Toward shotcrete process simulation to support robotic operation

摘要

In this study, we introduce a detailed physics-based particle system for simulation of the shotcrete process. The development of this framework concept is informed by an extensive literature review encompassing diverse modeling and simulation methodologies applied to shotcreting processes, coupled with insights derived from experimental studies on shotcrete. This method can effectively capture key shotcrete characteristics such as adhesion, cohesion, and rebound. Furthermore, simulated shotcrete particles have interaction with different objects, colliding and bouncing off different geometries that represent various construction substrates and conventional reinforcements. The primary objective of the process simulation is to expedite the advancement of robotic systems tailored for executing shotcreting operations, extending beyond mere visualization purposes. Through the integration of shotcrete process simulation into a virtual environment, a simulated representation of a robotic concept can be systematically experimented upon to anticipate and understand its behavior. This approach proves instrumental in refining the design of robotic systems, optimizing robot motion planning, mission planning, and enhancing management and operation practices.