Robotic Machine for High-Quality Shotcreting Process

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 8Language: englishTyp: PDF

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Nabulsi, Samir; Rodriguez, Angel (AITEMIN, Margarita Salas 14, 28918 Leganés (Madrid), Spain)
Rio, Olga (CISDEM, CSIC-UPM, Serrano Galvache 4, 28033 Madrid, Spain)

This paper summarizes the development of the technologies used to produce high quality sprayed concrete layers by robotizing a commercial shotcreting machine and automating the process used in the tunnelling construction industry. The proposed method provides the control system with the information of the properties of the pumping process, controlling the quality of the concrete layer by adjusting in real-time the trajectory of the shotcreting machine. Given the unstructured nature of the tunnelling construction method there is an inherent difficulty in the automation of the shotcreting process. A complete description of the implemented control architecture of the shotcreting machine, the automated shotcreting process, the real-time quality layer prediction and the analysis of the tests made in real sites are shown in this paper.