On the Design of Robots for Finishing Inside Surfaces of Tunnels

这个研究项目的目的是开发机器人来完成隧道内表面。首先，从文献资料中澄清了隧道掘进的几个问题。基于这些问题，我们定义了机器人系统的评价点。其次，我们使用带有超声波换能器的机器人机械手进行了几个实验。我们为系统开发了一种控制算法来测量机器人的手与表面上点之间的距离。经过一定的图像处理，机器人系统可以自动获得高精度的表面形状信息。我们可以在隧道中识别大多数类型的三维形状。距离精度在10mm以内。对于实际隧道内表面的整理资料已足够。该系统具有价格低廉、对环境具有较强鲁棒性等优点。最后，设计了用于隧道表面整形的水力烧杯。为了使表面完成适当的精度，需要控制破碎机的产生力。试验了两种控制力的方案。一是调节供给压力，二是调节供给流量。实验表明，后一种方案优于前一种方案。本课题建立了隧道表面整理的基本设计方法。对隧道掘进问题的系统研究有待于进一步的研究。

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.