Man-machine cooperative control system and method for tunnel concrete wet spraying operation

Abstract

The invention relates to the technical field of tunnel construction, in particular to a man-machine cooperative control system and method for tunnel concrete wet spraying operation. The wet spraying mechanical arm is provided with a spraying gun and used for executing wet spraying operation. The image acquisition module is used for acquiring and recording teaching information of wet spraying operation of a user, the controller is connected with the image acquisition module, the collected teaching information is classified through the controller so that wet spraying can be reproduced and stored under different working conditions, and the controller is provided with a man-machine interaction rocker. A user manually guides the wet spraying mechanical arm to perform wet spraying operation; the input module is connected with the controller and used for inputting a teaching track conforming to working conditions, under the various working conditions, when the wet spraying mechanical arm conducts automatic wet spraying operation based on the teaching track, a user can apply virtual force through a man-machine interaction rocker to guide the wet spraying mechanical arm to conduct wet spraying, and the image display module is provided with a man-machine interaction control panel. And the display module is in communication connection with the image acquisition module and the controller and is used for displaying the real-time spraying image.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to a human-machine collaborative control system and method for tunnel concrete wet spraying operations. Background Art

[0002] Wet spraying is a widely used construction technique in tunnels, often using a wet spraying robot to perform operations such as concrete spraying. However, wet spraying often faces complex operating environments and highly repetitive tasks, which place high demands on traditional mechanical control methods. In such environments, the accuracy and efficiency of wet spraying robots are often affected by factors such as human intervention, robot control accuracy, and operational difficulty.

[0003] Traditional wet spraying robotic arms often use manual control or semi-automated control systems, requiring operators to interact directly with the robotic arm through physical controls. While this approach can achieve basic operational requirements, it places a heavy burden on operators in complex environments and with repetitive tasks, leading to low efficiency and potential for human error.

[0004] The tunnel wet spraying process is highly repeatable and lasts for a long time. Due to the lack of intelligent technology, the wet spraying process has problems such as low efficiency and lack of flexibility during operation.

[0005] The existing invention patent publication number CN116441094A is titled "A Shotcrete Robot Arm for a Concrete Wet Shotcrete Trolley." This patent partially corrects the preset path through data compensation and feedback optimization parameters, but cannot coordinate human-machine adjustments throughout the wet shotcrete trajectory. It relies on preset parameters and programmed control, and the space for human intervention is limited. Summary of the Invention

[0006] The present invention aims to at least improve one of the technical problems existing in the prior art. To this end, the present invention proposes a human-machine collaborative control system and method for tunnel concrete wet spraying operations.

[0007] The technical solutions of the present invention are as follows: A human-machine collaborative control system for tunnel concrete wet spraying operation, comprising: A wet spraying robot arm has an end effector equipped with a spray gun for performing wet spraying operations; An image acquisition module is provided in the wet spraying operation area of ​​the tunnel and is used to collect and record the user's wet spraying operation teaching information, including: the spatial position information of the teaching point, the wet spraying thickness information, and the working information of the robotic arm, including the angle between the robotic arm and the spray gun, and the movement speed of the robotic arm; A controller is provided in the wet spraying control area of ​​the tunnel and is connected to the image acquisition module. The controller classifies the collected teaching information to reproduce and store wet spraying under different working conditions. The controller is provided with a human-machine interactive joystick for the user to manually guide the wet spraying robot arm to perform wet spraying operations. an instruction conversion module, connected to the wet spraying robot arm and the controller, respectively, for converting the output control information of the controller into a control instruction of the wet spraying robot arm for automatic wet spraying operation by the wet spraying robot arm; an input module connected to the controller and configured to select different teaching trajectories according to different working conditions. Under various working conditions, when the wet spraying robot arm performs automatic wet spraying operations based on the teaching trajectories, a user can apply a virtual force via a human-machine interaction joystick to guide the wet spraying robot arm to perform wet spraying. The controller outputs the virtual force to the instruction conversion module to complete the manual operation, and the data control priority of the human-machine interaction joystick is higher than the data control priority of the input module; The image display module has a human-computer interaction control panel, is set in the tunnel wet spraying control area, is communicated with the image acquisition module and the controller, and is used to display real-time spraying images.

[0008] In a possible technical solution, the controller further integrates a human-computer interaction joystick containing a mechanical sensing module, and the mechanical sensing module includes multiple mechanical sensors. The multiple mechanical sensors capture the operation input in real time to drive the precise control of the motion position and posture of the end of the robotic arm.

[0009] In a possible technical solution, further, the human-computer interaction joystick has a built-in force feedback unit, and the force feedback unit is connected to the controller to transmit the contact stress and motion resistance information between the robotic arm and the injection surface to the user, allowing the user to operate the joystick more accurately to adjust the end posture.

[0010] The human-machine collaborative control system for tunnel concrete wet spraying operations according to the present invention has the following beneficial effects compared to the prior art: The present invention collects teaching information of a user manually guiding a wet spraying robot arm to perform a wet spraying operation through an image acquisition module, and stores trajectory data and wet spraying skill data during the teaching process.

[0011] The present invention can cope with tunnel concrete wet spraying operations under different working conditions. When the controller performs automatic wet spraying operations, in the face of possible environmental changes and equipment interference, such as differences in construction conditions, robot arm vibration and path deviation, the user can manually guide the robot arm to perform virtual force human-machine collaborative control to complete the wet spraying operation, so as to adapt to the trajectory deviation of the robot arm caused by different working conditions, thereby ensuring the spraying operation effect.

[0012] This invention uses a controller to drive the wet spraying robot arm, enabling remote control in complex operating environments, effectively avoiding the safety risks associated with direct contact with potentially hazardous environments. Remote operation, enabled by an input module and image display module, allows users to obtain a more optimized working perspective, thereby improving accuracy and efficiency.

[0013] A human-machine collaborative control method for tunnel concrete wet spraying operation, wherein the collaborative operation is performed using the above-mentioned control system, comprising the following steps: The image acquisition module collects and records the user's wet spraying teaching information, including: teaching point spatial position information, wet spraying thickness information, and robot arm working information, including the angle between the robot arm and the spray gun, and the robot arm movement speed; The controller classifies the collected teaching information to reproduce wet spraying under different working conditions and stores it; The input module inputs the teaching trajectory that meets the working conditions; The instruction conversion module converts the output control information of the teaching trajectory output by the controller into a control instruction of the wet spraying robot arm, which is used for the wet spraying robot arm to automatically perform wet spraying operations; If the virtual force adjustment information of the human-computer interaction joystick is received, the controller outputs the virtual force to the instruction conversion module to complete the manual operation; If the virtual force adjustment information of the human-machine interaction joystick is not received, the controller controls the robotic arm to return to the teaching trajectory to continue the remaining wet spraying operations, wherein the user's manual control priority is higher than the controller's automatic control priority.

[0014] In a possible technical solution, further, the position of the end effector of the robotic arm is usually described using a coordinate system; in three-dimensional space, the position of the end effector can be represented by three-dimensional coordinates: Where, is the position of the end effector of the robot arm, is the position of the end effector relative to the reference coordinate system of the starting point.

[0015] In a possible technical solution, further, the calculation formula of the robot arm movement speed is: Where, Indicates the volume of concrete sprayed, in m 3 / h, Indicates the rebound rate of shotcrete, the unit is %. is the thickness of the scanning layer, in m, The range for swiping up and down.

[0016] In a possible technical solution, further, when performing automatic wet spraying operation according to the teaching trajectory, a complete ring of the teaching trajectory is divided into multiple sub-trajectories, and each sub-trajectory is refined into discrete points. In order to ensure that the trajectory is smooth and meets actual requirements, it is necessary to use an interpolation algorithm to reduce errors. The automatic wet spraying operation of the present invention uses a quintic polynomial interpolation method to fit the teaching trajectory; wherein the quintic polynomial interpolation algorithm formula is: Where, represents the position at time t, , , , , , are the coefficients of the quintic polynomial, is the initial time, is the time difference, representing the offset relative to the initial time.

[0017] In a possible technical solution, further, if the virtual force adjustment information of the human-computer interaction joystick is received, the controller outputs the virtual force to the instruction conversion module to complete the manual operation specifically as follows: When the user guides the controller, the human-machine collaborative robot arm based on virtual force avoids wet spraying errors caused by vibration interference, allowing it to wet spray concrete on the tunnel surface at a reasonable angle; the virtual force is: Where, 、 and Represent the inertia characteristics, damping characteristics and stiffness characteristics of the robotic arm respectively. is the desired position, is the actual location, is the expected speed, is the actual speed, is the expected acceleration, is the actual acceleration.

[0018] The human-machine collaborative control method for tunnel concrete wet spraying operation according to the present invention has the following beneficial effects compared with the prior art: The present invention uses an image acquisition module to capture the user's manual guidance of the wet spraying robot arm during wet spraying operations, and stores the trajectory data and wet spraying skill data during the teaching process. Based on the polynomial interpolation method, the system can accurately reproduce the teaching trajectory and achieve high-precision trajectory reproduction. This method significantly improves the automation level of wet spraying operations, enabling operators to repeat the same trajectory efficiently and accurately, thereby improving work efficiency. Especially under complex dynamic working conditions, the automated control system effectively reduces human intervention, optimizes the construction process, and improves the overall construction progress and work quality, and has broad application potential.

[0019] This invention can handle tunnel concrete wet spraying operations under diverse working conditions. When the controller automatically performs wet spraying, users can manually guide the robotic arm through virtual force collaborative control to handle potential environmental changes and equipment interference, such as construction condition variations, robotic arm vibration, and path deviation. This allows users to adapt to trajectory deviations caused by varying working conditions, thereby ensuring effective spraying. The adjusted trajectory does not affect the precise reproduction of subsequent trajectories, and the adjusted trajectory can be selectively stored in the controller as needed, further enhancing the system's flexibility and adaptability.

[0020] This invention uses a controller to drive the wet spraying robot arm, enabling remote control in complex operating environments, effectively avoiding the safety risks associated with direct contact with potentially hazardous environments. Remote operation, enabled by an input module and image display module, allows users to obtain a more optimized working perspective, thereby improving accuracy and efficiency.

[0021] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the human-machine collaborative control method for tunnel concrete wet spraying operation as described above.

[0022] A computer storage medium, wherein the computer storage medium stores instructions, and when the instructions are executed on a computer, the computer executes the human-machine collaborative control method for tunnel concrete wet spraying operations as described above.

[0023] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 2. Schematic diagram of a human-machine collaborative control system for tunnel concrete spraying operations according to an embodiment of the present invention; Figure 2 is a flow chart of a human-machine collaborative control method for tunnel concrete wet spraying operations according to an embodiment of the present invention; Figure 3 This is a bow-shaped wet spraying operation trajectory diagram of a human-machine collaborative control method for a tunnel concrete wet spraying operation according to an embodiment of the present invention; Figure 4 is based on Figure 3 Wet spraying skill data chart for wet spraying operations.

[0026] Reference numerals: Wet spraying robot arm 100, end effector 110, spray gun 120; Image acquisition module 200; Controller 300, human-computer interaction joystick 310; Instruction conversion module 400; Input module 500; Image display module 600 and human-computer interaction control panel 610 . DETAILED DESCRIPTION

[0027] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] In the specification, claims, and accompanying drawings of this application, the terms "first," "second," "third," and the like are used to distinguish different objects and are not used to describe a particular order. Furthermore, the terms "including," "comprising," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a list of steps or elements may be included, or alternatively, steps or elements not listed may be included, or other steps or elements may be included that are inherent to the process, method, product, or apparatus.

[0031] Only portions relevant to the present application are shown in the accompanying drawings, not all of them. Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the various operations (or steps) as sequential processes, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the various operations can be rearranged. The process can be terminated when its operations are completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0032] As used in this specification, the terms "component," "module," "system," "unit," and the like are used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or distributed between two or more computers. In addition, these units can be executed from various computer-readable media having various data structures stored thereon. Units can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from a second unit interacting with another unit in a local system, a distributed system, and / or a network, such as the Internet, which interacts with other systems via signals).

[0033] Example 1 like Figure 1 As shown, this embodiment provides a human-machine collaborative control system for tunnel concrete wet spraying operations, which includes: The wet spraying robot arm 100 has an end effector 110 equipped with a spray gun 120 for performing wet spraying operations; An image acquisition module 200 is provided in the tunnel wet spraying operation area and is used to collect and record user wet spraying operation teaching information, including: teaching point spatial position information, wet spraying thickness information, and robot arm operation information, including the angle between the robot arm and the spray gun, and the robot arm movement speed; The controller 300 is provided in the wet spraying control area of ​​the tunnel and is connected to the image acquisition module 200. The controller 300 classifies the received teaching information to generate teaching trajectories under different working conditions. The controller 300 is provided with a human-machine interaction joystick 310 for the user to manually guide the wet spraying robot arm 100 to perform wet spraying operations. The command conversion module 400 is connected to the wet spraying robot arm 100 and the controller 300, respectively, and is used to convert the output control information of the controller 300 into the control command of the wet spraying robot arm 100, so as to enable the wet spraying robot arm 100 to automatically perform wet spraying operations; An input module 500 is connected to the controller 300 and is used to select different teaching trajectories according to different working conditions. In various working conditions, when the wet spraying robot 100 performs automatic wet spraying operations based on the teaching trajectory, the user can apply a virtual force through the human-machine interaction joystick 310 to guide the wet spraying robot 100 to perform wet spraying. The controller 300 outputs the virtual force to the instruction conversion module 400 to complete the manual operation, and the data control priority of the human-machine interaction joystick 310 is higher than the data control priority of the input module 500. The image display module 600 has a human-computer interaction control panel 610, which is set in the tunnel wet spraying control area and is connected to the image acquisition module 200 and the controller 300 for displaying real-time spraying images.

[0034] It should be noted that, in this embodiment, a human-machine collaborative control system for tunnel concrete wet spraying operations further includes a wireless communication module for communication interaction.

[0035] It should be noted that, in this embodiment, the human-computer interaction control panel 610 based on this embodiment can provide multiple functions such as status monitoring, user operation settings, data visualization and historical record display of the human-computer collaborative control system, and is an important information bridge between the user and the control system; the image display module 600 is used to provide real-time feedback on the operating status of the robotic arm, assisting users in making accurate decisions and adjustments.

[0036] It should be noted that, in this embodiment, the controller 300 integrates a human-computer interaction joystick 310 including a mechanical sensing module. The mechanical sensing module includes multiple mechanical sensors, which capture the operation input in real time to drive the precise control of the motion position and posture of the end of the robotic arm.

[0037] It should be noted that, in this embodiment, the human-computer interaction joystick 310 has a built-in force feedback unit, which is connected to the controller 300 and is used to transmit the motion resistance information between the wet spraying robot arm 100 and the spraying surface to the user, allowing the user to operate the joystick more accurately to adjust the end posture.

[0038] It should be noted that the human-machine interaction joystick 310 adopts an ergonomically designed dual-joystick structure to independently control the spray gun posture of the wet spraying robot 100, which is conducive to controlling the multi-degree-of-freedom movement of the robot arm and realizing synchronous and precise control of the terminal posture and wet spraying direction in complex tunnel wall spraying operations.

[0039] The human-machine collaborative control system for tunnel concrete wet spraying operations according to the present invention has the following beneficial effects compared to the prior art: The present invention uses an image acquisition module to capture the user's manual guidance of the wet spraying robot arm during wet spraying operations, and stores the trajectory data and wet spraying skill data during the teaching process. Based on the polynomial interpolation method, the system can accurately reproduce the teaching trajectory and achieve high-precision trajectory reproduction. This method significantly improves the automation level of wet spraying operations, enabling operators to repeat the same trajectory efficiently and accurately, thereby improving work efficiency. Especially under complex dynamic working conditions, the automated control system effectively reduces human intervention, optimizes the construction process, and improves the overall construction progress and work quality, and has broad application potential.

[0040] This invention can handle tunnel concrete wet spraying operations under diverse working conditions. When the controller automatically performs wet spraying, users can manually guide the robotic arm through virtual force collaborative control to handle potential environmental changes and equipment interference, such as construction condition variations, robotic arm vibration, and path deviation. This allows users to adapt to trajectory deviations caused by varying working conditions, thereby ensuring effective spraying. The adjusted trajectory does not affect the precise reproduction of subsequent trajectories, and the adjusted trajectory can be selectively stored in the controller as needed, further enhancing the system's flexibility and adaptability.

[0041] This invention uses a controller to drive the wet spraying robot arm, enabling remote control in complex operating environments, effectively avoiding the safety risks associated with direct contact with potentially hazardous environments. Remote operation, enabled by an input module and image display module, allows users to obtain a more optimized working perspective, thereby improving accuracy and efficiency.

[0042] Example 2 like Figure 2 As shown, this embodiment provides a human-machine collaborative control method for tunnel concrete wet spraying operation, wherein the collaborative operation is performed using the above-mentioned control system, including the following steps: S100, collecting and recording user teaching information of a wet spraying operation using an image acquisition module, the teaching information including: spatial position information of a teaching point, wet spraying thickness information, and operating information of a robotic arm, the operating information of the robotic arm including the angle between the robotic arm and the spray gun, and the movement speed of the robotic arm. The spatial position information of the teaching point describes a three-dimensional discrete teaching trajectory of the robotic arm end and its spray gun in Cartesian space, and the operating information of the robotic arm describes the orientation of the robotic arm end and its spray gun during spraying; S200, classifying the collected teaching information through the controller to reproduce wet spraying under different working conditions and storing the information; S300, the input module inputs the teaching trajectory that meets the working conditions; S400, converting the output control information of the teaching trajectory output by the controller into a control instruction of the wet spraying robot arm according to the instruction conversion module, so as to enable the wet spraying robot arm to automatically perform wet spraying operation; S500, if the virtual force adjustment information of the human-machine interaction joystick is received, the controller outputs the virtual force to the instruction conversion module to complete the manual operation; S600, if the virtual force adjustment information of the human-machine interaction joystick is not received, the controller controls the robotic arm to return to the taught trajectory to continue to perform the remaining wet spraying operations, wherein the user's manual control priority is higher than the controller's automatic control priority.

[0043] It should be noted that in this embodiment, during the automatic wet spraying operation of the controller, the new trajectory and wet spraying data changed due to the virtual force adjustment information received from the human-computer interaction joystick are only valid during the current operation process, and will not affect the stored original trajectory and wet spraying data, and will not serve as teaching information, thereby ensuring the stability and reliability of the system.

[0044] It should be noted that, in this embodiment, after selecting the teaching trajectory corresponding to the working condition, the working condition deviation in the automatic wet spraying operation can be adjusted by adding a program to the input module during or before the wet spraying process.

[0045] It should be noted that, in this embodiment, the controller classifies the received teaching information to generate and store one or several teaching trajectories under different working conditions for corresponding actual wet spraying reproduction trajectories.

[0046] It should be noted that, in this embodiment, the position of the end effector of the robotic arm is usually described using a coordinate system; in three-dimensional space, the position of the end effector can be represented by three-dimensional coordinates: Where, is the position of the end effector of the robot arm, is the position of the end effector relative to the reference coordinate system of the starting point.

[0047] Considering the posture of the end effector of the robotic arm, the rotation matrix is ​​used to describe it. The rotation matrix of the end effector of the robotic arm from the base coordinate A to the coordinate B is: In teaching a robotic arm, a homogeneous transformation matrix is ​​used to represent both position and orientation. A 4×4 homogeneous transformation matrix can contain both position and rotation information. In teaching a robotic arm, a 4×4 homogeneous transformation matrix is ​​used to represent both position and orientation. This matrix can contain both position and rotation information.

[0048] Where, is the rotation matrix, which represents the orientation of the manipulator relative to the reference coordinate system, is the translation vector, which represents the position of the manipulator relative to the reference frame.

[0049] Known Is the coordinate system The position vector can be obtained using the pose matrix Convert it to a coordinate system Position vector ,have to .

[0050] It should be noted that, in this embodiment, the calculation formula for the robot arm movement speed is: Where, Indicates the volume of concrete sprayed, in m 3 / h, Indicates the rebound rate of shotcrete, the unit is %. is the thickness of the scanning layer, in m, The range for swiping up and down.

[0051] It should be noted that, in this embodiment, when performing automatic wet spraying according to the teaching trajectory, a complete ring of the teaching trajectory is divided into multiple sub-trajectories, and each sub-trajectory is refined into discrete points. In order to ensure that the trajectory is smooth and meets actual requirements, an interpolation algorithm is needed to reduce the error. The automatic wet spraying operation of the present invention uses a quintic polynomial interpolation method to fit the teaching trajectory; the formula of the quintic polynomial interpolation algorithm is: Where, represents the position at time t, , , , , , are the coefficients of the quintic polynomial, is the initial time, is the time difference, representing the offset relative to the initial time.

[0052] It should be noted that, in this embodiment, if the virtual force adjustment information of the human-computer interaction joystick is received, the controller outputs the virtual force to the instruction conversion module to complete the manual operation specifically as follows: When the user guides the controller, the human-machine collaborative robot arm based on virtual force avoids wet spraying errors caused by vibration interference, allowing it to wet spray concrete on the tunnel surface at a reasonable angle; the virtual force is: Where, 、 and Represent the inertia characteristics, damping characteristics and stiffness characteristics of the robotic arm respectively. is the desired position, is the actual location, is the expected speed, is the actual speed, is the expected acceleration, is the actual acceleration.

[0053] The present invention provides the following specific implementation cases: In S1, the user manually guides the robotic arm and spray gun to perform wet spraying operations through the human-machine interactive joystick; S2, the image acquisition module collects and records the user's wet spraying teaching information, the teaching information including: teaching point spatial position information, wet spraying thickness information, and the robot arm's operating information, the robot arm's operating information including the angle between the robot arm and the spray gun, and the robot arm's movement speed. The teaching point spatial position information describes the three-dimensional discrete teaching trajectory of the robot arm end and its spray gun in Cartesian space, and the robot arm's operating information describes the orientation of the robot arm end and its spray gun during spraying; S3: The controller classifies the received teaching information to generate and store teaching trajectories under different working conditions. In this embodiment, data such as the angle between the robot arm and the spray gun, the robot arm movement speed, and the concrete wet spraying thickness during the wet spraying teaching process constitute the wet spraying operation skills, which can be saved by the controller. It should be noted that the wet spraying operation skills and trajectory data of this embodiment can also be stored in the cloud skill sharing system, which can be conveniently called by other wet spraying robotic arms of the same model.

[0054] S4, the input module inputs a teaching trajectory that meets the working conditions. In this embodiment, for wet spraying operation areas with similar characteristics, the pre-stored teaching trajectory data can be read from the controller. The robot arm will perform the motion task according to the recorded path and the corresponding wet spraying data to achieve the wet spraying operation; S5, converting the output control information of the teaching trajectory output by the controller into a control instruction of the wet spraying robot arm according to the instruction conversion module, so as to enable the wet spraying robot arm to automatically perform wet spraying operation; S6, if the virtual force adjustment information of the human-computer interaction joystick is received, the controller outputs the virtual force to the instruction conversion module to complete the manual operation; S7, if the virtual force adjustment information of the human-machine interaction joystick is not received, the controller controls the robotic arm to return to the taught trajectory to continue to perform the remaining wet spraying operations, wherein the user's manual control priority is higher than the controller's automatic control priority.

[0055] Taking a tunnel concrete wet spraying operation as an example, when performing automatic wet spraying according to the teaching trajectory, a complete teaching trajectory is divided into multiple sub-trajectories, and each sub-trajectory is refined into multiple discrete points as the spraying points of the spray gun. The wet spraying operation trajectory and wet spraying skill data are as follows: Figure 3 As shown, The horizontal spacing between the spray points of the spray gun ( ) is calculated as Where, Indicates the lateral spacing of the injection points, Indicates the distance between the rotation center of the spray gun and the area being sprayed, in meters. Indicates the horizontal swing angle of the spray gun, in degrees.

[0056] The longitudinal spacing between the spray points of the spray gun ( ) is calculated as: Where, Indicates the spray gun longitudinal brush angle type coefficient, Indicates the longitudinal brushing angle of the spray gun, in degrees.

[0057] The tunnel's pre-spraying area is divided into vertical and arched zones. LiDAR is used to perform high-precision scans of the current working environment, acquiring working condition information such as the spraying area's spatial coordinates, surface topography, and obstacle distribution. A point cloud comparison algorithm compares the scanned data with a historical working condition database to generate a comparative working condition report. For deep blasting pits in the pre-spraying area, human-machine collaboration is implemented based on actual conditions to meet construction expectations.

[0058] It should be noted that, in this embodiment, the complexity of the current working environment may include wind, dust, splashing slurry, etc., which may cause the surface of the wet spraying operation to be uneven and undulating. The teaching trajectory is difficult to adapt to the geometry of such a complex surface. These interference factors will interfere with the robot arm position sensor, resulting in errors in its judgment of its own position and posture, thereby affecting the operation accuracy. By applying virtual force through the human-computer interaction joystick and combining it with real-time environmental feedback information, the movement of the robot arm is compensated and corrected, so that it can still maintain a stable working state in the interference environment, so as to overcome the low-quality wet spraying defects caused by the trajectory deviation of the end of the robot arm affected by the working environment.

[0059] For wet spraying operations in deep pit areas, the controller can be used to lower the movement speed of the robotic arm to carry out focused wet spraying treatment on the deep pit area. By operating the human-machine interactive joystick, the movement of the robotic arm and the direction of the spray gun can be controlled to guide it to the deep pit position and adjust the appropriate spraying distance. The nozzle of the spray gun remains perpendicular to the pothole surface to minimize concrete rebound, thereby improving construction density and overall operation efficiency.

[0060] like Figure 3 As shown in the figure, during a tunnel concrete spraying operation, the spraying process begins at the bottom of the tunnel's side walls and gradually moves upward in a "bow" shape to the vault. X and Y in the figure represent the horizontal and vertical coordinates within the area, respectively. The dotted line represents the pre-stored teaching trajectory, and the solid line represents the actual wet spraying trajectory. Throughout the wet spraying process, the robot arm's angle and distance from the side walls are adjusted using a human-machine interactive joystick. The controller guides the robot arm to maintain an appropriate angle with the rock surface (for example, as perpendicular as possible) to minimize rebound and maximize concrete density. The distance from the rock surface within the tunnel is typically maintained between 0.8 and 1.2 meters to minimize rebound and maximize concrete density.

[0061] The human-machine collaborative control method for tunnel concrete wet spraying operation according to the present invention has the following beneficial effects compared with the prior art: The present invention uses an image acquisition module to capture the user's manual guidance of the wet spraying robot arm during wet spraying operations, and stores the trajectory data and wet spraying skill data during the teaching process. Based on the polynomial interpolation method, the system can accurately reproduce the teaching trajectory and achieve high-precision trajectory reproduction. This method significantly improves the automation level of wet spraying operations, enabling operators to repeat the same trajectory efficiently and accurately, thereby improving work efficiency. Especially under complex dynamic working conditions, the automated control system effectively reduces human intervention, optimizes the construction process, and improves the overall construction progress and work quality, and has broad application potential.

[0062] This invention can handle tunnel concrete wet spraying operations under diverse working conditions. When the controller automatically performs wet spraying, users can manually guide the robotic arm through virtual force collaborative control to handle potential environmental changes and equipment interference, such as construction condition variations, robotic arm vibration, and path deviation. This allows users to adapt to trajectory deviations caused by varying working conditions, thereby ensuring effective spraying. The adjusted trajectory does not affect the precise reproduction of subsequent trajectories, and the adjusted trajectory can be selectively stored in the controller as needed, further enhancing the system's flexibility and adaptability.

[0063] This invention uses a controller to drive the wet spraying robot arm, enabling remote control in complex operating environments, effectively avoiding the safety risks associated with direct contact with potentially hazardous environments. Remote operation, enabled by an input module and image display module, allows users to obtain a more optimized working perspective, thereby improving accuracy and efficiency.

[0064] Example 3 This embodiment provides a computer device, which includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements the various processes of the human-machine collaborative control method embodiment of the tunnel concrete wet spraying operation as described above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0065] Example 4 This embodiment provides a computer storage medium, wherein the computer storage medium stores instructions. When the instructions are executed on a computer, the computer performs the various processes of the embodiment of the human-machine collaborative control method for tunnel concrete wet spraying operations as described above, and can achieve the same technical effects. To avoid repetition, they are not described here.

[0066] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation to the invention.

[0067] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0068] Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Mentioning "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present embodiment application. The appearance of this phrase in various positions in the specification does not necessarily mean that they are all the same embodiments, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. It can be understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0069] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A human-machine collaborative control system for tunnel concrete wet spraying operation, characterized in that: include: A wet spraying robot arm having an end effector, wherein the end effector is equipped with a spray gun; The image acquisition module is set in the tunnel wet spraying operation area to collect and record the user's wet spraying operation teaching information; A controller is provided in the wet spraying control area of ​​the tunnel and is connected to the image acquisition module. The controller classifies the collected teaching information to reproduce and store wet spraying under different working conditions. The controller is provided with a human-machine interactive joystick for the user to manually guide the wet spraying robot arm to perform wet spraying operations. an instruction conversion module, connected to the wet spraying robot arm and the controller, respectively, for converting the output control information of the controller into a control instruction of the wet spraying robot arm for automatic wet spraying operation by the wet spraying robot arm; an input module connected to the controller and configured to select different teaching trajectories according to different working conditions. Under various working conditions, when the wet spraying robot arm performs automatic wet spraying operations based on the teaching trajectories, a user applies a virtual force through a human-machine interaction joystick to guide the wet spraying robot arm to perform wet spraying, and the controller outputs the virtual force to the instruction conversion module to complete the manual operation; The image display module has a human-computer interaction control panel, is arranged in the tunnel wet spraying control area, and is communicatively connected with the image acquisition module and the controller.

2. The human-machine collaborative control system for tunnel concrete wet spraying operation according to claim 1 is characterized in that: The controller integrates a human-computer interaction joystick with a mechanical sensing module, and the mechanical sensing module includes multiple mechanical sensors.

3. The human-machine collaborative control system for tunnel concrete wet spraying operation according to claim 2 is characterized in that: The human-machine interaction rocker has a built-in force feedback unit, which is connected to the controller and is used to transmit the movement resistance information between the robotic arm and the injection surface to the user.

4. A human-machine collaborative control method for tunnel concrete wet spraying operation, characterized in that: The collaborative operation using the control system according to claim 1 comprises the following steps: The image acquisition module collects and records the user's wet spraying teaching information, including: teaching point spatial position information, wet spraying thickness information, and robot arm working information, including the angle between the robot arm and the spray gun, and the robot arm movement speed; The controller classifies the collected teaching information to reproduce and store wet spraying under different working conditions; The input module inputs the teaching trajectory that meets the working conditions; The instruction conversion module converts the output control information of the teaching trajectory output by the controller into a control instruction of the wet spraying robot arm, which is used for the wet spraying robot arm to automatically perform wet spraying operations; If the virtual force adjustment information of the human-computer interaction joystick is received, the controller outputs the virtual force to the instruction conversion module to complete the manual operation; If the virtual force adjustment information of the human-machine interaction joystick is not received, the controller controls the robotic arm to return to the teaching trajectory to continue to perform the remaining wet spraying operations.

5. The human-machine collaborative control method for tunnel concrete wet spraying operation according to claim 4 is characterized in that: The position of the end effector of the robot arm is expressed by three-dimensional coordinates: Where, is the position of the end effector of the robot arm, is the position of the end effector relative to the reference frame of the starting point.

6. The human-machine collaborative control method for tunnel concrete wet spraying operation according to claim 4 is characterized in that: The calculation formula of the robot arm moving speed is: Where, Indicates the volume of concrete sprayed. Indicates the rebound rate of shotcrete. is the thickness of the scanning layer, The range for swiping up and down.

7. The human-machine collaborative control method for tunnel concrete wet spraying operation according to claim 4 is characterized in that: When performing automatic wet spraying operations according to the taught trajectory, the complete taught trajectory is divided into multiple sub-trajectories. Each sub-trajectory is refined into discrete points, and the error is reduced by the interpolation algorithm. The formula of the quintic polynomial interpolation algorithm is: Where, represents the position at time t, , , , , , are the coefficients of the quintic polynomial, is the initial time, is the time difference, representing the offset relative to the initial time.

8. The human-machine collaborative control method for tunnel concrete wet spraying operation according to claim 4 is characterized in that: If the virtual force adjustment information of the human-computer interaction joystick is received, the controller outputs the virtual force to the instruction conversion module to complete the manual operation, where the virtual force is: Where, 、 and Represent the inertia characteristics, damping characteristics and stiffness characteristics of the robotic arm respectively. is the desired position, is the actual location, is the expected speed, is the actual speed, is the expected acceleration, is the actual acceleration.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for human-machine collaborative control of tunnel concrete wet spraying operation according to any one of claims 4 to 8 is implemented.

10. A computer storage medium, characterized in that The computer storage medium stores instructions, and when the instructions are executed on the computer, the computer executes the human-machine collaborative control method for tunnel concrete wet spraying operations according to any one of claims 4 to 8.

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