A man-machine collaborative control system and method for tunnel concrete wet spraying operation

Abstract

The present application relates to the technical field of tunnel construction, and particularly relates to a man-machine collaborative control system and method for wet spraying operation of tunnel concrete. The system comprises a wet spraying mechanical arm provided with a spraying gun, which is used for performing wet spraying operation; an image acquisition module is used for collecting and recording teaching information of the user's wet spraying operation; a controller is connected with the image acquisition module, and the collected teaching information is classified by the controller to reproduce wet spraying under different working conditions and store the information; the controller is provided with a man-machine interactive joystick, which is used for manually guiding the wet spraying mechanical arm to perform wet spraying operation; an input module is connected with the controller, and is used for inputting teaching trajectories conforming to working conditions; under various working conditions, when the wet spraying mechanical arm performs automatic wet spraying operation based on the teaching trajectories, the user can guide the wet spraying mechanical arm to perform wet spraying by applying virtual force through the man-machine interactive joystick; and an image display module has a man-machine interactive control panel, which is in communication connection with the image acquisition module and the controller, and is used for displaying real-time spraying images.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel construction, in particular to a man-machine collaborative control system and method for tunnel concrete wet spraying operation. BACKGROUND

[0002] Wet spraying operation is a widely used construction technology in tunnels, and a wet spraying mechanical arm is often used to complete concrete spraying and other operations. However, wet spraying operation usually faces complex operating environment and highly repetitive operation tasks, which puts higher requirements on traditional mechanical control methods. In this environment, the operation accuracy and efficiency of the wet spraying mechanical arm are often affected by factors such as manual operation intervention, mechanical arm control accuracy, and operation difficulty.

[0003] Traditional wet spraying mechanical arms mostly use manual control or semi-automatic control systems, and operators need to directly interact with the mechanical arm through physical control devices. Although this method can meet basic operation requirements, it puts a heavy burden on operators in complex operating environments and highly repetitive tasks, which can lead to low operation efficiency and human errors.

[0004] Tunnel wet spraying operation is highly repetitive and has a long duration, and due to the lack of intelligent technology, wet spraying operation has problems such as low efficiency and insufficient flexibility during operation.

[0005] The existing invention patent CN116441094A is named a wet spraying mechanical arm for concrete wet spraying trolley, which locally corrects the preset path by data compensation and feedback optimization parameters, but cannot adjust the whole process of wet spraying trajectory in man-machine collaboration, relies on preset parameters and programmed control, and has limited space for manual intervention. SUMMARY

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

[0007] The technical solution of the present application is as follows:

[0008] A man-machine collaborative control system for tunnel concrete wet spraying operation, comprising:

[0009] A wet spraying mechanical arm having an end effector, which is installed with a spray gun for performing wet spraying operation;

[0010] An image acquisition module arranged in the tunnel wet spraying operation area for acquiring and recording user wet spraying operation teaching information, the teaching information including teaching point spatial position information, wet spraying thickness information, and mechanical arm working information, the mechanical arm working information including mechanical arm and spray gun angle, mechanical arm moving speed;

[0011] A controller is arranged in the tunnel wet spraying control area and connected with the image acquisition module, the collected teaching information is classified by the controller to reproduce wet spraying under different working conditions and stored, the controller is provided with a man-machine interaction joystick for manually guiding the wet spraying robot arm to perform wet spraying operation by the user;

[0012] An instruction conversion module is connected with the wet spraying robot arm and the controller respectively, and is used for converting the output control information of the controller into the control instruction of the wet spraying robot arm for automatic wet spraying operation of the wet spraying robot arm;

[0013] An input module is connected with the controller and is used for selecting different teaching trajectories according to different working conditions, wherein when the wet spraying robot arm performs automatic wet spraying operation based on the teaching trajectory under multiple working conditions, the user can guide the wet spraying robot arm to perform wet spraying by applying virtual force through the man-machine interaction joystick, and the virtual force is output to the instruction conversion module through the controller to complete manual operation, and the data control priority of the man-machine interaction joystick is higher than that of the input module;

[0014] An image display module has a man-machine interaction control panel and is arranged in the tunnel wet spraying control area and is in communication connection with the image acquisition module and the controller, and is used for displaying real-time spraying images.

[0015] In a possible technical solution, further, the controller is integrated with a man-machine interaction joystick containing a mechanical sensing module, the mechanical sensing module contains a plurality of mechanical sensors, the operation input is captured in real time through the plurality of mechanical sensors, and the precise regulation and control of the movement position and posture of the robot arm end are driven.

[0016] In a possible technical solution, further, the man-machine interaction joystick is built-in with a force feedback unit, the force feedback unit is connected with the controller and is used for transmitting the contact stress and movement resistance information of the robot arm and the spraying surface to the user, so that the user can more accurately operate the joystick to adjust the end posture.

[0017] Compared with the prior art, the man-machine collaborative control system for tunnel concrete wet spraying operation has the following beneficial effects:

[0018] The image acquisition module is used for collecting the teaching information of the user manually guiding the wet spraying robot arm to perform wet spraying operation, and the trajectory data and wet spraying skill data in the teaching process are stored.

[0019] The application can cope with different working conditions of tunnel concrete wet spraying operation. When the controller performs automatic wet spraying operation, the user can manually guide the robot arm to complete the wet spraying operation through virtual force human-computer collaborative control to adapt to the trajectory deviation of the robot arm caused by different working conditions, so as to ensure the spraying operation effect.

[0020] The application drives the wet spraying robot arm through the controller to realize remote control in a complex operation environment, thereby effectively avoiding the safety risk caused by directly contacting the potentially dangerous environment. Remote operation can be performed through the input module and the image display module, and the user can obtain a more optimized operation view, thereby improving the operation accuracy and operation efficiency.

[0021] A human-computer collaborative control method for tunnel concrete wet spraying operation, wherein the above-mentioned control system is used for collaborative operation, including the following steps:

[0022] According to the image acquisition module, the teaching information of the user's wet spraying operation is collected and recorded, and the teaching information includes teaching point space position information, wet spraying thickness information and working information of the robot arm, and the working information of the robot arm includes the angle of the robot arm and the spray gun, and the moving speed of the robot arm;

[0023] The controller classifies the collected teaching information to cope with the wet spraying under different working conditions and storage;

[0024] The input module inputs the teaching trajectory conforming to the working condition;

[0025] According to the instruction conversion module, the output control information of the teaching trajectory output by the controller is converted into the control instruction of the wet spraying robot arm, which is used for automatic wet spraying operation of the wet spraying robot arm;

[0026] If the virtual force adjustment information of the human-computer interaction joystick is received, the virtual force is output to the instruction conversion module through the controller to complete the manual operation;

[0027] If the virtual force adjustment information of the human-computer interaction joystick is not received, the robot arm is controlled by the controller to restore to the teaching trajectory to continue to perform the remaining wet spraying operation, wherein the priority of the user's manual control is higher than that of the controller's automatic control.

[0028] In a possible technical solution, further, the position of the end effector of the robot arm is usually described using a coordinate system; in a three-dimensional space, the position of the end effector can be represented by three-dimensional coordinates:

[0029]

[0030] In the formula, The position of the end effector of the mechanical arm, is the position of the end effector relative to the starting point reference coordinate system.

[0031] In a possible technical solution, further, the calculation formula of the moving speed of the mechanical arm is:

[0032]

[0033] In the formula, represents the spraying amount of concrete, and the unit is m 3 / h, represents the shotcrete rebound rate, and the unit is %, is the scanning layer thickness, and the unit is m, is the up-down brushing range.

[0034] In a possible technical solution, further, when the automatic wet spraying operation is performed according to the teaching trajectory, the complete teaching trajectory is divided into a plurality of sub-trajectories, and each sub-trajectory is refined into a discrete point. In order to ensure the smoothness of the trajectory and meet the actual requirements, an interpolation algorithm is needed to reduce errors. The automatic wet spraying operation of the present application is fitted to the teaching trajectory by using a quintic polynomial interpolation method. The formula of the quintic polynomial interpolation algorithm is:

[0035]

[0036] In the formula, represents the position at time t, , , , , , is the coefficient of the quintic polynomial, is the initial time, is the time difference, indicating the offset relative to the initial time.

[0037] In a possible technical solution, further, if the virtual force adjustment information of the man-machine interaction joystick is received, the virtual force is output to the instruction conversion module through the controller to complete the manual operation, specifically:

[0038] When the user guides through the controller, the man-machine collaborative mechanical arm based on the virtual force avoids wet spraying errors caused by vibration interference, so that the user can spray concrete on the tunnel surface at a reasonable angle. The virtual force is:

[0039] In the formula, , and represent the inertia characteristics, damping characteristics and stiffness characteristics of the mechanical arm, respectively, is a desired position, is an actual position, is a desired speed, is an actual speed, is a desired acceleration, is an actual acceleration.

[0040] Compared with the prior art, the man-machine collaborative control method for tunnel concrete wet spraying operation according to the present application has the following beneficial effects:

[0041] The present application collects the demonstration information of the user manually guiding the wet spraying mechanical arm to perform the wet spraying operation through the image acquisition module, and stores the trajectory data and wet spraying skill data in the demonstration process. Based on the polynomial interpolation method, the system can accurately reproduce the demonstration trajectory, realizing high-precision trajectory reproduction. This method significantly improves the automation level of wet spraying operation, enabling the operator to efficiently and accurately repeat the same trajectory, thereby improving the operation efficiency. Especially in complex dynamic working conditions, the automatic control system effectively reduces manual intervention, optimizes the construction process, improves the overall construction progress and operation quality, and has wide application potential.

[0042] The present application can cope with different working conditions of tunnel concrete wet spraying operation. When the controller performs automatic wet spraying operation, the user can manually guide the mechanical arm to complete the wet spraying operation through virtual force man-machine collaborative control to adapt to the trajectory deviation of the mechanical arm caused by different working conditions, thereby ensuring the spraying operation effect. The adjusted trajectory does not affect the accurate reproduction of the subsequent trajectory, and the adjusted trajectory can be selectively stored in the controller as needed, further improving the flexibility and adaptability of the system.

[0043] The present application drives the wet spraying mechanical arm through the controller to realize remote control in complex operation environment, thereby effectively avoiding the safety risks caused by direct contact with potentially dangerous environments. Remote operation can be performed through the input module and image display module, and the user can obtain a more optimized operation view, thereby improving the accuracy and operation efficiency of the operation.

[0044] A computer device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the man-machine collaborative control method for tunnel concrete wet spraying operation as described above when executing the computer program.

[0045] A computer storage medium, wherein the computer storage medium stores instructions, and the instructions make the computer execute the man-machine collaborative control method for tunnel concrete wet spraying operation as described above when executed on the computer.

[0046] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those having ordinary skill in the art upon examination of the following or can be learned from practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0048] Figure 1 is a man-machine collaborative control system block diagram of tunnel concrete wet spraying operation according to the embodiment of the present application;

[0049] Figure 2 is a man-machine collaborative control method flow chart of tunnel concrete wet spraying operation according to the embodiment of the present application;

[0050] Figure 3 is a bow-shaped wet spraying operation trajectory diagram of the man-machine collaborative control method of tunnel concrete wet spraying operation according to the embodiment of the present application;

[0051] Figure 4 is a man-machine collaborative control method of tunnel concrete wet spraying operation according to the embodiment of the present application; Figure 3 Wet spraying skill data diagram of wet spraying operation.

[0052] Reference signs:

[0053] Wet spraying mechanical arm 100, end effector 110, spray gun 120;

[0054] Image acquisition module 200;

[0055] Controller 300, man-machine interaction joystick 310;

[0056] Instruction conversion module 400;

[0057] Input module 500;

[0058] Image display module 600, man-machine interaction control panel 610. DETAILED DESCRIPTION

[0059] The embodiments of the present application will be described in detail below, and the embodiments described with reference to the drawings are exemplary, and 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.

[0060] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can also be present.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0062] The terms "first", "second", "third", etc. are used herein to distinguish different objects, not to describe a particular sequential order. Furthermore, the terms "comprise", "comprising", "include", "including", and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements, but can include additional steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

[0063] Only those portions of the apparatus(es) directly related to the application are shown in the drawings. In discussing example embodiments, it should be appreciated that a specific example, as described, is intended to be illustrative of the application and not intended to limit the scope of the application as claimed. Stated differently, the specific example is a description of possible implementations and is not meant to be limiting of the application. For example, to the extent that individual functions are described as being stored in memory, it should be appreciated that such functions might be implemented in hardware and / or software. For example, and without limitation, as hardware, within a processor, use of Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), and / or other integrated circuits.

[0064] The terms "component," "module," "system," "unit," and the like are used to generally 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, a thread of execution, a program, and / or a computer. Also, the units can execute from various computer readable media having various data structures stored thereon. The units can communicate over a network via signals, for example, data packets transmitted between two or more computers.

[0065] Example 1

[0066] As Figure 1 shown, the embodiment provides a man-machine collaborative control system for tunnel concrete wet spraying operation, which comprises:

[0067] a wet spraying mechanical arm 100 having an end effector 110, which is installed with a spray gun 120 for performing wet spraying operation;

[0068] an image acquisition module 200 arranged in a tunnel wet spraying operation area, for acquiring and recording teaching information of user wet spraying operation, the teaching information comprising teaching point spatial position information, wet spraying thickness information and mechanical arm working information, the mechanical arm working information comprising mechanical arm and spray gun angle, mechanical arm moving speed;

[0069] a controller 300 arranged in a tunnel wet spraying control area, connected with the image acquisition module 200, and classifying according to the received teaching information to generate teaching trajectories under different working conditions, the controller 300 being provided with a man-machine interaction joystick 310 for manually guiding the wet spraying mechanical arm 100 to perform wet spraying operation;

[0070] an instruction conversion module 400 connected with the wet spraying mechanical arm 100 and the controller 300 respectively, for converting the output control information of the controller 300 into control instructions of the wet spraying mechanical arm 100, for automatic wet spraying operation of the wet spraying mechanical arm 100;

[0071] an input module 500 connected with the controller 300, for selecting different teaching trajectories according to different working conditions, wherein in multiple working conditions, when the wet spraying mechanical arm 100 performs automatic wet spraying operation based on the teaching trajectory, the user can guide the wet spraying mechanical arm 100 to perform wet spraying by applying virtual force through the man-machine interaction joystick 310, and complete manual operation by outputting the virtual force to the instruction conversion module 400 through the controller 300, and the data control priority of the man-machine interaction joystick 310 is higher than that of the input module 500;

[0072] an image display module 600 having a man-machine interaction control panel 610, arranged in a tunnel wet spraying control area, in communication connection with the image acquisition module 200 and the controller 300, for displaying real-time spraying image.

[0073] It should be noted that in the embodiment, the man-machine collaborative control system for tunnel concrete wet spraying operation further comprises a wireless communication module for communication interaction.

[0074] It should be noted that in the embodiment, the man-machine interaction control panel 610 based on the embodiment can provide state monitoring, user operation setting, data visualization and historical record display of the man-machine collaborative control system, and is an important information bridge between the user and the control system; the image display module 600 is used for real-time feedback of the running state of the mechanical arm, and assists the user to make accurate decisions and adjustments.

[0075] It should be noted that in the embodiment, the controller 300 integrates the man-machine interaction rocker 310 with a mechanical sensing module, the mechanical sensing module includes a plurality of mechanical sensors, and the operation input is captured in real time through the plurality of mechanical sensors to drive precise regulation of the movement position and posture of the end of the mechanical arm.

[0076] It should be noted that in the embodiment, the man-machine interaction rocker 310 is built-in with a force feedback unit, the force feedback unit is connected with the controller 300, and is used for transmitting the movement resistance information of the wet spraying mechanical arm 100 and the spraying surface to the user, so that the user can more accurately operate the rocker to adjust the end posture.

[0077] It should be noted that the man-machine interaction rocker 310 adopts a double rocker structure of ergonomic layout, and independently controls the gun posture of the wet spraying mechanical arm 100, so as to facilitate the control of the multi-degree-of-freedom movement of the mechanical arm, and realize the synchronous and accurate control of the end posture and the wet spraying direction in the complex tunnel wall spraying operation.

[0078] The man-machine collaborative control system for tunnel concrete wet spraying operation according to the application has the following beneficial effects compared with the prior art:

[0079] The application collects teaching information of the user manually guiding the wet spraying mechanical arm to perform the wet spraying operation through the image acquisition module, and stores the trajectory data and wet spraying skill data in the teaching process. Based on the polynomial interpolation method, the system can accurately reproduce the teaching trajectory and realize high-precision trajectory reproduction. This method significantly improves the automation level of the wet spraying operation, enables the operator to efficiently and accurately repeat the same trajectory, thereby improving the operation efficiency. Especially in complex dynamic working conditions, the automatic control system effectively reduces manual intervention, optimizes the construction process, improves the overall construction progress and operation quality, and has wide application potential.

[0080] The application can cope with different working conditions of tunnel concrete wet spraying operation. When the controller performs automatic wet spraying operation, the user can manually guide the robot arm to complete the wet spraying operation through virtual force human-computer collaborative control to adapt to the trajectory deviation of the robot arm caused by different working conditions, so as to ensure the spraying operation effect. The adjusted trajectory will not affect the accurate reproduction of the subsequent trajectory, and the adjusted trajectory can be selectively stored in the controller as needed, further improving the flexibility and adaptability of the system.

[0081] The application drives the wet spraying robot arm through the controller to realize remote control in a complex operation environment, thereby effectively avoiding the safety risk caused by direct contact with the potential dangerous environment. Remote operation can be performed through the input module and the image display module, and the user can obtain a more optimized operation view, thereby improving the operation accuracy and operation efficiency.

[0082] Embodiment 2

[0083] As shown in Figure 2 The embodiment provides a human-computer collaborative control method for tunnel concrete wet spraying operation, wherein the above-mentioned control system is used for collaborative operation, including the following steps:

[0084] S100, collecting and recording the teaching information of the user's wet spraying operation according to the image acquisition module, wherein the teaching information includes teaching point space position information, wet spraying thickness information and working information of the robot arm, the working information of the robot arm includes the angle between the robot arm and the spray gun, the moving speed of the robot arm, wherein the teaching point space position information describes the three-dimensional discrete teaching trajectory of the robot arm end and its spray gun in the Cartesian space, and the working information of the robot arm describes the orientation of the robot arm end and its spray gun during spraying;

[0085] S200, classifying the collected teaching information through the controller to cope with the reproduction of wet spraying under different working conditions and storage;

[0086] S300, the input module inputs the teaching trajectory conforming to the working condition;

[0087] S400, converting the output control information of the teaching trajectory output by the controller into the control instruction of the wet spraying robot arm through the instruction conversion module, for automatic wet spraying operation of the wet spraying robot arm;

[0088] S500, if the virtual force adjustment information of the human-computer interaction joystick is received, the virtual force is output to the instruction conversion module through the controller to complete the manual operation;

[0089] S600, if the virtual force adjustment information of the human-computer interaction joystick is not received, the controller controls the robot arm to return to the teaching trajectory to continue the remaining wet spraying operation, wherein the user manual control priority is higher than the controller automatic control priority.

[0090] It should be noted that in the present embodiment, the new trajectory and wet spraying data changed due to the received virtual force adjustment information of the human-computer interaction joystick during the controller automatic wet spraying operation are only effective in the current operation process, and do not affect the stored original trajectory, wet spraying data, and are not used as teaching information, so as to ensure the stability and reliability of the system.

[0091] It should be noted that in the present embodiment, after selecting the teaching trajectory corresponding to the working condition, a program can be added to the input module during the wet spraying process or before the wet spraying to adjust the working condition deviation existing in the automatic wet spraying operation.

[0092] It should be noted that in the present embodiment, the controller classifies according to the received teaching information to generate one or more teaching trajectories under different working conditions and store them for corresponding actual wet spraying trajectory reproduction.

[0093] It should be noted that in the present embodiment, the position of the end effector of the robot arm is usually described using a coordinate system; in a three-dimensional space, the position of the end effector can be represented by three-dimensional coordinates:

[0094]

[0095] In the formula, is the position of the end effector of the robot arm, is the position of the end effector relative to the starting point reference coordinate system.

[0096] Considering the pose of the end effector of the robot arm, a rotation matrix is used to describe it, and the rotation matrix of the end effector of the robot arm from the base coordinate A to the coordinate B is obtained as follows:

[0097]

[0098] In the teaching of the robot arm, a homogeneous transformation matrix is used to represent the position and pose at the same time. A 4x4 homogeneous transformation matrix can contain position and rotation information at the same time. In the teaching of the robot arm, a 4x4 homogeneous transformation matrix is used to represent the position and pose at the same time, which can contain position and rotation information at the same time.

[0099]

[0100] In the formula, is a rotation matrix, which represents the orientation of the robot arm relative to the reference coordinate system, is a translation vector, representing the position of the mechanical arm relative to the reference coordinate system.

[0101] It is known is the position vector of the coordinate system , which can be converted to the position vector of the coordinate system using the pose matrix .

[0102] .

[0103] It should be noted that in the present embodiment, the calculation formula of the moving speed of the mechanical arm is:

[0104]

[0105] In the formula, represents the spraying amount of concrete, and the unit is m 3 / h, represents the shotcrete rebound rate, and the unit is %, is the scanning layer thickness, and the unit is m, is the up-down brush moving range.

[0106] It should be noted that in the present embodiment, when the automatic wet spraying operation is performed according to the teaching trajectory, the complete teaching trajectory is divided into multiple sub-trajectories, and each sub-trajectory is refined into discrete points. In order to ensure the smoothness of the trajectory and meet the actual requirements, an interpolation algorithm is needed to reduce errors. The automatic wet spraying operation of the present application is fitted to the teaching trajectory by using a quintic polynomial interpolation method. The formula of the quintic polynomial interpolation algorithm is:

[0107]

[0108] In the formula, represents the position at time t, , , , , , is the coefficient of the quintic polynomial, is the initial time, is the time difference, representing the offset relative to the initial time.

[0109] It should be noted that in the present embodiment, if the virtual force adjustment information of the man-machine interaction joystick is received, the virtual force is output to the instruction conversion module through the controller to complete the manual operation, specifically:

[0110] ​When the user guides through the controller, the human-robot collaborative mechanical arm based on virtual force avoids wet spraying errors caused by vibration interference, so that the tunnel surface can be wet sprayed at a reasonable angle; wherein the virtual force is:

[0111] In the formula, 、 and respectively represent the inertia characteristic, the damping characteristic and the stiffness characteristic of the mechanical arm, is the expected position, is the actual position, is the expected speed, is the actual speed, is the expected acceleration, is the actual acceleration.

[0112] The present application provides the following specific implementation cases:

[0113] S1, the user manually guides the mechanical arm and the spray gun to perform wet spraying operation through the human-computer interaction joystick;

[0114] S2, the image acquisition module collects and records the teaching information of the user's wet spraying operation, and the teaching information includes teaching point space position information, wet spraying thickness information and working information of the mechanical arm, and the working information of the mechanical arm includes the angle of the mechanical arm and the spray gun, the moving speed of the mechanical arm, wherein the teaching point space position information describes the three-dimensional discrete teaching trajectory of the mechanical arm end and its spray gun in the Cartesian space, and the working information of the mechanical arm describes the orientation of the mechanical arm end and its spray gun during spraying;

[0115] S3, the controller classifies according to the received teaching information to generate teaching trajectories under different working conditions and store them, in this embodiment, the angle of the mechanical arm and the spray gun, the moving speed of the mechanical arm and the wet spraying thickness of concrete during the wet spraying teaching process form the wet spraying operation skill, wherein the wet spraying operation skill can be saved through the controller;

[0116] It should be noted that the wet spraying operation skill and trajectory data of the present embodiment can also be stored in a cloud skill sharing system, which can facilitate the calling of other wet spraying mechanical arms of the same type.

[0117] S4, the input module inputs the teaching trajectory conforming to the working condition, in this embodiment, for the wet spraying operation area with similar characteristics, the teaching trajectory data stored in the controller can be selected, and the mechanical arm will execute the motion task according to the recorded path and the corresponding wet spraying data to realize the wet spraying operation;

[0118] S5, converting the output control information of the teaching trajectory output by the controller into control instructions of the wet spraying mechanical arm according to the instruction conversion module, for automatic wet spraying operation of the wet spraying mechanical arm;

[0119] S6, if the virtual force adjustment information of the human-computer interaction joystick is received, outputting the virtual force to the instruction conversion module through the controller to complete the manual operation;

[0120] S7, if the virtual force adjustment information of the human-computer interaction joystick is not received, the controller controls the mechanical arm to return to the teaching trajectory to continue to perform the remaining wet spraying operation, wherein the priority of the user manual control is higher than that of the controller automatic control.

[0121] Taking a certain tunnel concrete wet spraying operation as an example, when the automatic wet spraying operation is performed according to the teaching trajectory, a complete ring teaching trajectory is divided into a plurality of sub-trajectories, and each sub-trajectory is refined into a plurality of discrete points as the spraying points of the spray gun, and the wet spraying operation trajectory is as shown in Figure 3 , and the wet spraying skill data is as shown in Figure 4 ,

[0122] The calculation formula of the transverse spacing (d) of each spraying point of the spray gun is

[0123]

[0124] In the formula, d represents the transverse spacing of the spraying point, represents the distance between the center of rotation of the spray gun and the sprayed avoidance, and the unit is m, represents the transverse swing angle of the spray gun, and the unit is °.

[0125] The calculation formula of the longitudinal spacing (h) of each spraying point of the spray gun is:

[0126]

[0127] In the formula, h represents the longitudinal brush angle type coefficient of the spray gun, represents the longitudinal brush angle of the spray gun, and the unit is °.

[0128] The tunnel to be sprayed area is divided into vertical area and arch area, and the current operation environment is scanned with high precision by using laser radar to obtain the spatial coordinates, surface topography and obstacle distribution and other working condition information of the spraying area. By point cloud comparison algorithm, the scanning data and the historical working condition database are analyzed to generate a working condition feature comparison report. For the problem of blasting pit in the to-be-sprayed area, the man-machine collaborative processing is carried out according to the actual situation to meet the construction expectation.

[0129] ​​​​It should be noted that in the present embodiment, the complexity of the current working environment can include wind, dust, splashed slurry, etc., which can 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 complex surfaces. These interference factors can interfere with the position sensor of the robot arm, causing errors in its judgment of its own position and attitude, thereby affecting the operation accuracy. By applying virtual force through the human-computer interaction joystick and combining 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, 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.

[0130] For wet spraying in deep pit areas, the moving speed of the robot arm can be reduced by the controller to focus on wet spraying in the deep pit area. By operating the human-computer interaction joystick to control the movement of the robot arm and adjust the direction of the spray gun, the spray gun can be guided to the deep pit position and the appropriate spraying distance can be adjusted, so that the nozzle of the spray gun is perpendicular to the surface of the pit, thereby minimizing the concrete rebound phenomenon and improving the construction density and overall operation efficiency.

[0131] As shown in Figure 3 In a tunnel concrete wet spraying operation process, the wet spraying operation starts from the bottom of the side wall on both sides of the tunnel and gradually sprays to the vault in an "arch" shape. In the figure, X and Y represent the horizontal and vertical coordinates in the area, respectively. The dashed line represents the pre-stored teaching trajectory, and the solid line represents the actual wet spraying trajectory. During the entire wet spraying process, the angle of the robot arm and its distance from the side wall are adjusted by the human-computer interaction joystick, and the controller is used to guide the robot arm to maintain an appropriate angle with the rock surface (e.g., as perpendicular as possible to the rock surface), to minimize the rebound phenomenon and improve the density of the concrete. The distance between the robot arm and the rock surface in the tunnel is usually maintained between 0.8 and 1.2 meters to minimize the rebound phenomenon and improve the density of the concrete.

[0132] Compared with the prior art, the human-computer collaborative control method for tunnel concrete wet spraying operation according to the present application has the following beneficial effects:

[0133] The present application collects teaching information for the user to manually guide the wet spraying robot arm to perform wet spraying operation through the image acquisition module, 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 operation, enabling the operator to efficiently and accurately repeat the same trajectory, thereby improving the operation efficiency. Especially in complex dynamic working conditions, the automatic control system effectively reduces manual intervention, optimizes the construction process, improves the overall construction progress and operation quality, and has wide application potential.

[0134] The tunnel concrete wet spraying operation of different working conditions can be coped with, when the controller performs automatic wet spraying operation, in the face of possible environmental changes and equipment interference, such as construction condition difference, mechanical arm vibration and path deviation and other problems, the user can manually guide the mechanical arm to complete the wet spraying operation by virtual force man-machine collaborative control, to adapt to the trajectory deviation of the mechanical arm due to different working conditions, so as to ensure the spraying operation effect. The adjusted trajectory will not affect the accurate reproduction of the subsequent trajectory, and the adjusted trajectory can be selectively stored in the controller according to the need, further improving the flexibility and adaptability of the system.

[0135] The controller drives the wet spraying mechanical arm to realize remote control in a complex operation environment, thereby effectively avoiding the safety risk caused by directly contacting the potential dangerous environment. Remote operation can be performed through the input module and the image display module, and the user can obtain a more optimized operation view, thereby improving the accuracy and operation efficiency of the operation.

[0136] Embodiment 3

[0137] The embodiment provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor realizes each process of the man-machine collaborative control method for tunnel concrete wet spraying operation and achieves the same technical effect when executing the computer program. To avoid repetition, details are not repeated here.

[0138] Embodiment 4

[0139] The embodiment provides a computer storage medium, wherein the computer storage medium stores instructions, and the instructions make the computer execute each process of the man-machine collaborative control method for tunnel concrete wet spraying operation when executed on the computer, and achieve the same technical effect. To avoid repetition, details are not repeated here.

[0140] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0141] In the description of the application, references to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in an example", "in a specific example", or "in some examples" in various places in the specification are not necessarily all referring to the same embodiment or example.

[0142] It is apparent that the described embodiments are only some, but not all, of the embodiments of the present application. Reference to "an embodiment" or "some embodiments" in this specification means that a particular feature, structure, material or characteristic described in connection with the embodiment is included in at least one embodiment or example of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment or example, nor are they necessarily mutually exclusive or alternative embodiments or examples. It will be apparent to those skilled in the art from this disclosure that the described embodiments can be combined with other embodiments in a manner not specifically mentioned in the above description. All such possible combinations are within the scope of the present application.

[0143] Although the embodiments of the present application have been shown and described, it will be apparent to those skilled in the art that certain modifications, substitutions, alternatives and variations can be made thereto without departing from the principles and the spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A human-machine collaborative control system for wet concrete spraying operations in tunnels, characterized in that, include: A wet spraying robotic 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 teaching information of the user's wet spraying operation; The controller is located in the tunnel wet spraying control area and is connected to the image acquisition module. The controller classifies the collected teaching information to reproduce wet spraying under different working conditions and stores it. The controller is equipped with a human-machine interaction joystick for users to manually guide the wet spraying robotic arm to perform wet spraying operations. The instruction conversion module is connected to the wet spraying robotic arm and the controller respectively, and is used to convert the output control information of the controller into control instructions for the wet spraying robotic arm, so as to enable the wet spraying robotic arm to perform automatic wet spraying operations. The input module, connected to the controller, is used to select different teaching trajectories according to different working conditions. Under various working conditions, when the wet spraying robot arm performs automatic wet spraying based on the teaching trajectory, the user applies virtual force through the human-machine interaction joystick to guide the wet spraying robot arm to perform wet spraying. The virtual force is output to the instruction conversion module through the controller to complete the manual operation. The image display module, which has a human-machine interactive control panel, is located in the tunnel wet spraying control area and is communicatively connected to the image acquisition module and the controller.

2. The human-machine collaborative control system for wet concrete spraying operations in tunnels according to claim 1, characterized in that, The controller integrates a human-computer interaction joystick containing a force sensing module, which includes multiple force sensors.

3. The human-machine collaborative control system for wet concrete spraying operations in tunnels according to claim 2, characterized in that, The human-computer interaction joystick has a built-in force feedback unit, which is connected to the controller and is used to transmit information about the motion resistance of the robotic arm and the spray surface to the user.

4. A human-machine collaborative control method for wet concrete spraying operations in tunnels, characterized in that, The collaborative operation using the control system as described in claim 1 includes the following steps: The image acquisition module collects and records the teaching information of the user's wet spraying operation. The teaching information includes: spatial location information of the teaching point, wet spraying thickness information, and working information of the robotic arm. The working information of the robotic arm includes the angle between the robotic arm and the spray gun and the moving speed of the robotic arm. The controller categorizes the collected teaching information to reproduce wet spraying under different working conditions and stores it. The input module takes a teaching trajectory that matches the working conditions. The instruction conversion module converts the output control information of the teaching trajectory output by the controller into control instructions for the wet spraying robot arm, which is used for automatic wet spraying operation of the wet spraying robot arm. If virtual force adjustment information is received from the human-computer interaction joystick, the virtual force is output to the instruction conversion module through the controller to complete the manual operation; If no virtual force adjustment information is received from the human-machine interface joystick, the controller will control the robotic arm to return to the taught trajectory to continue the remaining wet spraying operation.

5. The human-machine collaborative control method for wet concrete spraying operations in tunnels according to claim 4, characterized in that, The position of the end effector of the robotic arm is represented by three-dimensional coordinates: In the formula, This refers to the position of the end effector of the robotic arm. It is the position of the end effector relative to the starting point reference coordinate system.

6. The human-machine collaborative control method for wet concrete spraying operations in tunnels according to claim 4, characterized in that, The formula for calculating the movement speed of the robotic arm is: In the formula, This indicates the volume of sprayed concrete. Indicates the shotcrete rebound rate. For the thickness of the surface layer, This refers to the vertical scrolling range.

7. The human-machine collaborative control method for wet concrete spraying operations in tunnels according to claim 4, characterized in that, When performing automated wet spraying based on the taught trajectory, the complete taught trajectory is divided into multiple sub-trajectories, and each sub-trajectory is further refined into discrete points. An interpolation algorithm is used to reduce errors, and the formula for the fifth-order polynomial interpolation algorithm is as follows: In the formula, Indicates the position at time t. , , , , , These are the coefficients of a fifth-degree polynomial. It is the initial time. It is the time difference, representing the offset relative to the initial time.

8. The human-machine collaborative control method for wet concrete spraying operations in tunnels according to claim 4, characterized in that, If virtual force adjustment information is received from the human-computer interaction joystick, the controller outputs the virtual force to the instruction conversion module to complete the manual operation. The virtual force is: In the formula, , and These represent the inertial characteristics, damping characteristics, and stiffness characteristics of the robotic arm, respectively. It is the desired location. It is the actual location. It is the expected speed. That's the actual speed. It is the expected acceleration. It is the actual acceleration.

9. A computer device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the human-machine collaborative control method for wet spraying of tunnel concrete as described in any one of claims 4 to 8.

10. A computer storage medium, characterized in that, The computer storage medium stores instructions that, when executed on the computer, cause the computer to perform the human-machine collaborative control method for wet concrete spraying operations in tunnels as described in any one of claims 4 to 8.

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