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隧道凿岩机器人是一套复杂庞大的、有一定自适应能力的机电液集成控制系统。它能完成隧道断面炮孔、方位的计算机辅助设计、绘图;机体定位后的坐标转换计算;多个钻臂（机械手）的防干涉控制;路径优化的孔序规划;自动移位控制;炮孔钻凿过程中的自动循环:异常情况识别、报警处理等一系列旨在使隧道开挖、炮孔钻凿时间最短而爆破后断面形状精度最高的自动化作业。本项目实施后,显示出的最突出的优点是大幅度降低隧道开挖的成本。采用隧道凿岩机器人施工的直
Tunnel boring robot is a complex and large, there is a certain degree of adaptive electro-mechanical and hydraulic integrated control system. It can complete the tunnel cross-section of the hole, computer aided design orientation, mapping; coordinate transformation after the body positioning calculation; multiple arm (robot) anti-interference control; path optimization of the sequence planning; automatic displacement control; Automatic circulation during drilling: a series of automatic operations aimed at the tunnel excavation, blasting the hole with the shortest blasting time and the highest accuracy of cross-section shape after blasting. After the implementation of this project, it shows the most prominent advantage is to significantly reduce the cost of tunnel excavation. Straight using tunnel boring robot construction