Tunnel wet spraying trolley positioning, spraying coverage and self-calibration path planning method

Abstract

This invention discloses a self-calibrated path planning method for positioning and spraying coverage of a tunnel wet spraying trolley, relating to the field of tunnel wet spraying technology. It addresses the problems of inaccurate correspondence between the spray coverage and the actual sprayed area under complex tunnel cross-sections, frequent missed spraying, and delayed path correction. The invention organizes the current sprayed cross-section, including the tunnel face, arch, arch waist, sidewalls, steel arch frame, and already sprayed areas, to form a current coverage sequence. It then generates a projected coverage sequence by combining the wet spraying trolley's parking position, boom posture, and nozzle spraying status. A sequence of actual coverage traces is formed through short-segment spraying, and coverage deviation segments are merged. Further, positioning offset segments, insufficient overlap segments, obstructed and missed spraying segments, and duplicate coverage segments are attributed and self-calibrated. Finally, the correction results are backfilled according to the original order of the current coverage sequence, generating subsequent spraying paths and updating the coverage status, thus achieving self-calibration of the wet spraying trolley's spray coverage and path planning.

Description

Technical Field

[0001] This invention relates to the field of tunnel wet spraying technology, and more specifically, to a method for self-calibrating path planning of positioning spray coverage on a tunnel wet spraying trolley. Background Technology

[0002] During the initial wet spraying construction of tunnel support, the wet spraying trolley usually needs to continuously complete the spraying operation along the tunnel face, arch crown, arch waist and sidewall. However, the existing operation methods mostly rely on the trolley's parking position, manual experience or preset spraying trajectory as the main basis. There is a lack of a processing mechanism that unifies the current profile of the section to be sprayed, the distribution of support components, the boundary of the sprayed area and the actual spraying range of the nozzle. Especially in the case of steel arch frame, exposed anchor bolts, abrupt changes in profile, local over-excavation and under-excavation, and the boundary between sprayed and unsprayed areas, the theoretical pointing position of the nozzle and the actual spray landing area are prone to deviation. This results in the spraying path being executed according to the setting, but the actual coverage result is inconsistent with the area to be sprayed, thus causing problems such as missed spraying, repeated spraying, unclosed boundaries or insufficient coverage behind obstruction.

[0003] Existing technologies for handling wet spraying coverage anomalies typically rely on post-spraying re-spraying or manual correction. They struggle to correlate actual spray marks with the expected coverage area segment by segment during spraying and to reconcile deviations. They also have difficulty distinguishing whether the deviation originates from trolley positioning offset, nozzle direction change, insufficient overlap between adjacent spray zones, obstruction by support components, or repeated entry of already sprayed areas into the spraying range. Due to the lack of a classification, identification, and sequential correction mechanism for different sources of deviation, subsequent paths can often only be adjusted with localized re-spraying. They cannot self-calibrate the trolley positioning benchmark, nozzle direction benchmark, and path continuity based on the actual coverage results, leading to delayed path correction, insufficient continuity of sprayed layers, and poor construction quality stability. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the following solution is proposed to solve the problem that the spray coverage of the wet spraying trolley in complex tunnel cross sections does not correspond accurately with the actual area to be sprayed.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The tunnel wet spraying trolley positioning and spray coverage self-calibration path planning method includes the following steps: S1. Write the information of the tunnel face, crown, waist, sidewall, steel arch frame and sprayed area of ​​the current section to be sprayed into the current coverage sequence according to the tunnel outline. Divide the continuous spraying coverage unit according to the initial support spraying layer requirements and mark the sprayed surface orientation, adjacent relationship and coverage status. S2. Collect the parking position of the wet spraying trolley, boom posture, nozzle end position, nozzle orientation, spraying distance and spraying angle, and generate a predicted coverage sequence according to the nozzle spraying direction. The predicted coverage sequence includes a center unit, overlapping unit, edge unit and possible occlusion unit. S3. Based on the expected coverage sequence, perform short-segment spraying in the path starting area, arch waist transition area or area adjacent to the steel arch frame to form the actual coverage trace sequence, and compare it with the expected coverage sequence unit by unit, and merge continuous inconsistent units to form coverage deviation segments. S4. Assign events to the coverage deviation segments, classify the overall same-direction deviation as the positioning offset segment, classify the edge unclosed segment as the insufficient overlap segment, classify the continuous uncovered segments falling into the occlusion transmission segment as the occlusion leak segment, classify the covered unit re-entering the coverage area as the duplicate coverage segment, and generate the corresponding correction results. S5. Backfill the corresponding correction results according to the original order of the current coverage sequence, generate the subsequent spraying path, so that the wet spraying trolley covers the unsprayed units, insufficiently overlapped segments and blocked missed spraying segments in sequence, and avoids overlapping coverage segments. After execution, update the coverage status of the current coverage sequence.

[0006] Further, step S1 includes: generating a cross-section unfolding sequence from the outline unfolding direction of one side wall of the current section to be sprayed through the arch waist and arch top to the other side wall; setting the position where the sprayed surface orientation changes abruptly, the steel arch frame boundary position, the exposed anchor position, and the sprayed area boundary position as sequence breakpoints; and forming spraying coverage units based on the outline segments between adjacent sequence breakpoints, so that the spraying coverage units simultaneously have outline sequence position and construction boundary attributes.

[0007] Furthermore, step S1 also includes: generating continuous spraying marks, shielding transfer marks, or boundary verification marks for the spraying coverage units based on the continuous relationship of the sprayed surface orientation between adjacent spraying coverage units, the obstruction relationship of the exposed positions of the steel arch or anchor rods, and the overlapping relationship of the sprayed area boundary, and determining the coverage status of the spraying coverage units according to the marks.

[0008] Further, step S2 includes: aligning the parking position of the wet spraying trolley with the cross-sectional reference position in the cross-sectional unfolding sequence; determining the spraying coverage unit that the nozzle points to based on the boom posture, nozzle end position, and nozzle orientation; and assigning a center coverage code, an overlap coverage code, and an edge coverage code to the spraying coverage unit that the nozzle points to and its adjacent spraying coverage units according to the correspondence between the nozzle spraying direction and the sprayed surface orientation, thereby forming an expected coverage sequence that is updated as the nozzle posture changes.

[0009] Furthermore, step S2 also includes: when the nozzle spraying direction corresponding to the center coverage code, overlapping coverage code, or edge coverage code passes through the steel arch frame, exposed anchor bolt position, or contour change position, the continuous spraying coverage unit located behind the shielding position along the nozzle spraying direction is searched along the cross-section unfolding sequence, and the rear continuous spraying coverage unit is written into the shielding transfer segment, so that the expected coverage sequence simultaneously includes the direct spray coverage range and the range to be verified behind the shielding.

[0010] Further, step S3 includes: after the short-segment spray is completed, the actual spray landing point, the spray boundary closure position and the post-spray surface contour change position are recorded along the cross-section, and the corresponding spray coverage unit is marked as a real coverage unit, a boundary unclosed unit or an invalid coverage unit, forming an actual coverage trace sequence.

[0011] Furthermore, step S3 also includes: comparing the actual coverage trace sequence with the expected coverage sequence unit by unit according to the cross-sectional unfolding sequence; when consecutive inconsistent units are located in the same deviation direction, they are merged into positioning offset segments; when consecutive inconsistent units are located at the corresponding position of the edge coverage code, they are merged into insufficient overlap segments; when consecutive inconsistent units fall into the occlusion transfer segment, they are merged into occlusion missed spray segments; and when the sprayed area is marked as an actual coverage unit again, it is merged into repeated coverage segments.

[0012] Further, step S4 includes: for the positioning offset segment, reading the starting unit, ending unit and deviation direction of the positioning offset segment in the cross-sectional unfolding sequence, and trying to match the actual coverage trace sequence unit by unit along the reverse of the deviation direction until the center coverage code corresponding to the positioning offset segment corresponds to the actual coverage unit again, and generating trolley positioning reference correction or nozzle pointing reference correction based on the return unit position at the time of correspondence.

[0013] Furthermore, step S4 also includes: for segments with insufficient overlap, the corresponding edge coverage code is promoted to the overlap coverage code of the next path segment; for segments with obstructed or missed spraying, adjacent unobstructed spraying coverage units are selected from both sides of the obstruction transfer segment as supplementary spraying entry units, and the supplementary spraying direction is determined; for segments with repeated coverage, the repeated coverage segments are written into the avoidance unit set and are not used as the starting unit or stopping unit of the subsequent main spraying path.

[0014] Further, step S5 includes: correcting the trolley positioning reference, correcting the nozzle pointing reference, overlapping cover code, supplementary spray entry unit, supplementary spray direction and avoidance unit set according to the original order of the cross-section unfolding sequence, first connecting the unsprayed units with the continuous spray mark to form the main spray path, then inserting the insufficient overlapping segment to form the boundary closed path, then inserting the blocking missing spray segment to form the supplementary spray path, and skipping the spray cover unit in the avoidance unit set when the path is connected to obtain the subsequent spray path.

[0015] The technical effects and advantages of the tunnel wet spraying trolley positioning spray coverage self-calibration path planning method of the present invention are as follows: This invention focuses on the spray coverage and path correction process in wet spraying construction of tunnels. It sequentially transforms the current section to be sprayed into the current coverage sequence, the expected coverage sequence, the actual coverage trace sequence, and the coverage deviation segment, making the processing objects of each step clearly connected. This avoids the disconnect between spray coverage and the actual area to be sprayed caused by direct spraying based solely on the parking position of the trolley or a preset trajectory, as is the case in existing technologies. By introducing a center coverage code, an overlapping coverage code, an edge coverage code, and a shielding transfer segment, it can distinguish the direct spray action range while retaining the exposed positions of steel arches and anchor bolts, as well as the areas to be verified after abrupt changes in contour. This makes the expression of the expected coverage range more consistent with the actual construction scenario.

[0016] Furthermore, the present invention forms the actual coverage trace sequence from the short-segment spraying results, compares and merges them unit by unit with the expected coverage sequence to obtain coverage deviation segments with clear boundaries and deviation directions. These segments are then classified into positioning offset segments, insufficient overlap segments, occlusion and missed spraying segments, and repeated coverage segments, and corresponding correction results are generated for each segment to avoid the mixing of coverage anomalies from different sources.

[0017] Finally, the correction results are backfilled according to the original order of the current coverage sequence to form the subsequent spray path, so that the subsequent path is based on the actual coverage calibration, thereby improving the continuity of spray layer coverage, boundary closure, targeted spraying of obscured areas, and timeliness of path correction, and realizing closed-loop self-calibration between wet spray trolley positioning, spray coverage and path planning. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the overall processing flow of the tunnel wet spraying trolley positioning spray coverage self-calibration path planning method of the present invention.

[0019] Figure 2 This is a flowchart illustrating the self-calibration path planning method for positioning, spraying, and covering the tunnel wet spraying trolley according to the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In one embodiment, the overall processing flow of the tunnel wet spraying trolley positioning spray coverage self-calibration path planning method of the present invention is as follows: Figure 1As shown, the method first unfolds the current section to be sprayed and generates the current coverage sequence, then combines the parking position of the wet spraying trolley, the boom posture and the nozzle spraying state to generate the expected coverage sequence, and then forms the actual coverage trace sequence through short-segment spraying, and compares it with the expected coverage sequence unit by unit, and merges them to form coverage deviation segments. Based on this, the event is assigned to the coverage deviation segment and corresponding correction results are generated. Finally, the correction results are backfilled according to the original order of the current coverage sequence to form the subsequent spray path and update the coverage status.

[0022] Figure 2 A schematic diagram of the self-calibration path planning method for positioning and spraying coverage of a tunnel wet spraying trolley according to the present invention is given, which specifically includes the following steps; S1. Write the information of the tunnel face, crown, waist, sidewall, steel arch frame and sprayed area of ​​the current section to be sprayed into the current coverage sequence according to the tunnel outline. Divide the continuous spraying coverage unit according to the initial support spraying layer requirements and mark the sprayed surface orientation, adjacent relationship and coverage status. S2. Collect the parking position of the wet spraying trolley, boom posture, nozzle end position, nozzle orientation, spraying distance and spraying angle, and generate a predicted coverage sequence according to the nozzle spraying direction. The predicted coverage sequence includes a center unit, overlapping unit, edge unit and possible occlusion unit. S3. Based on the expected coverage sequence, perform short-segment spraying in the path starting area, arch waist transition area or area adjacent to the steel arch frame to form the actual coverage trace sequence, and compare it with the expected coverage sequence unit by unit, and merge continuous inconsistent units to form coverage deviation segments. S4. Assign events to the coverage deviation segments, classify the overall same-direction deviation as the positioning offset segment, classify the edge unclosed segment as the insufficient overlap segment, classify the continuous uncovered segments falling into the occlusion transmission segment as the occlusion leak segment, classify the covered unit re-entering the coverage area as the duplicate coverage segment, and generate the corresponding correction results. S5. Backfill the corresponding correction results according to the original order of the current coverage sequence, generate the subsequent spraying path, so that the wet spraying trolley covers the unsprayed units, insufficiently overlapped segments and blocked missed spraying segments in sequence, and avoids overlapping coverage segments. After execution, update the coverage status of the current coverage sequence.

[0023] Step S1 includes the following: In one embodiment, after the wet spraying trolley arrives at the current section to be sprayed, the construction objects of the section to be sprayed are first organized. The current section to be sprayed includes the working face, the arch, the two side arch waists, the two side walls, as well as the already installed steel arch frame, the exposed anchor bolt positions, and the area that has been sprayed in the previous round. The above information can be obtained through cross-section scanning devices carried by the trolley, distance measuring devices near the nozzles, visual acquisition devices, import of construction records, or manual verification, or it can be generated by a combination of methods. For locations that cannot be fully confirmed temporarily due to the influence of dust, water mist, or equipment obstruction, they can be recorded as locations to be verified and reconfirmed when the coverage status is updated later.

[0024] After obtaining the current section information to be sprayed, instead of directly dividing the section according to the regular grid, the sprayed surface is unfolded along the tunnel contour. Specifically, starting from one sidewall of the current section to be sprayed, the sprayed positions are sequentially arranged through the same side arch waist, arch crown, the other side arch waist, and the other side wall, forming a section unfolding sequence. The section unfolding sequence is used to convert the spatially curved tunnel sprayed surface into a construction sequence with a fixed arrangement order, so that subsequent expected coverage, actual coverage, deviation merging, and path backfilling can all be carried out in the same position and sequence. The arrangement order in the section unfolding sequence represents the contour adjacency relationship, and it does not require that adjacent positions have the same spatial spacing. For over-excavation, under-excavation, local concavity and convexity, the actual adjacency relationship on the contour is still written into the section unfolding sequence.

[0025] After the cross-section unfolding sequence is formed, the locations that need to be used as separate construction boundaries are found along the sequence and these locations are used as sequence breakpoints. Sequence breakpoints include locations where the sprayed surface orientation changes abruptly, steel arch frame boundaries, exposed anchor bolt locations, and sprayed area boundaries. Specifically, locations where the sprayed surface orientation changes abruptly are used to indicate contour transition zones where the nozzle spray angle needs to be adjusted; steel arch frame boundaries are used to indicate locations where the spray may be blocked or divided by support components; exposed anchor bolt locations are used to indicate locations where local spray obstruction or rebound effects occur; and sprayed area boundaries are used to indicate locations where subsequent overlap verification or repeated spraying needs to be avoided.

[0026] When determining the location where the orientation of the sprayed surface changes abruptly, the orientation of the sprayed surface of adjacent contour segments can be extracted by unfolding the sequence along the cross section. When the orientation change of adjacent contour segments reaches the preset orientation change threshold, the boundary position between the two is set as the sequence breakpoint. The preset orientation change threshold is preset based on the nozzle's allowable attitude adjustment accuracy and the tunnel cross-sectional curvature, for example, 10° to 25°. For obvious turning points formed by the transition from the arch waist to the arch crown, the transition from the sidewall to the arch waist, and local over-excavation, under-excavation, or sudden changes in concavity and convexity, even if no steel arch frame or anchor bolt is set at the location, the decision on whether to set a sequence breakpoint can be made based on the change in the orientation of the sprayed surface.

[0027] For example, when a steel arch spans from the arch waist to the arch crown, its entry and exit from the boundary are taken as sequence breakpoints respectively; when the previously sprayed area and the unsprayed area meet at the top of the sidewall, the meeting point is taken as the sequence breakpoint.

[0028] The contour segment between adjacent sequence breakpoints is defined as the spray coverage unit. If the contour segment between adjacent sequence breakpoints is long, it can also be further divided into multiple consecutive spray coverage units based on the effective coverage range of the nozzle under stable spray distance and stable spray angle. The effective coverage range can be determined by the stable coverage width obtained from the test spray, or by the process parameters corresponding to the nozzle spray pressure, spray distance and nozzle diameter. When the length of the contour segment between adjacent sequence breakpoints exceeds the effective coverage range of one time, the sequence is unfolded along the cross-section and then divided into multiple spray coverage units in sequence. When the length of the remaining contour segment at the end is less than half of the effective coverage area, it can be incorporated into the adjacent spray coverage unit to avoid forming an isolated spray unit that is too short.

[0029] Each sprayed coverage unit records its starting position, ending position, outline sequence position, sprayed surface orientation, adjacent sprayed coverage units, and construction boundary attributes in the cross-sectional unfolding sequence. Construction boundary attributes include whether it is adjacent to the steel arch frame, whether it includes exposed anchor bolt locations, whether it is located at the boundary of the sprayed area, whether it is located in the transition area of ​​the arch waist, and whether it belongs to the contour change area. The resulting sprayed coverage unit is not an ordinary geometric mesh, but a construction unit that simultaneously reflects the contour sequence, support component boundary, sprayed boundary, and spraying continuity.

[0030] Furthermore, spraying marks are set for the spraying coverage units based on the adjacency relationship between them and the construction boundary attributes.

[0031] If the sprayed surfaces of two adjacent spray coverage units are continuously facing each other, and there are no steel arches, exposed anchor bolts, or sprayed boundaries obstructing them, a continuous spraying mark is set for this adjacent relationship, indicating that the subsequent main spraying path can be continued between the two spray coverage units. If a spray coverage unit includes a steel arch boundary, exposed anchor bolts, or a protruding outline, and there are continuous spray coverage units behind it that may be affected by spray obstruction, an obstruction transfer mark is set for the corresponding position, indicating that the continuous units behind the obstruction position need to be included as a verification range in the subsequent expected coverage sequence. If a spray coverage unit is located at the boundary between a sprayed area and an unsprayed area, or near the boundary of the previous round of spraying, a boundary verification mark is set for it, indicating that it is necessary to determine whether there is an unclosed boundary or repeated coverage at this location.

[0032] The initial coverage state of the spray coverage unit is determined based on the sprayed area information, the occlusion transfer mark and the boundary verification mark. The initial state of the spray coverage unit that was not covered by the previous round of spraying and did not fall into the occlusion influence range is set to unsprayed. The sprayed coverage unit that has been confirmed by construction records or on-site verification to form a continuous spray layer is initially set to effective coverage. For spray coverage units located at the boundary of the sprayed area where the overlap closure cannot yet be confirmed, the initial state is set as unclosed boundary. The spraying and covering unit, located behind the steel arch frame, exposed anchor bolts, or abrupt changes in profile, and marked with a masking transfer mark, is initially set to mask the area to be re-sprayed. For spray coverage units in the already sprayed area that may subsequently enter the nozzle coverage range, they are allowed to be updated to duplicate coverage during subsequent comparison processes.

[0033] Through the above processing, the current section to be sprayed is converted into the current coverage sequence. The current coverage sequence includes the section unfolding sequence, spray coverage units, continuously sprayable markers, obstruction transfer markers, boundary verification markers, and the coverage status of each spray coverage unit.

[0034] In subsequent steps, when generating the expected coverage sequence, the current coverage sequence is used as the position basis to map the wet spraying trolley positioning, boom attitude, and nozzle spraying direction to the specific spraying coverage unit.

[0035] Step S2 includes the following: Based on the current coverage sequence, cross-section unfolding sequence and spray coverage unit already formed in step S1, the following data is collected: the parking position of the wet spraying trolley in the current cross-section to be sprayed, the boom posture, the nozzle end position, the nozzle orientation, the spraying distance and the spraying angle. The above data are then processed under the cross-section reference position used in the current coverage sequence.

[0036] The wet spraying trolley parking position is used to indicate the spatial position of the trolley chassis relative to the current section to be sprayed; the boom posture is used to indicate the unfolding direction and end posture of each boom segment; the nozzle end position is used to indicate the position of the nozzle outlet relative to the unfolding sequence of the section; the nozzle orientation is used to indicate the direction of the spray beam; the spray distance is used to indicate the distance between the nozzle end and the sprayed surface; and the spray angle is used to indicate the angle between the nozzle spray direction and the orientation of the sprayed surface.

[0037] The above data can be obtained from the trolley positioning device, boom joint encoder, nozzle attitude sensor, distance measuring device, cross-section scanning device, or operation records in the trolley control system, or it can be formed by cross-checking multiple data.

[0038] For example, the parking position of the trolley can be determined by the positioning result of the trolley chassis and the reference position of the tunnel section; the attitude of the boom can be determined by the rotation angle and extension of each boom segment; the position of the nozzle end can be obtained by recursion from the attitude of the boom; and the spraying distance can be obtained directly by the ranging device near the nozzle, or it can be calculated from the position of the nozzle end and the position of the sprayed surface in the cross-section unfolding sequence.

[0039] When generating the expected coverage sequence, first align the parking position of the wet spraying trolley with the cross-sectional reference position in the cross-sectional unfolding sequence.

[0040] The reference position of the cross section can be the arch datum point, the center line of the tunnel face, or the starting point of the unfolding determined in step S1, as long as it remains consistent within the same cross section to be sprayed. After alignment, the nozzle end position and nozzle orientation are unfolded into a sequence, the first spray coverage unit corresponding to the nozzle spray direction is found, and this spray coverage unit is determined as the spray coverage unit pointed to by the nozzle. The spray coverage unit pointed to by the nozzle is used to indicate the position of the sprayed surface that the spray beam is most likely to act on first under the current trolley positioning and nozzle attitude.

[0041] Subsequently, based on the correspondence between the nozzle spray direction and the sprayed surface orientation, a coverage code is assigned to the spray coverage unit pointed to by the nozzle and its adjacent spray coverage units.

[0042] When assigning a coverage code, it can be first determined whether the nozzle spray direction and the sprayed surface of the corresponding spray coverage unit meet the appropriate spray angle range, and whether the distance between the nozzle tip and the spray coverage unit is within the stable spray distance range. When the spray direction, the orientation of the sprayed surface, and the spray distance all meet the stable coverage conditions, the spray coverage unit is assigned a center coverage code. When there is a continuously sprayable mark between an adjacent spray coverage unit and the center coverage code unit, and the adjacent spray coverage unit is within the stable spray coverage boundary, an overlapping coverage code is assigned to the adjacent spray coverage unit. When an adjacent spray coverage unit is located within the spray edge's effective range, or when the sprayed surface is facing a direction close to the boundary of the appropriate spray angle range, the spray coverage unit is assigned an edge coverage code.

[0043] The appropriate spray angle range and stable spray distance range can be pre-configured based on the nozzle parameters of the wet spraying trolley, concrete spraying process requirements, and on-site test spraying results, and can be adjusted under different tunnel cross sections or different spray layer thickness requirements.

[0044] Therefore, the expected coverage of the nozzle is divided into three levels: center coverage, overlapping coverage, and edge coverage.

[0045] In one specific embodiment, when the nozzle is directed at a spray coverage unit in the arched waist region, the spray coverage unit is assigned a center coverage code; units adjacent to it on both sides along the cross-sectional unfolding sequence and capable of forming a continuous spray band with the center unit are assigned an overlap coverage code; and units extending further outward that may be affected by spray attenuation or spray angle are assigned an edge coverage code. If the spraying distance is too large, the spraying angle is too skewed, or the orientation of the sprayed surface changes significantly, the unit corresponding to the edge coverage code will be given priority as the boundary closure verification object in subsequent comparisons.

[0046] Furthermore, after the center coverage code, overlapping coverage code, or edge coverage code is determined, the presence of exposed steel arches, anchor bolts, or abrupt changes in contour is searched along the nozzle spray direction. If the above-mentioned locations are located between the nozzle end and the corresponding spray coverage unit, or in the direction in which the spray beam extends to subsequent units, it is considered that the location may obstruct the direct spray coverage.

[0047] At this point, the sequence continues to search for continuous spraying coverage units located behind the obstruction position and within the extension range of the nozzle spray direction, and these continuous spraying coverage units are written into the obstruction transfer section. The obstruction transfer section is used to indicate that although this part of the unit is located near the expected coverage area, its actual coverage effect may be weakened by the steel arch, anchor bolts, or contour abrupt changes, and needs to be verified in conjunction with the actual coverage traces after subsequent short-segment spraying.

[0048] For example, when the nozzle sprays from the waist side of the arch towards the crown, and the steel arch frame rib is located between the nozzle and the sprayed surface near the crown, the spray coverage unit corresponding to the steel arch frame rib is used as the shielding position, and the continuous unit behind it is written into the shielding transmission section. When the exposed end of the anchor bolt is within the range corresponding to the edge coverage code, the adjacent unit behind the anchor bolt can also be written into the shielding transfer section. Through this process, the coverage sequence is expected to include not only the area directly covered by the spray, but also the area to be reviewed behind shielding caused by abrupt changes in support components or contours.

[0049] After completing the above processing, the center coverage code, overlap coverage code, edge coverage code, and occlusion transfer segment are written into the expected coverage sequence according to their original arrangement in the cross-sectional unfolding sequence. The expected coverage sequence is updated as the wet spraying trolley's parking position, boom posture, nozzle end position, nozzle orientation, spraying distance, and spraying angle change. When the nozzle posture is adjusted, the center coverage code, overlap coverage code, edge coverage code, and obstruction transmission segment are rewritten into the corresponding injection coverage unit.

[0050] In step S2, the parking position, boom posture, and nozzle spraying status of the wet spraying trolley are converted into the expected coverage sequence on the current coverage sequence. The expected coverage sequence includes the central unit directly affected by the spray, the overlapping unit for path continuation, the edge unit that requires boundary verification, and the possible occlusion unit affected by steel arches, anchor bolts, or contour abrupt changes.

[0051] Step S3 includes the following: After the expected coverage sequence has been generated in step S2, the wet spraying trolley does not directly perform continuous spraying along the complete path. Instead, it first performs short-segment spraying at a position that can represent the current spraying state. The short-segment spraying can be performed in the path start area, the arch waist transition area, or the area adjacent to the steel arch. The path start area is used to check whether the trolley's parking position and the initial nozzle orientation are consistent with the current coverage sequence; the arch waist transition area is used to check whether the spray boundary can close when the orientation of the sprayed surface changes; and the area adjacent to the steel arch is used to check the impact of the support components' obstruction on the actual coverage result.

[0052] By using short-segment injection, the actual correspondence between the current trolley positioning, nozzle attitude, and spray coverage can be obtained before the subsequent injection path is officially executed.

[0053] In one embodiment, the length of the short-segment spray can cover a central unit and its adjacent overlapping units in the expected coverage sequence, or it can cover the central unit, edge unit, and shielding transfer segment in the adjacent area of ​​the steel arch.

[0054] Short-segment spraying is not intended to complete the entire support spraying process, but rather to obtain the actual spray landing point, the spray boundary closure position, and the position of the surface profile change after spraying. During short-segment spraying, the wet spraying trolley maintains the current spraying distance, spraying angle, and nozzle orientation, and records the nozzle movement start and end positions, spraying duration, and the corresponding expected coverage sequence position.

[0055] After the short-segment spraying is completed, the actual spray coverage results are recorded by unfolding the sequence along the cross-section.

[0056] Actual spray coverage results can be obtained through one or more of the following methods: changes in surface contour after spraying, changes in surface color or texture of the spray layer, images of spray landing points, changes in distance measurement near the nozzle, cross-sectional rescan results, or manual verification input.

[0057] For spray cover units that can be confirmed to have formed a continuous spray layer or effective spray deposition, they are marked as solid cover units; A covered unit can be identified by both the post-spray profile thickening and the continuity of the coverage trace. When the post-spray surface forms a profile change relative to the pre-spray surface that reaches the minimum spray layer identification thickness, and this profile change is continuously distributed within the corresponding spray coverage unit, the spray coverage unit is marked as a covered unit. The minimum spray layer identification thickness can be set according to the cross-sectional scanning accuracy or the spray layer detection accuracy, for example, from 5mm to 15mm. If the post-spray profile change does not reach the minimum spray layer identification thickness, even if there is a spray landing point, it is not directly marked as a covered unit.

[0058] For spray coverage units where the spray boundary reaches but does not form a continuous closure with adjacent covered units, they are marked as unclosed boundary units; for spray coverage units that are expected to be covered but whose surfaces do not show effective changes after spraying, or which are only swept by the spray edge without forming effective coverage, they are marked as invalid coverage units.

[0059] The term "actual coverage unit" does not indicate that the nozzle has passed through a corresponding position, but rather that the spray coverage unit has formed a verifiable spray coverage trace after a short spray segment; the term "unclosed boundary unit" indicates that there may be insufficient overlap between adjacent spray bands; and the term "invalid coverage unit" indicates that the expected coverage is inconsistent with the actual coverage.

[0060] Using the above markings, the short-segment spraying results are converted into actual cover trace sequences that can be compared unit by unit with the expected cover sequence.

[0061] When forming the actual coverage trace sequence, each sprayed coverage unit is still arranged according to the cross-sectional unfolding sequence obtained in step S1. That is to say, each position in the actual coverage trace sequence corresponds one-to-one with the sprayed coverage unit in the current coverage sequence and the expected coverage sequence.

[0062] If a spray coverage unit has both spray landing point and boundary not closed, the boundary not closed mark will be retained first for subsequent judgment of insufficient overlap; If a sprayed area is marked as a covered cell again, its repeated coverage feature is retained so that repeated coverage fragments can be written later.

[0063] Subsequently, the actual coverage trace sequence and the expected coverage sequence are compared unit by unit according to the cross-sectional unfolding sequence. During the comparison, if the center coverage code in the expected coverage sequence does not correspond to the actual coverage unit in the actual coverage trace sequence, the position is marked as an inconsistent unit; if the position corresponding to the overlapping coverage code or edge coverage code in the expected coverage sequence is a unit with an unclosed boundary or an invalid coverage unit in the actual coverage trace sequence, the position is marked as an inconsistent unit; if the occlusion transfer segment in the expected coverage sequence is continuously marked as an invalid coverage unit in the actual coverage trace sequence, the corresponding position is marked as an inconsistent unit; if a sprayed coverage unit that is already in an effective coverage state in the current coverage sequence is marked as an actual coverage unit again after a short spray, it is marked as a repeated coverage type inconsistent unit.

[0064] After the inconsistent units are determined, they are not isolated. Instead, the consecutive inconsistent units are merged by unfolding the sequence along the cross section.

[0065] Specifically, if multiple inconsistent elements are arranged consecutively in the cross-sectional unfolding sequence and are not interrupted by actual covering elements or effective covering elements, they are merged into the same covering deviation segment.

[0066] When merging coverage deviation segments, the number of allowable interval units can be set. If the number of sprayed coverage units between two inconsistent areas does not exceed the allowable number of interval units, and the interval unit belongs to an unclosed boundary unit or a location to be verified, then the inconsistent areas before and after will still be merged into the same coverage deviation segment.

[0067] The number of allowable interval units can be 1 to 2, which is used to avoid the same deviation being incorrectly split due to dust, water mist or local detection omissions.

[0068] If inconsistent units are separated by stable covering units and the number of intervals exceeds the allowable number of interval units, different coverage deviation segments will be formed. This can avoid splitting the same nozzle offset, the same insufficient overlap, or the same shading effect into multiple scattered abnormal points.

[0069] Furthermore, during the formation of coverage deviation segments, the starting unit, ending unit, expected coverage code type, actual coverage trace type, and deviation direction in the cross-sectional unfolding sequence of each coverage deviation segment are retained. The expected coverage code type is used to determine whether the segment originally belonged to the central coverage, overlapping coverage, edge coverage, or occlusion transmission range; the actual coverage trace type is used to determine whether the segment exhibits actual coverage deviation, unclosed boundary, invalid coverage, or repeated coverage; and the deviation direction is used to perform reverse unit-by-unit trial matching when subsequently identifying and locating offset segments.

[0070] In one specific embodiment, the twelfth to fourteenth sprayed coverage units in the expected coverage sequence are written into the center coverage code and the overlapping coverage code. However, the actual coverage trace sequence after short-segment spraying shows that the fourteenth to sixteenth sprayed coverage units form actual coverage units. Therefore, the twelfth to thirteenth sprayed coverage units are inconsistent with the expected coverage result. The fifteenth to sixteenth sprayed coverage units belong to the actual coverage deviation position. The above-mentioned continuous inconsistent positions can be merged into a coverage deviation segment, and its overall deviation direction towards the rear of the cross-section unfolding sequence is retained.

[0071] For example, if the edge coverage code in the expected coverage sequence shows an unclosed boundary after short-segment spraying, then the corresponding continuous positions form candidate segments with insufficient overlap; if the continuous units in the occlusion transmission segment do not form effective coverage, then occlusion and missed spraying candidate segments are formed.

[0072] Through step S3, the short-segment spraying result is converted into an actual coverage trace sequence, and compared with the expected coverage sequence on the same cross-section unfolding sequence. Continuous inconsistent units are merged into coverage deviation segments. At this time, the coverage deviation segments have clear sequence positions, coverage code sources, actual trace types and deviation directions. Step S4 can then perform event attribution based on this, further distinguishing them into positioning offset segments, insufficient overlap segments, occlusion and missed spraying segments or repeated coverage segments, and generating corresponding correction results.

[0073] Step S4 includes the following: After the coverage deviation segment has been formed in step S3, instead of directly treating all coverage deviation segments as respray objects, the event is assigned to the coverage deviation segment based on its position in the cross-sectional unfolding sequence, the corresponding expected coverage code type, the actual coverage trace type, and the deviation direction.

[0074] By attributing events, it is possible to distinguish whether the coverage anomaly is caused by overall offset of the trolley positioning or nozzle direction, or by insufficient overlap of the spray belt edge, missed spraying due to steel arch frame obstruction, or repeated coverage of already sprayed areas, thus providing a basis for generating different types of correction results in the future.

[0075] Specifically, when consecutive inconsistent units in a coverage deviation segment deviate in the same direction as the expected coverage sequence, and the deviation range involves both the center coverage code and adjacent overlapping coverage codes, the coverage deviation segment is classified as a positioning offset segment.

[0076] The overall deviation in the same direction refers to a situation where the actual covered units in the actual covered trace sequence appear on one side of the expected covered position, while the central unit or overlapping unit corresponding to the expected covered position does not form effective coverage. This situation usually indicates a deviation in the trolley's parking position, cross-sectional reference alignment, or nozzle pointing reference, rather than a single local area requiring respraying.

[0077] For the positioning offset segment, the starting unit, ending unit, and offset direction of the positioning offset segment in the cross-sectional unfolding sequence are read, and the actual coverage trace sequence is matched unit by unit with the expected coverage sequence in the reverse direction of the offset direction.

[0078] The reverse unit-by-unit trial fitting refers to, while maintaining the relative order of the center coverage code, overlapping coverage code, and edge coverage code in the expected coverage sequence, sequentially spraying coverage units back in the opposite direction of the deviation direction, and checking after each backspin whether the center coverage code corresponding to the positioning offset segment can re-correspond to the actual coverage unit. The reverse unit-by-unit trial fitting has a maximum backspin range, which does not exceed the sum of the positioning offset segment length and the range of adjacent overlapping coverage codes. After each backtracking operation, if the center cover code and the actual cover unit correspond again, and no more consecutive inconsistent units appear at the corresponding position of the overlapping cover code, then the trial fitting is stopped, and the current backtracking unit position is determined as the calibration basis. If the above conditions are still not met after reaching the maximum backtracking range, then no trolley positioning reference correction or nozzle pointing reference correction is generated, and the positioning offset segment is retained as a segment to be reviewed.

[0079] Based on the aforementioned return unit position, generate a trolley positioning reference correction or a nozzle pointing reference correction.

[0080] When determining the correction type, if the same deviation direction appears consecutively in multiple spray coverage units or multiple short-segment spray positions, the trolley positioning reference correction will be generated first. If the deviation only occurs within the local coverage area after the nozzle attitude changes, and the trolley parking position and cross-sectional reference position do not change, then nozzle pointing reference correction will be generated first.

[0081] If both are possible, first correct the trolley positioning reference and regenerate the expected coverage sequence, then confirm whether nozzle pointing reference correction is still needed through the next short-segment injection.

[0082] Therefore, the positioning offset segment is not simply converted into a supplementary spraying task, but is used to reverse the corresponding deviation between the positioning of the trolley and the spray coverage, so that subsequent paths can continue to be planned under the corrected benchmark.

[0083] When a coverage deviation segment is located at the position corresponding to the edge coverage code in the expected coverage sequence, and the actual coverage trace sequence shows an unclosed boundary cell or an invalid coverage cell, the coverage deviation segment is classified as an insufficient overlap segment.

[0084] The term "unclosed edge" refers to a situation where, although the spray edge reaches the vicinity of an adjacent spray coverage unit, it does not form a continuous coverage relationship with the adjacent already covered unit or the next expected coverage area. For segments with insufficient overlap, the edge coverage code corresponding to the segment is promoted to the overlap coverage code of the next path segment. This ensures that when the subsequent path passes through this position, it is no longer treated as just an edge sweep, but is included in the stable overlap coverage range. If necessary, the continuous spraying units adjacent to the segment can also be used as overlap continuation objects to ensure that a closed coverage is formed between adjacent spraying strips.

[0085] When a coverage deviation segment falls into an obstruction transfer segment, and the actual coverage trace sequence continuously appears as an invalid coverage unit or fails to form a solid coverage unit within the obstruction transfer segment, the coverage deviation segment is classified as an obstruction and missed spray segment.

[0086] The term "blocked and missed spray segment" indicates that the location is not not covered because the nozzle did not pass through, but because the exposed position of the steel arch, anchor bolt, or abrupt change in the contour weakens or blocks the direct coverage of the spray. For the blocked and missed spray segment, select the adjacent unblocked spray coverage unit from both sides of the blocked transfer segment as the re-spray entry unit, and determine the re-spray direction according to the cross-sectional development direction between the re-spray entry unit and the blocked and missed spray segment. If there are accessible positions on both sides of the occlusion transfer segment, the position that is continuous with the unsprayed unit and does not cross the segment marked as repeated coverage is selected as the respray entry unit.

[0087] When a sprayed cover unit that is already in an effective cover state in the current cover sequence is marked as an actual cover unit again by the actual cover trace sequence after a short spray, the cover deviation segment is classified as a repeated cover segment. Repeated coverage segments indicate that a spray layer has already been formed at this location, but it is still covered again by the current spray coverage area. If it continues to be used as the starting point or stopping point of the main spray path, it may result in an excessively thick local spray layer or material waste. For repeated coverage segments, they are written into the avoidance unit set and are not used as the starting unit or stopping unit of the main spray path in subsequent path planning; If a subsequent path must pass through this location, it is only allowed as a path connection point and not as a continuous spray target location.

[0088] In one specific embodiment, it is expected that the twelfth to fourteenth sprayed coverage units in the coverage sequence will be assigned a center coverage code and an overlap coverage code, but the actual coverage trace sequence shows that the fourteenth to sixteenth sprayed coverage units form a solid coverage unit. In this case, the coverage deviation segment is classified as a positioning offset segment. The system reverses the actual coverage trace sequence unit by unit along the opposite direction of the deviation. When the fourteenth actual coverage unit is reversed to the position corresponding to the twelfth center coverage code, the center coverage code and the actual coverage unit are re-corresponded, thereby generating the corresponding trolley positioning reference correction or nozzle pointing reference correction. For example, if the spray coverage unit corresponding to the edge coverage code continuously shows that the boundary is not closed, then the segment is classified as an insufficient overlap segment, and the edge coverage code is promoted to an overlap coverage code in the next path. If the shielding and transfer section behind the steel arch frame does not continuously form a solid covering unit, then select the direction to enter the unit from the left or right side of the shielding and transfer section to form a supplementary spraying direction. If the area that was sprayed in the previous round is marked as a covered unit again, then that location is written into the avoidance unit set.

[0089] Through step S4, the coverage deviation segment is classified into positioning offset segment, insufficient overlap segment, obstruction and missed spray segment or repeated coverage segment, and respectively generates trolley positioning reference correction, nozzle pointing reference correction, overlap coverage code improvement result, supplementary spray entry unit, supplementary spray direction and avoidance unit set. The aforementioned correction results are all retained in the original sequential position of the cross-section unfolding sequence. Step S5 can then backfill the above correction results according to the original order of the current coverage sequence to generate the subsequent spray path.

[0090] Step S5 includes the following: After obtaining the trolley positioning reference correction, nozzle pointing reference correction, overlap cover code lifting result, supplementary spray entry unit, supplementary spray direction and avoidance unit set in step S4, step S5 no longer uses the original preset spray path, but fills the above correction results back in the original order of the current cover sequence and regenerates the subsequent spray path.

[0091] The backfilling refers to writing the various correction results back to their corresponding spraying and covering units in the cross-section unfolding sequence, so that the subsequent path is still organized along the tunnel outline sequence, and at the same time, it can reflect the positioning offset, insufficient overlap, occlusion and missed spraying and repeated coverage identified after short-segment spraying.

[0092] Specifically, first read the coverage status, continuous spraying mark, occlusion transfer mark, boundary verification mark, and corresponding correction results generated in step S4 for each spraying coverage unit in the current coverage sequence.

[0093] For positions where the trolley positioning reference correction or nozzle pointing reference correction has already been generated, the correspondence between the trolley positioning and the nozzle pointing is updated before the subsequent path is generated. This ensures that the center coverage code, overlap coverage code, and edge coverage code in the subsequent path are re-determined based on the corrected correspondence. This prevents the subsequent path from simply adding additional sprays under the original offset relationship, but rather reorganizes the spray sequence under the corrected positioning spray coverage relationship.

[0094] Subsequently, the current coverage sequence is scanned along the cross section, and the spray coverage units that are not sprayed and have continuous spraying marks are connected in sequence to form the main spraying path.

[0095] The main spray path is used to complete the continuous area in the current section to be sprayed that has not yet formed an effective coverage. If there is a continuous spray mark between two adjacent unsprayed units, they are kept in the same main spray path. If they are separated by steel arches, exposed anchor bolt positions, sprayed boundaries or avoidance units, the current main spray path is interrupted at that position, and a new main spray path segment is formed from the next continuous spray unit.

[0096] The main spraying path can be continuously extended along the actual tunnel contour, while avoiding construction boundaries that are not suitable for direct continuous spraying.

[0097] After the main spray path is formed, for the insufficient overlap segment obtained in step S4, the corresponding edge cover code after being raised is inserted into the adjacent position of the main spray path to form a boundary closed path.

[0098] The boundary closure path is used to handle unclosed edge positions found in short-segment sprays, so that these positions are no longer just areas swept by the spray edge during subsequent sprays, but are covered as stable overlapping areas.

[0099] For insufficiently overlapping segments located at the boundary between the sprayed and unsprayed areas, the boundary closure path should first be connected to the unsprayed unit side and maintain an overlapping relationship with the boundary of the sprayed area. For segments with insufficient overlap between two unsprayed path segments, boundary closure paths are used to connect the preceding and following main spray path segments, ensuring continuous closure of the spray zone boundary.

[0100] Furthermore, for the blocked and missed spray segments, a supplementary spray path is generated according to the supplementary spray entry unit and supplementary spray direction determined in step S4. The supplementary spray path does not enter directly from the front of the blocked position, but enters from the adjacent spray coverage units that are not blocked on both sides of the blocked transfer section, and covers the spray coverage units that have not formed a solid coverage in the blocked transfer section along the supplementary spray direction. If there are supplementary spray entry units on both sides of the obstruction and transmission section, the position with the shorter connection to the current main spray path and without passing through the avoidance unit set shall be selected as the supplementary spray entry unit. If there is an unobstructed adjacent spray coverage unit on only one side, then that side is used as the supplementary spray entry unit.

[0101] Through the above processing, the respraying path can bypass the direct obstruction caused by the steel arch frame, exposed anchor bolt positions, or abrupt changes in contour, avoiding repeated respraying along the ineffective spraying direction.

[0102] For repeated coverage segments, read the avoidance unit set generated in step S4, and skip the spray coverage units in the avoidance unit set when the main spray path, boundary closure path and supplementary spray path are connected.

[0103] The term "skip" does not mean that the subsequent path will not pass through the location in space at all, but rather that it will not be used as the starting unit, stopping unit, or continuous spray target unit of the main spray path.

[0104] If the path needs to pass through this location, the nozzle can be controlled to stop spraying continuously when passing through, or the nozzle direction can be switched to the adjacent unsprayed unit, insufficiently overlapping segment, or blocked missed spray segment, thereby preventing the area where an effective spray layer has been formed from becoming the main spray target again.

[0105] In one specific embodiment, if the tenth to thirteenth spray coverage units in the current coverage sequence are unsprayed units, and there is a continuous spray mark between the tenth and twelfth units, the thirteenth unit is written into the avoidance unit set, and the fourteenth to thirteenth units are still unsprayed units, then step S5 first forms the main spray path segment of the tenth to twelfth units, then skips the thirteenth unit, and re-forms the next main spray path segment from the fourteenth unit. If there is an insufficient overlap between the twelfth and fourteenth units, a boundary closure path is inserted between the two main spray path segments. If there is a segment that is obstructed or missed after the fifteenth unit, then insert a supplementary spray path according to the supplementary spray entry unit and the supplementary spray direction.

[0106] When the same spray coverage unit corresponds to multiple path processing results, conflict handling is performed in the order of avoidance unit, supplementary spray path, boundary closure path, and main spray path. If a spray coverage unit belongs to both the insufficient overlap segment and the avoidance unit set, the avoidance unit attribute is retained first, and the boundary closure path is adjusted to the adjacent unsprayed unit side; If a certain blocked and missed spray segment overlaps with a repeated coverage segment, the next spray coverage segment will be selected from the adjacent spray coverage segments that have not been written into the avoidance unit set to be sprayed into the unit. If the main spray path must cross an avoidance unit, then set the avoidance unit as the path crossing location instead of the continuous spray target location.

[0107] After completing the main spray path, boundary closure path, supplementary spray path, and avoidance processing, the path segments are sorted according to the original order of the cross-section unfolding sequence to obtain the subsequent spray path.

[0108] The subsequent spraying path includes path segment type, starting spraying coverage unit, ending spraying coverage unit, corresponding coverage status, whether overlapping closure is required, whether it belongs to masking supplementary spraying, and whether it needs to avoid repeated coverage. After the subsequent spraying path is output, the wet spraying trolley adjusts the trolley positioning reference, nozzle pointing reference, spraying sequence and supplementary spraying direction according to the path, and performs subsequent spraying operations.

[0109] After the wet spraying trolley executes the subsequent spraying path, it updates the coverage status of each spraying coverage unit in the current coverage sequence based on the spraying execution record, post-spraying surface changes, cross-section verification results, or manual verification results.

[0110] For cells that have formed a continuous spray layer, update the coverage status to effective coverage; for cells whose boundaries are not yet closed, maintain or update the status to unclosed boundaries. For areas that still do not achieve effective coverage after respraying, they will remain as areas to be resprayed. For sprayed units that re-enter the spray coverage area, update to repeat coverage.

[0111] If new coverage deviation segments still exist after the update, you can go back to step S4 to assign and correct the event, or return to step S3 to perform a new short spray when it is necessary to re-verify the spray coverage relationship.

[0112] Through step S5, the various correction results obtained in step S4 are backfilled into executable subsequent spray paths in the original order of the current coverage sequence. These subsequent spray paths are the path results formed after integrating the trolley positioning reference correction, nozzle pointing reference correction, overlap closure, masking supplementary spraying, and repeated coverage avoidance, thereby achieving self-calibration between wet spray trolley positioning, spray coverage, and path planning.

[0113] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0114] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0115] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0116] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0117] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-calibrating path planning method for positioning, spraying, and covering of a tunnel wet spraying trolley, characterized in that: The specific steps include: S1. Write the information of the tunnel face, crown, waist, sidewall, steel arch frame and sprayed area of ​​the current section to be sprayed into the current coverage sequence according to the tunnel outline. Divide the continuous spraying coverage unit according to the initial support spraying layer requirements and mark the sprayed surface orientation, adjacent relationship and coverage status. S2. Collect the parking position of the wet spraying trolley, boom posture, nozzle end position, nozzle orientation, spraying distance and spraying angle, and generate a predicted coverage sequence according to the nozzle spraying direction. The predicted coverage sequence includes a center unit, overlapping unit, edge unit and possible occlusion unit. S3. Based on the expected coverage sequence, perform short-segment spraying in the path starting area, arch waist transition area or area adjacent to the steel arch frame to form the actual coverage trace sequence, and compare it with the expected coverage sequence unit by unit, and merge continuous inconsistent units to form coverage deviation segments. S4. Assign events to the coverage deviation segments, classify the overall same-direction deviation as the positioning offset segment, classify the edge unclosed segment as the insufficient overlap segment, classify the continuous uncovered segments falling into the occlusion transmission segment as the occlusion leak segment, classify the covered unit re-entering the coverage area as the duplicate coverage segment, and generate the corresponding correction results. S5. Backfill the corresponding correction results according to the original order of the current coverage sequence, generate the subsequent spraying path, so that the wet spraying trolley covers the unsprayed units, insufficiently overlapped segments and blocked missed spraying segments in sequence, and avoids overlapping coverage segments. After execution, update the coverage status of the current coverage sequence.

2. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 1, characterized in that: Step S1 includes: generating a section development sequence from the outline development direction of one side wall of the current section to be sprayed through the arch waist and arch top to the other side wall; setting the position where the sprayed surface orientation changes abruptly, the steel arch frame boundary position, the exposed anchor position, and the sprayed area boundary position as sequence breakpoints; and forming spraying coverage units based on the outline segments between adjacent sequence breakpoints, so that the spraying coverage units simultaneously have outline sequence position and construction boundary attributes.

3. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 2, characterized in that: Step S1 further includes: generating continuous spraying marks, shielding transfer marks, or boundary verification marks for the spraying coverage units based on the continuous relationship of the sprayed surface orientation between adjacent spraying coverage units, the obstruction relationship of the exposed positions of the steel arch or anchor rods, and the overlapping relationship of the sprayed area boundary, and determining the coverage status of the spraying coverage units according to the marks.

4. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 3, characterized in that: Step S2 includes: aligning the parking position of the wet spraying trolley with the cross-sectional reference position in the cross-sectional unfolding sequence; determining the spraying coverage unit that the nozzle points to based on the boom posture, nozzle end position, and nozzle orientation; and assigning a center coverage code, an overlap coverage code, and an edge coverage code to the spraying coverage unit that the nozzle points to and its adjacent spraying coverage units according to the correspondence between the nozzle spraying direction and the sprayed surface orientation, thereby forming an expected coverage sequence that is updated as the nozzle posture changes.

5. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 4, characterized in that: Step S2 further includes: when the nozzle spraying direction corresponding to the center cover code, overlapping cover code or edge cover code passes through the steel arch frame, exposed anchor bolt position or contour change position, the continuous spraying cover unit located behind the shielding position along the nozzle spraying direction is searched along the cross section unfolding sequence, and the rear continuous spraying cover unit is written into the shielding transfer section, so that the expected cover sequence simultaneously includes the direct spray coverage range and the range to be verified behind the shielding.

6. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 5, characterized in that: Step S3 includes: after the short-segment spray is completed, the actual spray landing point, the spray boundary closure position and the post-spray surface contour change position are recorded along the cross-section sequence, and the corresponding spray coverage unit is marked as a real coverage unit, a boundary unclosed unit or an invalid coverage unit, forming an actual coverage trace sequence.

7. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 6, characterized in that: Step S3 further includes: comparing the actual coverage trace sequence with the expected coverage sequence unit by unit according to the cross-sectional unfolding sequence; when consecutive inconsistent units are located in the same deviation direction, they are merged into positioning offset segments; when consecutive inconsistent units are located at the corresponding position of the edge coverage code, they are merged into insufficient overlap segments; when consecutive inconsistent units fall into the occlusion transfer segment, they are merged into occlusion missed spray segments; and when the sprayed area is marked as an actual coverage unit again, it is merged into repeated coverage segments.

8. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 7, characterized in that: Step S4 includes: for the positioning offset segment, reading the starting unit, ending unit and deviation direction of the positioning offset segment in the cross-sectional unfolding sequence, and trying to match the actual coverage trace sequence unit by unit along the reverse of the deviation direction until the center coverage code corresponding to the positioning offset segment corresponds to the actual coverage unit again, and generating trolley positioning reference correction or nozzle pointing reference correction according to the corresponding return unit position.

9. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 8, characterized in that: Step S4 also includes: for segments with insufficient overlap, the corresponding edge coverage code is promoted to the overlap coverage code of the next path segment; for segments with obstructed or missed spraying, adjacent unobstructed spraying coverage units are selected from both sides of the obstruction transfer segment as supplementary spraying entry units, and the supplementary spraying direction is determined; for segments with repeated coverage, the repeated coverage segments are written into the avoidance unit set and are not used as the starting unit or stopping unit of the subsequent main spraying path.

10. The tunnel wet spraying trolley positioning spray coverage self-calibration path planning method according to claim 9, characterized in that: Step S5 includes: correcting the trolley positioning reference, correcting the nozzle pointing reference, overlapping cover code, supplementary spray entry unit, supplementary spray direction and avoidance unit set according to the original order of the cross-section unfolding sequence, first connecting the unsprayed units with the continuous spray mark to form the main spray path, then inserting the insufficient overlapping segment to form the boundary closed path, then inserting the blocking missing spray segment to form the supplementary spray path, and skipping the spray cover unit in the avoidance unit set when the path is connected to obtain the subsequent spray path.

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