On the Design of Robots for Finishing Inside Surfaces of Tunnels

本研究项目的目的是开发用于隧道内表面修整的机器人。首先，从文献中澄清了隧道掘进的几个问题。基于这些问题，我们定义了评估机器人系统的要点。第二，我们进行了几个实验，使用机器人操作器与超声换能器。我们开发了一个控制算法的系统来测量机器人的手和表面上的点之间的距离。经过一定的图像处理后，机器人系统可以自动获得表面形状的高精度信息。我们可以在隧道中识别大多数类型的三维形状。测距精度在10mm以内。为实际隧道内表面的精整提供了足够的信息。该机器人系统价格低廉，对环境变化具有较强的鲁棒性，具有一定的实用价值。最后，设计了用于隧道表面整形的液压烧杯。为了加工出具有适当精度的表面，必须控制破碎机的生成力。对两种力控制方案进行了试验。一个是调整供应压力，另一个是调整供应流速。试验结果表明，后一种方案优于前一种方案，为隧道表面处理提供了基本的设计方法。今后的研究还需要对隧道掘进问题进行系统的研究。

The purpose of this research project is to develope robots for finishing inside surfaces of tunnels. First, several issues of driving tunnels have been clarified from the references. Based on the issues, we define the points for evaluating the robot systems.Second, we carried out several experiments using a robot manipulator with a ultrasonic transducer. We developed a control algorithm for the system to measure the distance between the hand of the robot and points on the surface. After some image processing, high accurate informations on the shape of the surface can be obtained automatically from the robot system. We can identify most types of three-dimensional shapes in tunnels. The accuracy of distance is within 10mm. It is sufficient for informations of finishing inside surfaces of actual tunnels. This robot system is useful because of the low price and the robustness to varying environment.Finally, the hydraulic beaker for shaping surfaces of tunnels was designed. So as to finish the srfaces with appropriate accuracy, it is necessary to control the generated force of the breaker. Two types of the schemes for controlling the force were tested. One is to tune the supply pressure, and the other is to tune the supply flow rate. It was shown from experiments that the latter scheme was better than the former.Basic design method for finishing surfaces of tunnels has been established in this research project. Systematic approaches on problems of driving tunnels will be required for further researches.