Tunnel segment troweling trajectory generation method and device and troweling robot

By calculating the surface trajectories of tunnel segments using planar geometric relationships, the problem of complex and time-consuming calculations in traditional methods is solved, and efficient and accurate automated surface trajectory generation is achieved.

CN122125705APending Publication Date: 2026-06-02中铁十四局集团房桥有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
中铁十四局集团房桥有限公司
Filing Date
2026-03-27
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

Traditional tunnel segment finishing methods rely on complex parametric trajectory equations, which leads to cumbersome, error-prone, and time-consuming calculation processes, especially when dealing with asymmetric circular arc trajectory points, resulting in low efficiency.

Method used

By determining the area to be smoothed in the tunnel segment and constructing the initial arc, the coordinates of key points are calculated using planar geometric relationships, including dividing the working segment, projection points, and rotation to generate the smoothing trajectory, which reduces complex mathematical calculations.

Benefits of technology

It improves the path planning efficiency of surface finishing trajectory generation, reduces computation time and error rate, enhances the robot's flexibility and adaptability in complex environments, and ensures surface finishing quality and efficiency.

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Abstract

This application provides a method, apparatus, and robot for generating a surface finishing trajectory for tunnel segments. The method includes: projecting an initial arc onto a region to be finished; locating the endpoints and coordinates of the initial arc; dividing the initial arc into working segments to locate boundary points; locating the projection points of the boundary points on the ground; determining the coordinates of the projection points based on the geometric relationship between the endpoints, boundary points, and projection points; calculating the coordinates of the boundary points based on the set relationship between the endpoints, projection points, center, and boundary points; and rotating around the center based on the boundary point coordinates to obtain a zigzag surface finishing trajectory. This method solves the problem that existing surface finishing trajectory generation methods require extensive mathematical calculations, leading to low path planning efficiency.
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