An Automatic Tunnel Shotcrete Robot

At present, tunnel shotcrete construction in tunnel support is mainly carried out by manual control of multi-DOF (Degree of Freedom) shotcrete machine. Due to the harsh environment of the tunnel and the high labor intensity, the work is extremely harmful to the tunnel construction workers. In order to improve the automation level of the tunnel construction industry, this paper designed a fully automatic tunnel shotcrete robot based on the 8-DOF shotcrete machine. The research in this paper mainly includes four parts: kinematics modeling, environment perception, trajectory planning and trajectory tracking control. We carried out the control precision experiment and motion tracking experiment under the simulated tunnel. It shows that the automatic shotcrete robot designed in this paper basically meets the requirements of actual tunnel construction.