Path Generation and Execution for Automatic Shotcrete in Railway Tunnels

Moniz, Gonçalo; Costelha, Hugo

http://hdl.handle.net/10400.8/8537

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Authors

Moniz, Gonçalo

Costelha, Hugo

Abstract(s)

The shotcrete process has been extensively used for many years in different civil and mining operations. Nevertheless, it is still either applied by an operator which controls the shotcrete nozzle manually or through a remote control. In either case, the operation is entirely controlled by the operator. Automating the shotcrete process involves developments in different parts of the process, such as the tunnel scanning for 3D model generation and the shotcrete path automatic generation and execution. This paper describes the work developed for this last part, namely the automatic generation and execution of a shotcrete path, given the mesh of a tunnel and a set of input parameters, for application in railway tunnels. The developed path also considers specificities of the concrete projection process, such as the uncontrolled flow variation due to the pumping systems, generating a trajectory that aims at minimizing this effect. Results are shown using a realistic simulator and an uneven railway tunnel, using an industrial robot mounted on a railway wagon.

Description

Acknowledgments: This work was partially supported by the project RoboShot@FRC – Robotic System for Optimized Projection of Fiber Reinforced Concrete in Railway Tunnels (POCI-01-0247-FEDER-047075 and LISBOA-01-0247-FEDER047075), under the Programa Operacional Competitividade e Internacionalização (POCI), and Programa Operacional Regional de Lisboa, through Fundo Europeu de Desenvolvimento Regional (FEDER). This project was also partially financed by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project UIDB/00308/2020 and under the Scientific Employment Stimulus - Institutional Call CEECINST/00051/2018.

Keywords

Shotcrete Shotcrete automation Robot path generation Robotic manipulation

URI

http://hdl.handle.net/10400.8/8537

Citation

G. Moniz and H. Costelha, "Path Generation and Execution for Automatic Shotcrete in Railway Tunnels," 2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Tomar, Portugal, 2023, pp. 214-219, doi: 10.1109/ICARSC58346.2023.10129548.