PURPOSE: To carry a nozzle along a cylindrical surface in parallel with the axis of a tunnel, in controlling a robot provided at any position inside the tunnel, by instructing four positional coordinates on the basis of a horizontal line passing through the axis of the main swinging shaft of said robot.
CONSTITUTION: The positional coordinates of two horizontal points A, B existent in a predetermined spraying distance inside the points A', B' of a horizontal line, which passes through the supporting shaft of the main body 1 of a robot and an axis on a plane rectangular to a main swinging shaft 4, i.e. the axis of a tunnel, intersecting the excavated surface K of the tunnel are instructed. Distances from a point O1 where the supporting shaft on the main swinging shaft 4 is existing to the points A, B are instructed, too. In addition, from the positional coordinates of a point C where a perpendicular line existent on said plane and raised above the point O1 intersects a spraying cylindrical surface J existent in a predetermined spraying distance inside the excavated surface K of the tunnel, the distance between the point C and the shaft 4 is detected. Hereon, the spraying distance and the radius of the cylindrical surface J are values known by planning. Then, a nozzle is induced to the position of a point D which is existent in a distance z inside the point C along a direction in parallel with the axis of the tunnel.
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