Research On Automatic Operation Strategy And Trajectory Planning Of Shotcrete Manipulator

As a typical tunnel engineering machinery,shotcrete manipulator play an irreplaceable role in infrastructure construction such as railways and highways.In order to solve the problems of poor working environment,threats to personal safety,and difficulty in guaranteeing the quality of the artificial shotcrete operation,this topic researches the automated shotcrete operation strategy and shotcrete manipulator planning method to realize the automatic operation of the shotcrete manipulator.This subject has conducted an in-depth study on how to obtain the information needed for automated shotcrete operations from the tunnel point cloud data.By comparing three commonly used point cloud volume calculation methods,combined with the characteristics of the research object of this subject,the 2.5D growth method is determined as the method of tunnel point cloud volume calculation.Then,the calculation process of the tunnel volume to be sprayed is designed with the 2.5D growth method as the core,and the specific realization method of each step in the process is analyzed.Finally,the validity of the tunnel point cloud volume calculation method proposed in this topic is verified through specific test experiments.On the basis of the automated shotcrete operation system,through the analysis of the shotcrete task,combined with the tunnel point cloud volume calculation method,three types of automatic shotcrete operation,filling operation and sweeping operation are proposed for the layered structure of the tunnel surface to be sprayed.Type of spray job.Propose corresponding operation strategies for each type of shotcrete operation,and design the operation process.Finally,the spraying parameters of the automated shotcrete operation are designed for the purpose of improving the operation quality.Kinematics modeling for the HPSZ5016 S shotcrete manipulator,the standard DH method is used to establish the DH coordinate system of the shotcrete manipulator,and the DH parameter table is listed,and then the manipulator is analyzed for positive kinematics.Based on the analytical method,the inverse kinematics of the shotcrete manipulator is analyzed.Finally,the shotcrete manipulator model is established on the Robotics Toolbox platform of MATLAB to verify the results of the forward and inverse kinematics analysis and draw the working space of the shotcrete manipulator.Combined with the automatic shotcrete operation method,the three-dimensional trace of shotcrete operation is drawn,and the shotcrete operation trajectory is divided into continuous operation trajectory and point-to-point operation trajectory.For the continuous operation trajectory,the sixth-order polynomial transition linear interpolation trajectory planning method is used to plan and draw the planning results.The correctness of the proposed method is verified by analyzing the joint trajectory curve.For the point-to-point operation trajectory,a fifth-order polynomial trajectory plan with optimal time and impact is used for planning,and the effectiveness of the method is verified by analyzing the joint trajectory curve.The research content of this paper is verified by simulation,simulated prototype and field test.Based on the ROS system,a three-dimensional visual simulation system of shotcrete manipulator is built,and the visual simulation of three types of operations,including pit filling,filling and surface sweeping,is completed.The simulation prototype of shotcrete manipulator is designed and built,and the simulation wet spray operation experiment is carried out,which verifies the correctness of the trajectory planning method.The hardware of HPSZ5016 s shotcrete trolley is upgraded and tested in the factory.Finally,the practicability of the automatic operation strategy and trajectory planning method of shotcrete manipulator proposed in this paper is verified by the automatic shotcrete manipulator operation experiment under actual working conditions.