraying equipment. Among them, the spraying equipment includes: spraying machines and wet spraying machines, etc. Below, taking the application of this method in the controller of the wet spraying machine as an example for illustration, it should be noted that it is only for illustration and does not limit the protection scope of the present invention. Some other descriptions in the embodiments of the present invention are also for illustration and do not limit the protection scope of the present invention, and will not be elaborated one by one hereafter. The specific implementation of the concrete spraying method is as Figure 1 shown:

[0052] Step 101, obtain the three-dimensional model corresponding to the object to be operated.

[0053] Specifically, a scanning element is installed on the body of the wet spraying machine, and the tunnel is scanned through the scanning element to obtain scanning data. Specifically, the scanning data includes: the contour of the scanned tunnel, the fixed steel supports in the tunnel, the irregular pits on the tunnel surface, the contour of the wet spraying machine, etc. Furthermore, using modeling software, three-dimensional modeling is performed based on the scanned scanning data to obtain a three-dimensional model. Among them, the modeling software includes: 3DMax.

[0054] Among them, the object to be operated can be part of the tunnel or the entire tunnel.

[0055] Specifically, after obtaining the three-dimensional model, the three-dimensional model is sent to the controller of the wet spraying machine, and during the subsequent spraying process, a new three-dimensional model also needs to be constructed in real time and sent to the controller.

[0056] Among them, the scanning element can be a laser scanner. Specifically, the tunnel is scanned by using the triangulation ranging method to obtain scanning data.

[0057] The scanning element can also be an infrared sensor. Specifically, the tunnel is scanned by using the triangulation ranging method to obtain scanning data.

[0058] The scanning component can also be a lidar. Specifically, the lidar scans the tunnel to obtain point cloud data, which is the scanning data. Based on the point cloud data, a 3D model can be directly obtained and sent to the controller of the wet shotcrete machine.

[0059] Of course, the scanning component can also directly transmit the obtained scanning data to the controller, and the controller performs 3D modeling based on the scanning data to obtain a 3D model.

[0060] Step 102: Determine the operation reference of the object to be operated based on the model parameters of the 3D model.

[0061] In a specific embodiment, in order to better complete the concrete spraying operation, an operation reference needs to be customized. The specific implementation is as follows: In a 3D coordinate system, describe the model parameters of the 3D model; filter out the coordinate points corresponding to the distance from the coordinate points corresponding to the model parameters to the coordinate origin being greater than a preset value, and obtain the remaining coordinate points after filtering; use the plane formed by the midpoints of the distances between each remaining coordinate point and the coordinate origin as the operation reference.

[0062] Among them, the preset distance can be set based on the actual situation. Since there are brackets and other items inside the tunnel, the coordinate points corresponding to being greater than the preset value are filtered out to improve the accuracy of calculating the operation reference.

[0063] Step 103: Calculate the spraying speed and spraying time of the spraying equipment based on the operation reference.

[0064] In a specific embodiment, in order to obtain accurate spraying speed and spraying time, based on the remaining coordinate points and the operation reference, determine the flatness of the object to be operated; calculate the spraying speed and spraying time of the spraying equipment based on the flatness and the preset spraying thickness.

[0065] In a specific embodiment, concrete has a certain rebound rate. Therefore, during the concrete spraying operation, some concrete cannot adhere to the tunnel. In order to obtain accurate spraying speed and spraying time, the rebound rate needs to be considered. First, obtain the proportion of each material in the concrete; then, based on the proportion of the concrete, determine the rebound rate of the concrete; finally, calculate the spraying speed and spraying time of the spraying equipment based on the operation reference and the rebound rate.

[0066] Specifically, when calculating the spraying speed, the physical performance parameters of the spray head of the spraying equipment also need to be considered; then, based on the physical performance parameters, determine the spraying speed of the spray head.

[0067] Among them, the physical performance parameters of the spray head include: the size of the spray head of the spray head and the pressure of the spray head, etc. Based on the size of the spray head and the pressure of the spray head, determine the spraying speed.

[0068] Among them, the spraying speed can also be understood as the spraying amount of the spray head per unit time, and the spraying amount per unit time can be defined as the unit spraying amount.

[0069] Specifically, based on the operation benchmark, the spraying amount corresponding to the object to be operated is obtained, and based on the spraying amount and the physical performance parameters of the spray head, the spraying speed is obtained.

[0070] Specifically, based on the operation benchmark, the spraying amount corresponding to the object to be operated is obtained, and based on the spraying amount and the rebound rate, the spraying time is obtained.

[0071] Specifically, before tunnel spraying, based on the operation benchmark and the preset spraying thickness, the spraying amount corresponding to the operation range is determined. In addition, before tunnel spraying, the concrete mix ratio is obtained, based on the concrete mix ratio, the consistency of the concrete is determined, based on the consistency of the concrete, the rebound rate of the concrete is determined, based on the rebound rate of the concrete, the successful spraying amount of the concrete per unit time is obtained, and based on the spraying amount and the successful spraying amount, the spraying time of the spray head is determined.

[0072] Specifically, based on the three-dimensional model, the overall operation range corresponding to the object to be operated is determined, and the operation range of the spray head of the spraying equipment in the tunnel is determined.

[0073] Among them, the operation range of the spray head in the tunnel is less than or equal to the overall operation range, and the operation range of the spray head in the tunnel is the area corresponding to the movement trajectory of the spray head in the tunnel.

[0074] Specifically, after obtaining the three-dimensional model, based on the size information and coordinate information of the three-dimensional model, the position correlation relationship between the spraying equipment and the tunnel is determined; based on the position correlation relationship, the operation range of the spray head of the spraying equipment in the tunnel is determined.

[0075] Specifically, according to the size information and coordinate information of the three-dimensional model, the size and coordinates of the tunnel can be determined, and the position of the wet spraying machine in the tunnel can also be determined. According to the size of the boom of the wet spraying machine and the size of the spray head, as well as the position of the wet spraying machine in the tunnel, the operation range where the current position where the wet spraying machine is located can perform concrete spraying on the tunnel can be determined.

[0076] Based on the pre-created three-dimensional model of the present invention, the operation range where the wet spraying machine can perform spraying operations can be obtained, without the need for operators to calculate and divide areas, and the whole process is more intelligent and faster.

[0077] Step 104, control the spraying equipment to spray concrete on the object to be operated at the spraying speed and spraying time.

[0078] In a specific embodiment, the operation range of the spray head in the tunnel corresponds to the object to be operated, and the specific implementation of spraying concrete on the object to be operated is asFigure 2 As shown in:

[0079] Step 201: Divide the object to be operated into at least one operation area, and determine the spraying order of each operation area.

[0080] Specifically, after the wet spraying machine determines the operation range, it divides the operation range to obtain multiple operation areas. The division can be carried out according to the actual situation. The entire operation range can be used as an operation area, or the entire operation range can be divided into N parts, and each part is used as an operation area, where N is an integer greater than or equal to 1.

[0081] Among them, whether the division rule of dividing the entire operation range into N parts is average division or non-average division can be determined according to the actual situation, and the present invention does not make strict restrictions.

[0082] Next, taking N equal to 3 and the division rule being average division as an example for illustration. It should be noted that this is only for illustration purposes and does not limit the protection scope.

[0083] Specifically, after obtaining three operation areas, determine the spraying order of the three operation areas. The spraying numbers can be set for each operation area, and the spraying numbers can be set according to a preset order. Then, based on the spraying numbers, determine the spraying order of each operation area.

[0084] Step 202: Based on the spraying order, control the spraying equipment to spray concrete into each operation area at a spraying speed and a spraying time.

[0085] Among them, the spraying time includes the total spraying time, that is, the spraying time required to complete the operation range, and the sub-spraying time, that is, the spraying time corresponding to each operation area.

[0086] Specifically, when the operation range is an operation area, control the spray head to spray concrete into the operation area at a spraying speed and a spraying time. When the operation range is three operation areas, in accordance with the preset order, spray concrete into the operation area corresponding to each spraying number at the spraying speed and the sub-spraying time.

[0087] Among them, the sub-spraying times of each spraying can be the same or different, and are specifically determined according to the size and flatness of each operation area.

[0088] In a specific embodiment, the specific implementation of spraying concrete into each operation area is as Figure 3 shown in:

[0089] Step 301: Determine the sub-flatness corresponding to each operation area.

[0090] Specifically, determine the sub-operation benchmarks corresponding to each operation area, and based on the sub-operation benchmarks, determine the sub-flatness.

[0091] Step 302, calculate the sub-spraying speed and sub-spraying time corresponding to each operation area based on the sub-flatness and the preset spraying thickness.

[0092] Specifically, the specific implementation is the same as the implementation method of calculating the spraying speed and spraying time of the object to be operated based on the flatness and the preset spraying thickness.

[0093] Step 303, based on the spraying sequence, control the spraying equipment to spray concrete on each operation area at the sub-spraying speed and sub-spraying time.

[0094] In a specific embodiment, the specific implementation of spraying concrete on each operation area is as Figure 4 shown:

[0095] Step 401, control the spraying equipment to spray concrete on the current operation area at the sub-spraying speed and sub-spraying time.

[0096] For example, when the operation range is three operation areas, the spraying numbers corresponding to each operation area are 01, 02, and 03 respectively, and the sub-spraying times corresponding to each operation area are the first sub-spraying time, the second sub-spraying time, and the third sub-spraying time respectively. Assume that the spraying number of the current operation area is 01, and the corresponding sub-spraying time is the first sub-spraying time, then control the spray head to spray concrete on the operation area with the spraying number 01 at the spraying speed and the first sub-spraying time.

[0097] Step 402, after determining that the spraying equipment has completed spraying on the current operation area, obtain a new 3D model.

[0098] Specifically, during the spraying operation of the wet spraying machine, the scanning element will continuously scan, and based on the new scanning data obtained from the scanning, construct a new 3D model and send the new 3D model to the controller of the wet spraying machine.

[0099] Specifically, when it is determined that the operation area with the spraying number 01 has been sprayed, obtain a new 3D model.

[0100] Step 403, calculate the actual spraying thickness corresponding to the current operation area based on the size information of the new 3D model.

[0101] Step 404, compare the actual spraying thickness with the preset spraying thickness to obtain a comparison result.

[0102] Specifically, based on the dimensional information of the new three-dimensional model and the previously obtained spraying requirements of the tunnel, such as spraying thickness, spraying flatness, etc., a comparison is made. Based on the comparison result, it is determined whether the spraying result corresponding to the current working area is qualified.

[0103] Step 405: When the comparison result is within the preset range, it is determined that the spraying of the current working area is completed.

[0104] Specifically, it is determined whether there is a next spraying number after spraying number 01. If so, the next spraying number 02 is obtained, and the boom and the spraying head are controlled to automatically rotate to the working area corresponding to spraying number 02, and spraying operations are performed at the spraying speed and the second spraying sub-time; otherwise, it is determined that the spraying operations for the entire working range are completed.

[0105] Step 406: When the comparison result is not within the preset range, it is determined that the spraying of the current working area is not completed, and the spraying equipment is controlled to perform secondary supplementary spraying operations on the current working area.

[0106] Specifically, when it is determined that the spraying result corresponding to the working area with spraying number 01 is unqualified, based on the comparison result, the secondary supplementary spraying amount and the secondary supplementary spraying speed are determined, and the secondary supplementary spraying operations for the working area with spraying number 01 are completed at the secondary supplementary spraying amount and the secondary supplementary spraying speed. After the secondary supplementary spraying operations are completed, concrete is sprayed to the next working area.

[0107] The present invention performs spraying operations in a fully automatic manner, and verifies the spraying results after the spraying of each working area is completed, effectively ensuring the accuracy of the spraying results, improving the spraying quality, and improving the user experience.

[0108] In a specific embodiment, after it is determined that the spraying of the current working area is completed, a completion mark information is added to the current working area, and the spraying equipment is controlled to spray concrete to the next working area at the sub-spraying speed and the sub-spraying time.

[0109] Specifically, the wet spraying machine of the present invention further includes a display screen. During the spraying operation of the wet spraying machine, the obtained three-dimensional model is sent to the display screen for display. When it is determined that the spraying result corresponding to the working area with spraying number 01 is qualified, the color of the working area with spraying number 01 is updated to a preset color. Furthermore, in the three-dimensional model on the display screen, the area with the preset color indicates that the spraying operation has been completed. For details, please refer to Figure 5 . In Figure 5 includes a partial three-dimensional model of the tunnel and the completed working areas, which are represented by circles in Figure 5 , and is only for illustrative purposes and does not limit the shape of the working area.

[0110] The present invention uses the color feature through the display screen to display the completed operation area, enabling the user to clearly see which areas have been sprayed and which areas have not been sprayed at a glance, effectively improving the user experience.

[0111] The concrete spraying method provided by the embodiment of the present invention includes obtaining a three-dimensional model corresponding to the object to be operated; determining the operation reference of the object to be operated based on the model parameters of the three-dimensional model; calculating the spraying speed and spraying time of the spraying device based on the operation reference. It can be seen that after obtaining the three-dimensional model of the object to be operated, the corresponding spraying speed and spraying time can be obtained, without relying on manual experience to predict the spraying speed and spraying time. Furthermore, controlling the spraying device to spray the object to be operated at the spraying speed and spraying time, the entire spraying process is automatically completed without manual control, solving the defects of poor quality, long duration, and low efficiency caused by relying on the experience of operators to control the wet spraying machine for spraying operations in the prior art, improving the operation efficiency, reducing the operation duration, improving the operation quality, and achieving automatic, accurate, and rapid completion of the spraying operation.

[0112] The following describes a concrete spraying device provided by the embodiment of the present invention. The spraying device based on tunnel concrete described below can be correspondingly referred to the spraying method based on tunnel concrete described above, and the repeated parts will not be elaborated. The device is specifically as Figure 6 shown:

[0113] An acquisition module 601, configured to acquire a three-dimensional model corresponding to the object to be operated;

[0114] A determination module 602, configured to determine the operation reference of the object to be operated based on the model parameters of the three-dimensional model;

[0115] A calculation module 603, configured to calculate the spraying speed and spraying time of the spraying device based on the operation reference;

[0116] A control module 604, configured to control the spraying device to spray concrete on the object to be operated at the spraying speed and spraying time.

[0117] In a specific embodiment, the determination module 602 is specifically configured to describe the model parameters of the three-dimensional model in a three-dimensional coordinate system; filter out the coordinate points corresponding to the distance from the coordinate points corresponding to the model parameters to the coordinate origin being greater than a preset value, and obtain the remaining coordinate points after filtering; use the plane formed by the midpoints of the distances between each remaining coordinate point and the coordinate origin as the operation reference.

[0118] In a specific embodiment, the calculation module 603 is specifically configured to determine the flatness of the object to be operated based on the remaining coordinate points and the operation reference; calculate the spraying speed and spraying time of the spraying device based on the flatness and the preset spraying thickness.

[0119] In a specific embodiment, the control module 604 is specifically configured to divide the object to be operated into at least one operation area and determine the spraying sequence of each operation area; based on the spraying sequence, control the spraying device to spray concrete on each operation area at a spraying speed and a spraying time respectively.

[0120] In a specific embodiment, the control module 604 is specifically configured to determine the sub - flatness corresponding to each operation area; calculate the sub - spraying speed and sub - spraying time corresponding to each operation area based on the sub - flatness and the preset spraying thickness; based on the spraying sequence, control the spraying device to spray concrete on each operation area at the sub - spraying speed and the sub - spraying time respectively.

[0121] In a specific embodiment, the control module 604 is specifically configured to control the spraying device to spray concrete on the current operation area at the sub - spraying speed and the sub - spraying time; the control module 604 is further configured to, when it is determined that the spraying device has completed spraying on the current operation area, obtain a new 3D model; calculate the actual spraying thickness corresponding to the current operation area based on the size information of the new 3D model; compare the actual spraying thickness with the preset spraying thickness to obtain a comparison result; when the comparison result is within the preset range, determine that the spraying of the current operation area is completed.

[0122] In a specific embodiment, the control module 604 is further configured to add completion mark information to the current operation area and control the spraying device to spray concrete on the next operation area at the sub - spraying speed and the sub - spraying time.

[0123] In a specific embodiment, the control module 604 is further configured to, when the comparison result is not within the preset range, determine that the spraying of the current operation area is not completed and control the spraying device to perform a secondary supplementary spraying operation on the current operation area.

[0124] In a specific embodiment, the calculation module 603 is specifically configured to obtain the ratio of each material in the concrete; determine the rebound rate of the concrete based on the ratio of the concrete; calculate the spraying speed and spraying time of the spraying device based on the operation benchmark and the rebound rate.

[0125] The present invention also provides a wet spraying device, including: a device body and a controller, and the controller is used to implement the steps of the concrete spraying method described in any one of the above embodiments.

[0126] Among them, the wet spraying device includes a wet spraying machine.

[0127] Figure 7 Illustrates a schematic physical structure diagram of an electronic device, such as Figure 7As shown in the figure, the electronic device may include: a processor 701, a communications interface 702, a memory 703, and a communication bus 704. Among them, the processor 701, the communications interface 702, and the memory 703 communicate with each other through the communication bus 704. The processor 701 may call logic instructions in the memory 703 to execute a spraying method based on tunnel concrete. The method includes: obtaining a three-dimensional model corresponding to the object to be operated; determining an operation reference of the object to be operated based on the model parameters of the three-dimensional model; calculating the spraying speed and spraying time of the spraying device based on the operation reference; and controlling the spraying device to spray concrete on the object to be operated at the spraying speed and spraying time.

[0128] In addition, when the logic instructions in the above-mentioned memory 703 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0129] The present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the spraying method based on tunnel concrete provided by the above-mentioned various methods. The method includes: obtaining a three-dimensional model corresponding to the object to be operated; determining an operation reference of the object to be operated based on the model parameters of the three-dimensional model; calculating the spraying speed and spraying time of the spraying device based on the operation reference; and controlling the spraying device to spray concrete on the object to be operated at the spraying speed and spraying time.

[0130] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to implement the spraying method based on tunnel concrete provided above. The method includes: obtaining a three-dimensional model corresponding to the object to be operated; determining the operation reference of the object to be operated based on the model parameters of the three-dimensional model; calculating the spraying speed and spraying time of the spraying device based on the operation reference; and controlling the spraying device to spray concrete on the object to be operated at the spraying speed and spraying time.

[0131] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0132] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0133] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A method for spraying concrete, characterized in that, Including: Obtain the three-dimensional model corresponding to the object to be operated; Determine the operation reference of the object to be operated based on the model parameters of the three-dimensional model; Calculate the spraying speed and spraying time of the spraying device based on the operation reference; Control the spraying device to spray concrete on the object to be operated at the spraying speed and the spraying time; Wherein, determining the operation reference of the object to be operated based on the model parameters of the three-dimensional model includes: Describe the model parameters of the three-dimensional model in a three-dimensional coordinate system; Filter out the coordinate points corresponding to the distance from the coordinate points corresponding to the model parameters to the coordinate origin being greater than a preset value, and obtain the remaining coordinate points after filtering; Determine the operation reference based on each of the remaining coordinate points; Calculating the spraying speed and spraying time of the spraying device based on the operation reference includes: Determine the flatness of the object to be operated based on the remaining coordinate points and the operation reference; Calculate the spraying speed and the spraying time of the spraying device based on the flatness and the preset spraying thickness.

2. The spraying method of concrete according to claim 1, characterized in that, Determining the operation reference of the object to be operated based on the model parameters of the three-dimensional model includes: Describe the model parameters of the three-dimensional model in a three-dimensional coordinate system; Filter out the coordinate points corresponding to the distance from the coordinate points corresponding to the model parameters to the coordinate origin being greater than a preset value, and obtain the remaining coordinate points after filtering; Take the plane formed by the midpoints of the distances between each of the remaining coordinate points and the coordinate origin as the operation reference.

3. The concrete spraying method according to claim 2, characterized in that, Controlling the spraying device to spray concrete on the object to be operated at the spraying speed and the spraying time includes: Divide the object to be operated into at least one operation area, and determine the spraying sequence of each operation area; Based on the spraying sequence, control the spraying device to spray the concrete on each operation area at the spraying speed and the spraying time respectively.

4. The concrete spraying method according to claim 3, characterized in that, Controlling the spraying device to spray the concrete on each operation area at the spraying speed and the spraying time respectively based on the spraying sequence includes: Determine the sub-flatness corresponding to each operation area; Calculate the sub-spraying speed and sub-spraying time corresponding to each operation area respectively based on the sub-flatness and the preset spraying thickness; Based on the spraying sequence, control the spraying device to spray the concrete on each operation area at the sub-spraying speed and the sub-spraying time respectively.

5. The concrete spraying method according to claim 4, characterized in that, Controlling the spraying device to spray the concrete on each operation area at the sub-spraying speed and the sub-spraying time respectively includes: Control the spraying device to spray the concrete on the current operation area at the sub-spraying speed and the sub-spraying time; After controlling the spraying device to spray the concrete on the current operation area at the sub-spraying speed and the sub-spraying time, it further includes: When it is determined that the spraying device has completed spraying on the current operation area, obtain a new three-dimensional model; Calculate the actual spraying thickness corresponding to the current operation area based on the size information of the new three-dimensional model; Compare the actual spraying thickness with the preset spraying thickness to obtain a comparison result; When the comparison result is within a preset range, it is determined that the spraying of the current working area is completed.

6. The spraying method of concrete according to claim 5, characterized in that, After determining that the spraying of the current working area is completed, it further includes: Add completion marking information to the current working area, and control the spraying device to spray the concrete on the next working area at the sub-spraying speed and the sub-spraying time.

7. The concrete spraying method according to claim 5, characterized in that, The method further includes: When the comparison result is not within the preset range, it is determined that the spraying of the current working area is not completed, and the spraying device is controlled to perform a secondary supplementary spraying operation on the current working area.

8. The shotcreting method of concrete according to any one of claims 1-6, characterized in that The calculating the spraying speed and spraying time of the spraying device based on the operation reference includes: Obtain the ratio of each material in the concrete; Determine the rebound rate of the concrete based on the ratio of the concrete; Calculate the spraying speed and spraying time of the spraying device based on the operation reference and the rebound rate.

9. A wet spraying device, characterized in that, The wet spraying device includes: a device body and a controller, and the controller is used to implement the steps of the concrete spraying method according to any one of claims 1 to 8.

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