AU2020272984B2 - Definition system for defining a spraying area for a spraying machine - Google Patents

Abstract

The application relates to a definition system (100) for de- fining a spraying area (A1, A2, A3, A4) for a spraying ma- chine (102). The system comprises a spraying boom (104) of the machine, sensors of the boom, and a controller (120) for controlling the boom. A nozzle tip (115) of the boom is configured to contact several contact points (P1, P2, P3, P4, P5, P6) on a surface (104) to be sprayed in order to define boundaries of the area. The sensors obtain location information of each contact point. The controller defines location of the each contact point in a co-ordinate system of the boom on a grounds of the obtained location information so that defined locations of the contact points are used to form the area to be sprayed in the co-ordinate- system.

Description

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DEFINITION DEFINITION SYSTEM FORDEFINING SYSTEM FOR DEFININGA A SPRAYING SPRAYING AREA AREA FOR FOR A SPRAYING A SPRAYING MACHINE MACHINE

Technicalfield Technical field

Theapplication The applicationrelates relates generally generally to to a definition a definition system system for defining for defining a spraying a spraying area area 2020272984

5 5 forfor a a sprayingmachine. spraying machine.

Background Background

Concrete Concrete isis used usedtotoreinforce reinforcerock rock structures structures in in mines mines and and tunnels, tunnels, and and it is it is sprayed sprayed asasa aconcrete concrete layer layer on on these these structures structures by means by means of mobile of mobile concrete concrete sprayers. sprayers.

10 10 TheThe concrete concrete sprayers sprayers havehave a movable, a movable, telescopic telescopic spraying spraying boom boom that supports that supports a a concrete hosethrough concrete hose throughwhich whichthe thewet wetconcrete concreteflows flowsto to aa nozzle nozzle head headofof the the boom. boom. The nozzle The nozzlehead headwith witha anozzle nozzletip tip is is installed installedatatthe end the endofof boom boom and and an operator an operator uses uses aa moving movingmechanism mechanism andand a telescopic a telescopic structure structure of of boom boom in in order order to to drivethe drive the nozzle tip to nozzle tip to aa desired desired location, location, close close to to aa surface, surface, which which will willbe be coated coated by the by the 15 concrete 15 concrete layer, layer, so itthat so that is it is possible possible to direct to direct a concrete a concrete spray accurately spray accurately to this to this surface. surface.

One solution to One solution to make makethethespraying spraying process process moremore accurate accurate and toand to decrease decrease the the consumptionofofsprayed consumption sprayedconcrete concrete is isa ause use ofofadditional additionalscanner scannerforforrecognizing recognizinga a shape shape ofof aa surface surface of of an an area areatoto be besprayed. sprayed.TheThescanner scanner produces produces a view a view fromfrom 20 20 thethe surface surface of the of the area, area, whereupon whereupon the operator the operator can control can control movements movements of the of the nozzle headand nozzle head andtip, tip, and and direct direct the the concrete concrete spray on the spray on the grounds groundsofof the the scanner scanner view. view.

A reference A referenceherein herein to to a patent a patent document document or anyor any matter other other identified matter identified as prioras prior art, art, is is not not to tobebe taken taken as as an an admission that the admission that the document document ororother othermatter matterwas wasknown known 25 25 or or thatthe that theinformation informationitit contains contains was part of was part of the thecommon generalknowledge common general knowledgeas as at at the priority the priority date date of of any of the any of the claims. claims.

Summary Summary

Accordingtotoa afirst According first aspect aspectfofothe theinvention, invention, there there is is provided provided a definition a definition system system for for defining defining aa spraying sprayingarea area forfor a a spraying spraying machine, machine, comprising comprising

30 30 a a spraying spraying boom boom ofof the the machine, machine, sensors of the sensors of the boom, and boom, and

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a controller for a controller for controlling controlling the the boom, boom,

whereinthe wherein thesensors sensors are are configured configured to obtain to obtain location location information, information,

wherein aanozzle wherein nozzletiptipofof the theboom boom is is configured configured to to contact contact several several contact contact points to define points to define boundaries boundaries of of thethe area area to sprayed to be be sprayed on a surface on a surface and theand the sensors sensors

5 5 are are configured configured to obtain to obtain location location information information of the of the tip nozzle nozzle tip in in each each point contact contact point so that the so that the controller controllerisis configured configuredtotodefine define location location of of thethe eacheach contact contact point point in a in a 2020272984

co-ordinate co-ordinate system system of of the the boom boomonona agrounds grounds of of thetheobtained obtained locationinformation location information so that defined so that defined locations locations ofof the contact points the contact points areare used usedtotoformformthe thearea areatotobebe sprayed in the sprayed in the co-ordinate-system. co-ordinate-system.

10 10 According According to atosecond a second aspect aspect fo invention, fo the the invention, therethere is provided is provided a controller a controller for for defining defining aa spraying spraying area area comprising comprising a a processor part and processor part and a data transfer a data transferpart, part, whereinthe wherein thedata data transfer transfer part part is is configured configured to receive to receive location location information, information,

15 15 whereinthe wherein thelocation location information information is location is location information information of contact of each each contact point point

from sensors from sensorsof of aa spraying spraying boom boomofofa aspraying sprayingmachine machine to to which which contact contact points points a a nozzle tip of nozzle tip ofthe theboom has contacted boom has contactedwhenwhen boundaries boundaries of of thethe area area to to be be sprayed sprayed has beendefined has been definedonon a surface, a surface, whereupon whereupon the processor the processor part part is is configured configured to to define locationofofthe define location theeach each contact contact point point in ainco-ordinate a co-ordinate systemsystem of the of boomtheonboom a on a 20 grounds 20 grounds of received of the the received location location information information so thatso defined that defined locationslocations of the of the contact pointsare contact points areused used to to form form thethe area area to sprayed to be be sprayed in theinco-ordinate-system. the co-ordinate-system.

It It isisdesirable desirableto toovercome overcome drawbacks drawbacks of of known solutions and known solutions to present and to present aa definition system definition system for foraaquick quickdefinition definitionof of a spraying area, a spraying which area, removes which removes aa need need for the for the use of expensive use of expensiveadditional additionalscanners, scanners,makes makes the the spraying spraying performance performance 25 more 25 more accurate, accurate, andand takes takes a gravity-basedbending a gravity-based bendingandand use-based use-based wearing wearing of of spraying spraying boom into account boom into account

Embodiments Embodiments of of thethe invention invention areare specified specified by by thethe definitionsystem, definition system, controller, controller, methods, computer program, methods, computer program, and andcomputer-readable computer-readable medium mediumaccording accordingtotothe the independent claims. independent claims.

30 30 OneOne definitionsystem definition systemforfordefining defininga aspraying sprayingareaareaforfora aspraying sprayingmachine machine comprises comprises aaspraying sprayingboom boom of of themachine, the machine, sensors sensors of of thethe boom, boom, andand a controller a controller for controlling for the boom. controlling the boom. A nozzle A nozzle tip tip of the of the boomboom is configured is configured to contact to contact several several

contact points on contact points on aa surface surfacetotobebesprayed sprayedin in order order to to define define boundaries boundaries of the of the area. Thesensors area. The sensors obtain obtain location location information information of contact of each each contact point. point. The The controller controller

35 defines 35 defines location location ofofthe theeach eachcontact contactpoint pointin in aa co-ordinate co-ordinate system of the system of the boom onaa boom on

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grounds grounds ofofthe theobtained obtained location location information information so so thatthat defined defined locations locations of the of the contact pointsare contact points areused usedto to form form thethe area area to sprayed to be be sprayed in theinco-ordinate the co-ordinate system.system.

One definition method One definition for defining method for defining aa spraying spraying area area by by means means of of the the system, system,which which is is inin accordance accordance withwiththe theprevious previousdefinition definition system systemembodiment, embodiment, comprises comprises a a 5 step 5 step of contacting, of contacting, by nozzle by the the nozzle tip oftip ofspraying the the spraying boom contact boom several severalpoints contact on points on 2020272984

a surfacetotobebesprayed a surface sprayed in in order order to define to define boundaries boundaries of theofarea. the area. The method The method also also comprises a step comprises a step of of obtaining, obtaining, by the by the sensors sensors of theof the location boom, boom, location information information of of the each the eachcontact contactpoint. point. The Themethod method alsoalso comprises comprises a of a step step of defining, defining, by by the the controller controller of of the the boom, locationofofthe boom, location theeach each contact contact point point in ainco-ordinate a co-ordinate system system of of 10 theboom 10 the boomon aongrounds a grounds of theof obtained the obtained location location informationsoso information thatdefined that defined locations of the locations of thecontact contactpoints points areare used used to form to form the to the area area to be sprayed be sprayed in the co- in the co-

ordinate ordinate system. system.

One controller for One controller for defining defininga aspraying sprayingarea areacomprises comprises aa processor part and processor part and aa data data transfer part. transfer part. The Thedata data transfer transfer part part receives receives location location information information ofcontact of each each contact 15 pointtotowhich 15 point whicha anozzle nozzletiptipofofa aspraying sprayingboom boomof of a spraying a spraying machine machine has has contacted contacted when boundaries of when boundaries of the the area area has been defined has been defined on on aa surface surface toto be be sprayed. sprayed. TheTheprocessor processorpartpartdefines defineslocation locationofofthetheeach each contact contact point point in in a co- a co- ordinate ordinate system of the system of the boom boom onona agrounds grounds of of thereceived the receivedlocation locationinformation informationsoso that defined that definedlocations locationsofofcontact contact points points are are usedto usedto formarea form the thetoarea to be sprayed be sprayed in in 20 20 thethe co-ordinate co-ordinate system. system.

One definition method One definition methodfor fordefining defininga aspraying sprayingareaarea by by means means of theof controller, the controller, which is which is in in accordance with the accordance with the previous previous controller controllerembodiment, comprisesa astep embodiment, comprises step of of receiving, receiving, bybythe thedata datatransfer transferpart partofofthe thecontroller, controller,location location information information of each of each

contact contact point point toto which which aa nozzle nozzle tip tipofofa aspraying sprayingboom boom ofof aa spraying spraying machine has machine has 25 contactedwhen 25 contacted when boundaries boundaries of of thethe area area hashas been been defined defined on on a surface a surface to to be be sprayed. Themethod sprayed. The method also also comprises comprises a step a step of defining, of defining, by by thethe processor processor part part of of the controller, the controller, location locationofofthetheeach each contact contact point point in inaa co-ordinate co-ordinate system system ofof the the boom boom onon a grounds a grounds of the of the received received location location information information so thatso that defined defined locations locations of of contact pointsare contact points areused usedto to form form thethe area area to sprayed to be be sprayed in theinco-ordinate the co-ordinate system.system.

30 30 OneOne computer computer program program thatthat comprises comprises instructions which, instructions which, when whenthe the program programis is executed executed by bythe thecontroller, controller, which whichisisinin accordance accordance with with thethe previous previous controller controller embodiment, embodiment, cause cause the controller the controller to carry to carry out the out the ofsteps steps of the previous the previous definitiondefinition

method. The method. The program program comprises comprises code code for for receiving, receiving, by the by the data data part transfer transfer part of the of the

controller, controller,location locationinformation informationofofeach each contact contact point point to to which which a nozzle tip a nozzle tip of of aa 35 spraying 35 spraying boom boom of a of a spraying spraying machine machine has contacted has contacted when boundaries when boundaries of the area of the area

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4

has beendefined has been definedonona asurface surfacetotobebesprayed. sprayed. The The program program alsoalso comprises comprises code code for defining, for defining, by bythe theprocessor processorpartpart of the of the controller, controller, location location of theofeach thecontact each contact point point in in aa co-ordinate co-ordinate system system ofof the the boom boom onona a grounds grounds of of thethe received received location location information information so sothat thatdefined defined locations locations of contact of contact points points are used are used to the to form form thetoarea to area

5 5 be be sprayed sprayed in the in the co-ordinate co-ordinate system. system. 2020272984

One tangible computer One tangible computerreadable readablemedium medium comprises comprises the computer the computer program, program, which which is is in inaccordance accordance with with the theprevious previouscomputer computer program embodiment. program embodiment.

Thefollowing The followingdefinitions definitions shall shall be be applied, applied, unless unless a different a different definition definition is given is given in in the claims the claims or or elsewhere elsewhere in in this thisdocument. The used document. The usedverb verb"to “to comprise" comprise”isis an an open open 10 limitationthat 10 limitation thatneither neitherexcludes excludes nor nor requires requires the existence the existence of unrecited of also also unrecited features. The features. Theverbs verbs "to“to include” include" andand "to “to have/has” have/has" are defined are defined as to comprise. as to comprise. The The used terms"a", used terms “a”, “an”, "an", and and “at "at least leastone” one"are aredefined definedas asone one or or more more than one and than one and the term the term "plurality" “plurality” isisdefined defined asas two or more two or morethan thantwo. two.TheThe term term “another” "another" is is defined defined asasatatleast leasta asecond second or more or more andterm and the the"or" termis“or” is generally generally employed employed in its in its 15 sense 15 sense comprising comprising “and/or”, "and/or", unless unless thethe content content clearlydictates clearly dictates otherwise. otherwise.

Brief Brief description of the description of the figures figures

The exemplary The exemplaryembodiments embodiments are described are described with reference with reference to thetoaccompanying the accompanying figures: figures:

Fig. Fig. 11 presents presents a aprinciple principleofofdefinition definitionsystem systemforfor defining defining a spraying a spraying areaarea

20 Fig. 22 20 Fig. presents presents a aflowchart flowchartofof definitionand definition and spraying spraying method method

Fig. Fig. 3a3a presents presents calculated calculated movements movements of spraying of spraying boom during boom during the spraying the spraying process process Fig. Fig.3b presentsananadaptation 3b presents adaptationofofcalculated calculated movents moventsduring duringthe thespraying spraying process process 25 25 Fig. Fig. 4 4 presentsparts presents partsofofcontroller controller

Detailed descriptionof Detailed description of the the figures figures

Fig. Fig. 1 presentsa adefinition 1 presents definitionsystem system100 100 for defining for defining at least at least one spraying one spraying area A1, area A1,

A2, A3, A2, A3, A4 A4andandfor forspraying sprayingthe thedefined definedarea(s) area(s)A1,A1,A2, A2,A3, A3,A4A4with withconcrete concrete by by means means ofofaaspraying sprayingmachine machine 102102 in in order order to to form form a a supporting supporting concrete concrete layer layer onon 30 30 e.g.e.g. a surface a surface 104 104 of of a and a wall wallroof and(vault) roof (vault) structure structure of a tunnel of a tunnel profileprofile 106. 106.

Theatatleast The leastone onearea area A1,A1, A2, A2, A3, A3, A4 comprises A4 comprises e.g. e.g. one, one, two, two,four, three, three, or four, more or more areas. areas.

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The machine The machine102 102 is is e.g.a amobile e.g. mobileconcrete concrete sprayer sprayer thatisisused that usedinintunnel tunnelprofiles profiles 106 106 inin underground undergroundmining miningandand tunneling. tunneling. TheThe machine machine 102 is102 is capable also also capable of of spraying othermaterials, spraying other materials, e.g. e.g. water water or detergents or detergents for cleaning for cleaning surfaces surfaces 104, 104, and it and it

is is also capableofofoperating also capable operating outside outside the the tunnel tunnel profiles profiles 106 in106 in other other environments environments

5 forsame 5 for samepurposes. purposes. 2020272984

The system The system100 100 comprises comprises a spraying a spraying boomboom 108, telescopic 108, e.g. e.g. telescopic sprayer sprayer boom, boom, that is that isaa part partofofthe themachine machine 102 and attached 102 and attached(installed) (installed) to to the the machine 102byby machine 102 means means ofofananattachment attachment mechanism mechanism 110 110 so thatso it thatisit possible is possible to lift and to lift andtotolower lower the boom the 108,and boom 108, andtotorotate rotate (turn (turn around) around) ititbybymeans means of of its movement its mechanism movement mechanism 10 10 426426 in relationtotothe in relation the attachment attachmentmechanism mechanism 110. 110.

The boom The boom108 108comprises comprisesatatleast least telescopic telescopic boom structures 112, boom structures 112, 113 113 and and aa nozzle head114 nozzle head 114through throughwhich whichthe theconcrete concreteisissprayed sprayedatatananend endofofthe the telescopic telescopic boom structure 113. boom structure 113.The Thenozzle nozzlehead head 114, 114, or or actuallya anozzle actually nozzletip tip 115, 115, is is used to used to make contacttotocontact make contact contactpoints points P1, P1,P2, P2,P3, P3,P4, P4,P5, P5,P6P6 on on thethe surface surface 104104 to be to be 15 sprayed 15 sprayed in order in order to to defineboundaries define boundariesof of thearea(s) the area(s)A1, A1,A2, A2,A3, A3,A4. A4.

The contact The contact points points P1, P1, P2, P2, P3, P3, P4, P4, P5, P5, P6 P6comprises comprisesatatleast leastthree three contact contact points points P1, P2,P3, P1, P2, P3,P4, P4,P5, P5, P6, P6, e.g. e.g. three, three, four, four, five,six, five, six,orormore more contact contact points. points.

The boom The boom 108 108 also also comprises comprises several several installedsensors installed sensors 430430 forfor obtaininglocation obtaining location information information that that is isused used for forcontrolling controlling thethe boom boom108. 108. An An operator operator (not (not shown) shown) of of 20 20 thethe boom boom 108 108 uses uses the sensors the sensors 430 to430 to obtain obtain at least at least the the location location information information of of a a contact contact point point P1, P1, P2, P2, P3, P4, P5, P3, P4, P5, P6P6when when thethe operator operator drives drives the the boom boom 108 108 so so that its that its nozzle tip 115 nozzle tip 115contacts contactsthethe surface surface 104 104 on oncontact that that contact point point P1, P2, P1, P3, P2, P3,

P4, P4, P5, P5, P6. P6.

The system The system100100 also also comprises comprises a controller a controller (control (control part, part, control control unit)120120 unit) forfor 25 controlling movements 25 controlling movementsand and operationsofofthe operations theboom boom108. 108.The The controller 120 controller 120isis operated operated byby the the operator. operator.

Fig. Fig. 2 and 3a 2 and 3apresent presenta a definitionprocess definition processof ofthethe area(s) area(s) A1,A1, A2,A2, A3, A3, A4 and A4 and spraying movements spraying movements 350350 of of thethe boom boom 108108 on aon a grounds grounds of the of the defined defined area(s) area(s) A1, A1, A2, A3, A2, A3, A4 during aa spraying A4 during spraying process. process.

30 30 At At step step 252,252, the the controller controller 120120 presents presents and and maintains maintains a three-dimensional a three-dimensional (3D) (3D) co-ordinate system co-ordinate system 354, 354, which which has has an an origin origin O thatOlocates that locates in an attachment in an attachment point, point, i.e. i.e.thetheattachment attachmentmechanism 110,of mechanism 110, of the the boom 108. boom 108.

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The co-ordinate The co-ordinatesystem system 354 354 together together withlocation with the the location information information from from the the sensors 430enables sensors 430 enables to to locate locate thethe nozzle nozzle tiptip 115115 in relation in relation to to thethe attachment attachment mechanism mechanism 110,110,toto define define the the area(s) area(s) A1,A1, A2, A2, A3, A3, A4 to be A4 to be sprayed, sprayed, and and toto calculate calculate the required movements the required movements 350350 in order in order to perform to perform the spraying the spraying of theof the 5 defined 5 defined area(s) area(s) A1,A1, A2,A2, A3,A3, A4A4 on on thethe surface surface 104. 104. 2020272984

At step At step 256, 256, when the machine when the machine102 102 has has been been halted halted andand thethe operator operator of of thethe boom boom 108 hasplaced 108 has placed him-/herself him-/herself so that so that it isitpossible is possible to control to control the 108 the boom boom 108 safely, safely,

the operator, the operator, who whooperates operatesthethe controller120 controller 120by by means means of a of a user user interface interface of of remote controller428, remote controller 428, instructs instructs thethe controller controller 120120 to move to move the nozzle the nozzle tip 115tip 115 close close

10 10 to atofirst a first point point P1 P1 on the on the surface surface 104.first 104. The Thepoint first point P1 is to P1 is meant meant to indicate indicate a first a first

boundary (edge), boundary (edge), andand in this in this example example a vertical a vertical front front (right) (right) edge edge for thefor the operator, operator,

of of the the area(s) A1,A2, area(s) A1, A2,A3, A3,A4A4 on on the the surface surface 104. 104.

At step At step 258, 258,the theoperator operator instructs instructs thethe controller controller 120120 to move to move the 108 the boom boom 108 so that so that the nozzle the nozzletip tip115, 115,atatthethe endend of nozzle of nozzle head head 114, contacts 114, contacts the firstthe firstP1. point point All P1. All

15 15 thethe time, time, duringthe during themovements movements of boom of boom 108when 108 and and when the108 the boom boom is 108 is static, static, the the sensors 430 sensors 430 provides provides the the location location information, information, which which enablesenables the controller the controller 120 to 120 to

define define aa location locationofofnozzle nozzletip tip115. 115.

At step At step 260, 260,when whenthe the nozzle nozzle tip 115 tip 115 is iniscontact in contact withsurface with the the surface 104 on 104 on the the first first point P1,the point P1, thecontroller controller120 120 provides provides a location a location L1 y1, L1 (x1, (x1,z1) y1,ofz1) of first first pointpoint P1 for P1 for

20 20 thethe co-ordinate co-ordinate system system 354 354 on on a grounds a grounds of the location of the location information information from thefrom the sensors sensors 430430 andand the the operator operator instructs instructs the controller the controller 120 to120 tothis store store this location location L1 L1 into into its itsmemory part434. memory part 434.

At step At step262, 262,after afterstoring storingthethe location location L1,L1, the the operator operator instructs instructs the controller 120 the controller 120

to move to movethe thenozzle nozzle tiptip 115115 in ain substantially a substantially horizontal horizontal direction direction andand without without 25 contacting 25 contacting thethe surface surface 104 104 from from thethe first point first point P1 close to P1 close to aa second point P2 second point on the P2 on the surface 104. The surface 104. The second secondpoint pointP2P2isismeant meant totoindicate indicateaasecond secondboundary, boundary, in in this this example a verticalrear example a vertical rear (left)edge, (left) edge,ofofthe thearea(s) area(s) A1,A1, A2,A2, A3, A3, A4. A4.

At step At step 264, 264,the theoperator operator instructs instructs thethe controller controller 120120 to move to move the 108 the boom boom 108 so that so that the nozzle the nozzletip tip 115 115contacts contacts a second a second point point P2. P2.

30 30 At At step step 266, 266, whenwhen the nozzle the nozzle tip 115tip is 115in iscontact in contact with with the surface the surface 104 on 104 theon the second point P2, second point P2,the the controller controller 120 provides aa location 120 provides location L2 L2 (x2, (x2, y2, y2, z2) z2) of of second second point P2and point P2 and thethe operator operator instructs instructs the controller the controller 120 120 to to it store store intoitthe intomemory the memory part part 434. 434. AAhorizontal horizontalline lineP1-P2 P1-P2 between between the first the first and and second second points points P1, P2 P1, formsP2 forms

a third boundary, a third boundary,ininthis thisexample example a horizontal a horizontal lower lower edge, edge, for the for the area(s) area(s) A1, A2, A1, A2,

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A3, A4totobebesprayed A3, A4 sprayed and,and, at same at the the same time, atime, a length length l1 of I1 of the the area(s) area(s) A1, A2, A1, A3, A2, A3,

A4. A4.

At step At step 268, 268, when whenthethe location location L2 L2 hashas beenbeen stored, stored, the operator the operator instructs instructs the the controller 120totomove controller 120 movethe the nozzle nozzle tip in115 tip 115 in a substantially a substantially vertical vertical direction direction and and 5 without 5 without contacting contacting thethe surface surface 104104 from from thethe second second pointpoint P2 close P2 close to atothird a third point point 2020272984

P3 onthe P3 on thesurface surface 104. 104. TheThe third third point point P3 isP3meant is meant to indicate to indicate a fourth a fourth boundary, boundary, a a horizontal horizontal upper edgein upper edge in this this example, example, forfor the the area area A1A1and, and,atatthe thesame same time, time, a a width w1 width w1ofofthe thearea area A1. A1.

At step At step 270, 270,the theoperator operator instructs instructs thethe controller controller 120120 to move to move the 108 the boom boom 108 so that so that 10 10 the the nozzle nozzle tip 115 tip 115 contacts contacts the third the third point point P3. P3.

At step At step 272, 272,when whenthethe nozzle nozzle tip 115 tip 115 is iniscontact in contact with with the surface the surface 104 on104 the on the third third point P3, the point P3, thecontroller controller120 120provides provides a location a location L3 (x3, L3 (x3, y3, y3, z3) z3) of third of third point point P3 and P3 and

the operator the operator instructs instructs the the controller controller120 120 to to store store ititinto thethe into memory memory part part 434. 434. AA horizontal line, which horizontal line, is parallel which is parallel with with the the third third boundary boundary (horizontal (horizontal lower lower edge) edge) and and

15 which 15 which trespasses trespasses the third the third pointpoint P3, P3, intersects intersects in points in points IS1,IS1, IS2 first IS2 the the first and and second boundaries(front second boundaries (frontand andrear rearedges) edges) and and forms forms the the fourth fourth boundary, boundary, in this in this example a horizontal example a horizontal upper upper edge, edge, for area for the the area A1. A1.

Alternatively, the Alternatively, the operator operator120120 maymay instruct instruct the controller the controller 120 120 to tothe move move the nozzle nozzle tip 115 tip 115 inin other otherdirection directionfrom fromthethe second second point point P2toand P2 and to contact contact the surface the surface 104 104 20 20 on on thethe third third pointP3' point P3’ororP3" P3’’that thatalso alsoresults results corresponding correspondingstored storedlocation location L3' L3’ or or L3’’, L3", and the fourth and the fourth boundary boundary and andthethewidth widthw1 w1for forthe the area areaA1 A1similarly similarly as as above above has beendescribed has been describedinin steps steps 268, 268, 270, 270, 272. 272.

Thepurpose The purpose of the of the third third point point P3 (P3’, P3 (P3', P3") P3’’) is to is to define define the w1 the width width w1area to the to the area A1. The A1. Thelocations locations L1, L1, L2, L2, L3 L3(L3', (L3’, L3") L3’’) of of at at least least three three points points P1, P1, P2, P3 (P3', P2, P3 (P3’, 25 P3")P3’’) 25 is sufficient is sufficient for for thethe controller controller 120120 so that so that the area the area A1 isA1 is possible possible to define. to define.

At step At 274, when step 274, whenthe thelocation locationL3 L3has hasbeen been stored stored andand at least at least three three points points P1, P1, P2, P3 of P2, P3 of area area A1 A1have havebeen been defined,the defined, thecontroller controller 120 120forms formsthethefour-cornered, four-cornered, square square ororrectangle-shaped rectangle-shaped area area A1 by A1 by defining defining itsboundaries its four four boundaries so that so that the firstthe first

front boundary front boundary isisa alinelinestarting startingupwards upwards fromfrom the first the first pointpoint P1 being P1 and and being 30 perpendicular 30 perpendicular to the to the lineline P1-P2 P1-P2 between between the first the first andand second second points points P1, P1, P2. The P2. The second rearboundary second rear boundary is isa a linestarting line startingupwards upwards fromfrom thethe second second pointpoint P2 and P2 and being perpendicular being perpendicular to to thethelineline P1-P2. P1-P2. The third The third lower lower boundary boundary is the is the line line P1-P2, P1-P2,

and thefourth and the fourthupper upper boundary boundary is line is the the line that that intersects intersects in points in points IS1,the IS1, IS2 IS2 the first first

and second boundaries and second boundaries as as above abovehas hasbeen been described.The described. The square-shaped square-shaped or or

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rectangle-shaped rectangle-shaped area areaA1A1hashas a certain a certain first first surface surface area, area, which which depends depends on on distances between distances betweenthe thepoints pointsP1, P1,P2, P2,P3.P3. ItsItssurface surfacehas has a certainfirst a certain first angle angle inin view of view of XY-plane, XY-plane,which which substantiallycorresponds substantially corresponds with with a floor a floor plane plane of tunnel of tunnel profile profile 106, 106, in in the co-ordinate system the co-ordinate system354. 354. Finally,the Finally, theoperator operator instructsthethe instructs 5 controller120 5 controller 120totostore storearea areainformation information into into the the memory part 434. memory part 434. 2020272984

Alternatively, it Alternatively, it isis possible to define possible to definethe thearea(s) area(s)A1,A1, A2,A2, A3, A3, A4parallelogram, A4 as as parallelogram, whereuponthe whereupon thethird thirdpoint point P3" P3’’defines definesaathird third corner corner of of the the parallelogram-shaped parallelogram-shaped area(s) A1,A2, area(s) A1, A2,A3,A3, A4.A4. TheThe first first point point P1 P1 and and the second the second point P2point P2first define defineandfirst and

second cornersofofthe second corners theparallelogram-shaped parallelogram-shaped area(s) area(s) A1,A1, A2,A2,A3,A3, A4,A4, and,and, at the at the 10 same 10 same time, time, the the lineline P1-P2P1-P2 as a as thirda third boundary. boundary. The second The second boundaryboundary is a lineis a line between P2-P3’’,whereupon between P2-P3", whereupon the the first first boundary boundary is aisline a line thatthat startsfrom starts fromthe thefirst first point P1and point P1 andisisparallel paralleltotothe theline lineP2-P3" P2-P3’’ (second (second boundary). boundary). The fourth The fourth boundaryboundary is is a line, which a line, which isisparallel parallel with withthethethird thirdboundary boundary(line(line P1-P2) P1-P2) and which and which trespassesthethe trespasses thirdpoint third point P3’’. P3". TheThe fourth fourth boundary boundary intersects intersects in points in points IS1’’, IS2’’ IS1", IS2"

15 15 thethe firstand first andsecond second boundaries. boundaries. The The parallelogram-shaped parallelogram-shaped area(s) area(s) A1, A1, A2, A2, A3, A3, A4 A4 also hasthethecertain also has certain firstsurface first surfaceareaarea andcertain and the the certain first angle first angle in view in of view XY- of XY-

plane. plane.

At step At step 276, 276, after after the the formation of area formation of A1 has area A1 hasbeen been completed, completed, if the if the operator operator wants to wants to define define at at least leastone onemore more square, square, rectangle, rectangle, or orparallelogram-shaped area parallelogram-shaped area 20 20 A2,A2, A3,A3, A4,A4, thethe definitionprocess definition processcontinues continuesatatstep step278 278and and thearea the areaA1A1 becomes becomes a subareaA1. a subarea A1. Alternatively,when Alternatively, when the the definition definition of of area area A1sufficient, A1 is is sufficient, the the process continues at process continues at step step 290. 290.

At step At step 278, 278, the the operator operator instructs instructs the the controller controller120 120 to tomove the nozzle move the nozzle tip tip 115 115 again again inina asubstantially substantially vertical vertical direction direction andand without without contacting contacting the surface the surface 104 104 25 from 25 from the the third third point point P3P3 (P3’, (P3', P3’’) P3") close close to to a fourth a fourth pointP4P4 point on on thethe surface surface 104. 104.

The fourth The fourth point point P4P4is ismeant meant to indicate to indicate a fifth a fifth boundary, boundary, in this in this example example a a horizontal horizontal upper upper edge, edge, for foraasubarea subarea A2 A2 and a width and a width w2 of the w2 of the subarea A2. subarea A2.

Thelocation The locationofoffourth fourthpoint pointP4P4 maymay be other be other than described than described in the figures in the figures similarly similarly

as in the as in caseofofthe the case thethird third point pointP3. P3.

30 30 At At stepstep 280, 280, thethe operator operator instructsthe instructs the controller controller 120 120 to to move the boom move the 108sosothat boom 108 that the nozzle the nozzletip tip 115 115contacts contactsthethe fourth fourth point point point point P4.P4.

At step At step 282, 282, when whenthethenozzle nozzle tiptip115 115 is is inincontact contactwith withthe thesurface surface 104 104 on on the the

fourth point fourth point P4, P4,the thecontroller controller120 120provides provides a location a location L4 (x4, L4 (x4, y4, of y4, z4) z4)fourth of fourth pointpoint

P4 andthe P4 and theoperator operatorinstructs instructs the the controller controller 120 to store 120 to store ititinto intothe thememory part memory part

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434. AAhorizontal 434. horizontalline, line, which whichisisparallel parallelwith withthe thefourth fourthboundary boundary and and whichwhich trespassesthethe trespasses fourth fourth point point P4, P4, intersects intersects in points in points IS3,theIS4 IS3, IS4 theand first first and secondsecond boundaries (front and boundaries (front rear edges) and rear andforms edges) and formsthe thefifth fifth boundary, in this boundary, in thisexample a example a horizontal upperedge, horizontal upper edge, forfor the the subarea subarea A2the A2 and andwidth the width w2. w2.

5 5 At At step step 284, 284, whenwhen the location the location L4been L4 has has stored been stored and theand the point fourth fourthP4point of P4 of 2020272984

subarea A2has subarea A2 hasbeen been defined, defined, thethe controller120 controller 120 forms forms in in thisexample this examplethethe four- four- cornered, square or cornered, square or rectangle-shaped rectangle-shapedsubarea subarea A2 A2 by by defining defining itsitsfour fourboundaries. boundaries. Theline The linestarting startingupwards upwardsfromfrom the first the first point point P1 (perpendicular P1 (perpendicular to the to theP1-P2) line line P1-P2) is is the first front the first frontboundary boundary andand thethe line line starting starting upwards upwards from from the second the second point P2point P2

10 (perpendicular 10 (perpendicular to to thethe lineline P1-P2) P1-P2) is the is the second second rear rear boundary, boundary, the IS1-IS2 the line line IS1-IS2 between between the theintersection intersection points points IS1, IS1, IS2 IS2 is is the the third thirdlower lower boundary andthe boundary and the line line IS3-IS4 between IS3-IS4 between the the intersection intersection points points IS3, IS3, IS4 IS4 is theisfourth the fourth upper upper boundary. boundary. The The subarea subarea A2 A2also alsohas hasa acertain certainsecond second surface surface area, area, which which depends depends on distances on distances between between thethepoints pointsIS1, IS1, IS2, IS2, P4 P4and andwhich whichmaymay differfrom differ fromthe thefirst first surface surface area. area. 15 15 ItsIts surfacehas surface has a certainsecond a certain second angle angle in in view view of of XY-plane, XY-plane, which which maymay differ differ fromfrom the first the first angle. angle. Finally, Finally,the theoperator operator instructs instructsthethe controller controller120 120 toto store store area area information intothe information into thememory memory partpart 434.434.

At step At step 286, 286,after afterthe theformation formationof of subarea subarea A2been A2 has hascompleted, been completed, if the operator if the operator

wants totodefine wants definemore more subareas subareas A3,theA4, A3, A4, the definition definition processprocess for following for following 20 subareas 20 subareas A3,A3, A4 A4 continues continues atatstep step278 278correspondingly correspondingly as as above above described described by by contacting pointsP5, contacting points P5,P6,P6, providing providing locations locations L5, and L5, L6, L6, forming and forming the subareas the subareas A3, A3, A4. Alternatively, A4. Alternatively, if if all allnecessary subareas necessary subareas A1, A1, A2, A2, A3,have A3, A4 A4been havedefined, been defined, the the definition process definition continues process continues to to step step 288. 288.

At step At 288, the step 288, the controller controller 120 120 forms a consistent forms a consistent area area (surface) (surface) A1, A1, A2, A2, A3, A3, A4 A4 25 from 25 from the the defined defined subareas subareas A1, A3, A1, A2, A2, A4 A3,byA4 by combining combining those those in the in the co-ordinate co-ordinate system 354. system 354.

At step At step290, 290,the theoperator operator instructs instructs the the controller controller 120 120 aboutabout a spraying a spraying distancedistance d, d, which defines which defines aa distance distance between between aasurface surfaceofof the the formed area A1, formed area A1, A2, A2, A3, A3, A4 A4and and the nozzle the nozzle tip tip 115. Thespraying 115. The sprayingdistance distanced deffects effectstotothe thespraying sprayingmovements movements 30 350, 30 350, which which the the controller controller 120120 calculates, calculates, because because a spray a spray discharging discharging from the from the nozzle tip 115 nozzle tip 115 hashas a a cone shape, whereupon cone shape, whereupon thethe largerthe larger thespraying sprayingdistance distanced dis, is, the larger the larger aa hitting hitting area of the area of the spray sprayis. is.

On thegrounds On the grounds of the of the spraying spraying distance distance d, the d, the controller controller 120 defines 120 defines starting starting and and stopping locationsofofthe stopping locations thespraying spraying process process for nozzle for the the nozzle tipin115 tip 115 the in the co-ordinate co-ordinate

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system system 354354ononthethegrounds groundsthe theformed formed area area A1,A1, A2,A2, A3,A3, A4.A4. andand a position a position forforthe the nozzle tip 115 nozzle tip 115forforeach each area area A1, A1, A2, A2, A3,inA4 A3, A4 in relation relation to thetoformed the formed area A1,area A2, A1, A2,

A3, A4(on A3, A4 (onthethegrounds grounds of the of the surface surface angle(s)). angle(s)). The position The position for area for each eachA1, area A2, A1, A2,

A3, A4isissuch A3, A4 suchthat thatthethe nozzle nozzle tip tip 115115 is substantially, is substantially, perpendicular perpendicular tosurface to the the surface 5 5 104104 of of thethe area area A1,A1, A2,A2, A3, A3, A4A4 2020272984

The operator The operatoralso alsoinstructs instructs the thecontroller controller 120 120about abouta adesired desired layer layer thickness, thickness, which is which is obtained obtained by byadjusting adjustinga aspeed speedof of thethe nozzle nozzle tiptip 115115 and, and, possibly, possibly, by by adjusting adjusting a powerofof aaconcrete a power concretepump pump in the in the machine machine 102. 102. The layer The layer thickness thickness may bee.g. may be e.g. 10-150 10-150mm, mm,e.g. e.g.30, 30,40, 40, 50, 50, 60, 60, 70, 70, 80, 80, or or90 90mm. mm.

10 10 At At step step 292,292, the the operator operator instructs instructs the controller the controller 120 120 to start to start the spraying the spraying of of concrete or other concrete or other material, material, whereupon whereupon itit starts starts to to drive drivethe theboom 108(nozzle boom 108 (nozzletip tip 115) towards 115) towards thethe calculated calculated starting starting point point and, and, after after entering entering the starting the starting point, point, to to start start to to spray. spray.

At step At step 294, 294, the the controller controller120 120calculates calculatesthe thespraying sprayingmovements 350,which movements 350, whichare are 15 performed 15 performed by the by the structures structures 112, 112, 113,113, 114 114 of the of the boomboom 108, 108, during during spraying spraying step step by step, by by step, by taking taking the the form formofof the thesurface surfaceofofthe thearea areaA1, A1, A2, A2, A3,A3, A4 A4 and and the the instructed (received) spraying instructed (received) sprayingdistance distance d into d into account. account. The controller The controller 120 120 calculates calculates the the movements movements 350 350soso thatthe that thehitting hitting area area of of concrete concrete spray spray maintains maintains inside the boundaries inside the boundaries of of thethe formed formed area(s) area(s) A1,A3, A1, A2, A2,A4. A3, A4.

20 20 TheThe step-by-step step-by-step calculation calculation enables enables the the controller controller 120 120 to to re-calculate(adapt) re-calculate (adapt)the the spraying movements spraying movements 350,350, if theif the operator operator instructs instructs the the controller controller 120120 during during a a spraying movement spraying movement 350350 to to lengthen lengthen oror shortenthis shorten thismovement movement 350350 in ain direction a directionofof a a lenght lenght of of the thearea areaA1, A1,A2, A2, A3, A3,A4. A4. The The adaptation adaptation of of spraying spraying movements movements 350 350isis presented more presented more precisely precisely belowbelow in context in context of 3b. of fig. fig. 3b.

25 25 At At step step 296,296, the the controller controller 120120 controls controls the the machine machine 102the 102 and andboom the108 boom to 108 to spray the defined spray the defined area area A1, A1, A2, A2,A3, A3,A4A4 in in accordance accordance with with thethe calculated calculated movements movements 350350 and, and, finallyinterrupt finally interrupt the the spraying, spraying, when the boom when the boom108108 enters enters thethe defined stopping defined stopping location. location.

The operator The operatormay may instruct instruct thethe controller120120 controller to to adjust adjust a layer a layer thickness thickness of a of a 30 sprayed 30 sprayed materialbefore material beforeororduring duringthe thespraying sprayingbybyadjusting adjusting aaspeed speedofofthe the spraying spraying movements 350 movements 350 in in accordance accordance with with thethe desired desired layerthickness. layer thickness.

Fig. Fig. 3b 3b presents presents the the above-mentioned above-mentioned adaptation adaptation ofofspraying sprayingmovements movements 350 350 during the spraying. during the spraying. In In this this example, example, aa previous previous (left-hand (left-hand side) side) area(s) area(s) A1, A2, A1, A2,

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A3, A3, A4 andits A4 and its spraying spraying movements movements 350 350 have have already already been been defined defined andand sprayed sprayed in in accordance accordance with steps252, withsteps 252,256,..., 256,…,294, 294,296 296of of definitionprocess definition processpresented presented in in context of the context of theprevious previousfigures. figures.After Afterthat, that,a anext, next,adjacent adjacent (right-hand (right-hand side) side) area(s) area(s)

A1’, A2’, A1', A2', A3’, A3', A4’A4' and the spraying and the spraying movements movements 350350 of the of the boomboom 108 also 108 have have also 5 beendefined 5 been defined in in accordance accordance withwith steps steps 252,252, 256,…, 256 288,288,290290ofofthethe same same definition process. definition process. 2020272984

In this example, In this the example, the tunnel tunnel profile profile 106 106 bearsbears lefta direction left in in a direction of B. of arrow arrow As a B. As a

result result of of the the definition definition of of right-hand side area(s) right-hand side area(s)A1', A1’,A2', A2’,A3', A3’,A4', A4’,the thesprayed sprayed left- left-

hand sidearea(s) hand side area(s)A1,A1, A2,A2, A3, A3, A4 the A4 and andadjacent, the adjacent, defineddefined right-hand right-hand side area(s) side area(s)

10 A1’, 10 A1', A2’,A3', A2', A3’,A4' A4’are areinin contact contact on on one oneside side of of tunnel tunnel profile profile106106and and those those have have aa certain certain distance distance CCbetween between themthem on another on another side ofsidethe of the profile tunnel tunnel profile 106, 106, whereuponthere whereupon thereexists existsaanarrow narrowsurface surfacearea area(strip) (strip) cC between betweenthe theadjacent adjacentleft- left- hand and hand and right-hand right-hand side side areas areas A1,A3, A1, A2, A2,A4, A3,A1', A1’,A3', A4,A2', A2’,A4'. A3’, A4’.

After starting After starting to spray the to spray theconcrete concrete in in accordance accordance with with calculated calculated spraying spraying 15 movements 15 movements 350 350 and and steps steps 292,292, 294,294, 296, 296, whenwhen the the operator, operator, who who controlsthe controls the boom 108bybymeans boom 108 means of controller120, of controller 120,notices notices during during the the spraying spraying how howthethe definition ofof right-hand-side definition area(s) A1’, right-hand-side area(s) A2’, A3', A1', A2', A3’, A4' A4’ isis not notperfect, perfect, i.e. i.e. the the operator notices aa narrow operator notices narrowsurface surfacestrip stripC Cbetween betweenthe the leftleft andand right-hand right-hand sideside areas A1,A2, areas A1, A2,A3, A3,A4, A4, A1’,A2', A1', A2’,A3', A3’,A4'. A4’.According Accordingto to thethe calculated calculated spraying spraying 20 movements 20 movements 350, surface 350, this this surface stripstrip C would C would be left be left as aasnon-sprayed a non-sprayed area,area, but the but the operator is able operator is able to to adapt the original adapt the original calculated calculated spraying spraying movements movements 350350 when when necessary. necessary.

Theoperator The operatoris is able able to instruct to instruct the the controller controller 120, 120, duringduring an individual an individual spraying spraying

movement movement 350, 350, to to lengthen lengthen (extend) (extend) the the original original spraying spraying movement movement 350a 350a in a in a 25 direction 25 direction of of a a lengthI1,l1,I2l2 of length of the the right-hand right-hand side side area(s) A1’, A2’, area(s) A1', A2', A3’, A3', A4’ A4' as as an an extended sprayingmovement extended spraying movement350b 350b in accordance in accordance with a first with a lowest, lowest, first turn of turn of spraying movement spraying movement 350, 350, 350b 350b in thein the figure. figure. Alternatively, the Alternatively, the operator operatorisis able able to to instruct instructthethethe thecontroller 120 controller 120toto shorten shortenthe theoriginal spraying original spraying movement movement 350a 350a inin the direction the direction of of the thelength lengthI1, l1,I2l2 of of the theright-hand right-handside side area(s) area(s) A1’, A1', A2',A2’, A3',A3’, A4' A4’ as as

30 a shortenedspraying 30 a shortened spraying movement movement350c. 350c.

After the After the adaptation, adaptation, irrespective irrespective of whether of whether it is it is extension the the extension or shortening or shortening of of

individual individual spraying movement spraying movement 350, 350, 350a, 350a, 350b,350b, 350c, 350c, the controller the controller 120 re-120 re- calculates calculates next spraying movements next spraying movements 350, 350, 350a350a in accordance in accordance withadapted with the the adapted spraying movement spraying movement 350b, 350b, 350c 350c and and continues continues in accordance in accordance withasitlong with it as long as it as it 35 receives 35 receives next next (new) (new) adaptation adaptation instructionsfrom instructions fromthe theoperator. operator.

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In In this thisexample, example, where where the the surface surface strip stripC Cbecome narrower, when become narrower, whenaadistance distancefrom from the floor the floor of of tunnel profile 106 tunnel profile 106increases, increases, thethe operator operator should should instruct instruct the controller the controller

120 120 toto shorten shorten the the previously-adapted, previously-adapted, individual individual spraying spraying movements movements 350, 350, 350a 350a during the spraying during the spraying as as aashortened shortenedspraying sprayingmovement movement350c.350c. Not necessary Not necessary all all 5 individualspraying 5 individual sprayingmovements movements 350,350, but but continuously continuously whenwhen it isit necessary is necessary in order in order to avoid to avoid an an unnecessary doublespraying unnecessary double sprayingofofthe theleft-hand left-hand side side area(s) area(s) A1, A2, A3, A1, A2, A3, 2020272984

A4. A4.

Alternatively, the Alternatively, the controller controller 120 120isispossible possibletotoimplement implement so that so that it returns it returns afterafter thethe

adaptation backtoto the adaptation back the originally originally calculated calculated spraying spraying movements 350, movements 350, 350a 350a and and 10 continues 10 continues in in accordance accordance withwith them. them.

Naturally, if the Naturally, if the edges ofadjacent edges of adjacent areas areas A1, A1, A2, A2, A3,A1', A3, A4, A1’, A3', A4, A2', A2’,A4' A3’,overlap A4’ overlap at least partially, at least partially, unlike unlikeinin this thisexample, the operator example, the operatorisisable abletotoshorten shorten an an individual individualspraying sprayingmovement 350,350a, movement 350, 350a,350b 350bwhen when necessary. necessary.

The adaptation The adaptationenables enablesthe theoperator operatortoto adapt adaptevery everyindividual individual spraying spraying movement movement 15 15 350350 and,and, thus, thus, the the area area A1, A1, A2, A2, A3, A3, A1',A1’, A4, A4, A2',A2’, A3',A3’, A4' A4’ during during the the spraying spraying in in order to match order to matchthethe latest latest defined defined A1', A1’, areaarea A2', A2’, A3', A3’, A4’ A4' to thetopreviously the previously sprayedsprayed

area A1, A2, area A1, A2, A3, A3, A4. A4.

Fig. Fig. 4 presentsthe 4 presents thecontroller controller(control (control part,control part, control unit)120120 unit) that that is used is used to control to control

the spraying the spraying boom 104. boom 104.

20 20 TheThe controller controller 120120 comprises comprises a processor a processor part part 422 that 422 that performs performs operator operator and/or and/or computer program computer program initiatedinstructions, initiated instructions,and and processes processes data data in order in order to runto run applications. applications. The processor part The processor part 422 422may may comprise comprise at least at least oneone processor, processor, e.g.e.g. one, two,three, one, two, three,orormore more processors. processors.

Thecontroller The controller120 120 also also comprises comprises a dataa transfer data transfer part part 424 424 that thethat the controller controller 120 120 25 uses 25 uses in order in order to to send send commands, commands, requests, requests, andto and data data to other other components components of the of the system 100,e.g. system 100, e.g. the the movement movement mechanism mechanism 426a and 426 and a wireless wireless remoteremote controller controller 428, whichprovides 428, which provides a user a user interface interface for operator for the the operator to usetotheusecontroller the controller 120 and120 and

to control to control the the boom 108.TheThe boom 108. data data transfer transfer part part 424424alsoalso receives receives commands, commands, requests, requests, andand data data from from the theother othercomponents, components,e.g. e.g. thethe movement movementmechanism mechanism 30 426, 30 426, remote remote controller controller 428, 428, andand thethe sensors sensors 430. 430. TheThe communication communication between between the the data transfer part data transfer part 424, 424, and and the the components components 426, 426,430 430maymay be provided be provided through through a a wired cable wired cable connections connections or or wirelessly, wirelessly, andand between the data between the data transfer transfer part part 424 424 and and the remote the remotecontroller controller428 428 wirelessly. wirelessly.

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The controller The controller 120 120 also also comprises a power comprises a powersupply supplypart part 432. 432. The Thepower powersupply supplypart part 432 comprisescomponents 432 comprises componentsfor for powering powering the controller the controller 120,120, e.g.e.g. components components to to connect the controller connect the controller 120 to aa power 120 to powersupply supplysystem systemof of machine machine 102 102 or own or its its own battery. battery.

5 5 TheThe controller controller 120120 alsoalso comprises comprises a memory a memory part part 434 in 434 orderintoorder storetoand store to and to 2020272984

maintain data. The maintain data. datamay The data maybebe instructions,computer instructions, computer programs, programs, andand datadata files. files. The memory The memory part part 434434 comprises comprises at least at least one memory, one memory, e.g.two, e.g. one, one,three, two, three, or or more memories. more memories.

The memory The memory part part 434 434 stores stores at at leasta adata least datatransfer transferapplication application 436 436for for operating operating 10 10 (controlling)the (controlling) thedata datatransfer transfer part part 424, 424, aa movement movement application438 application 438 forfor operating operating the movement the mechanism movement mechanism 426426 of of thethe boom boom 108, 108, a sensor a sensor application440 application 440for for operating the sensors operating the sensors 430, 430,and anda apower power supply supply application application 442442 forfor operating operating thethe power supplypart power supply part 432. 432.

The memory The memory part434 part 434 also also storesa acomputer stores computer program program 444 444 (software, (software, application), application), 15 which 15 which uses uses at least at least oneone of of parts424, parts 424,426, 426,430, 430,432 432 in inorder ordertotoperform performatatleast least the the operations operations ofofcontroller controller120 120 described described aboveabove in thisin description this description and figures, and figures, when when itit isisrun run in in aa computer, e.g.ininthe computer, e.g. thecontroller controller120, 120,by by means means of theof the processor processor part part 424. 424.

The computer The computerprogram program444 444 maymay be stored be stored in e.g. in e.g. a Compact a Compact DiscDisc (CD) (CD) or or 20 Universal 20 Universal Serial Serial BusBus (USB) (USB) -type -type storage storage device. device.

The invention The invention has hasbeen beendescribed described above above withwith reference reference to the to the above-mentioned above-mentioned exemplary embodiments exemplary embodiments andand its its several several advantages advantages havehave beenbeen demonstrated. demonstrated. It isIt is clear that the clear that the invention inventionisisnot notonly onlyrestricted restrictedtotothese these embodiments, embodiments, but comprises but comprises

all all possible embodiments possible embodiments within within the the following following claims. claims.

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Theclaims The claimsdefining definingthe theinvention invention are are asas follows: follows:

1. A definitionsystem 1. A definition systemfor fordefining defining aa spraying spraying area area for for aa spraying spraying machine, com- machine, com- prising prising

a a spraying spraying boom boom of of the the machine, machine, 5 5 sensors sensors ofof the the boom, boom, andand 2020272984

a controller for a controller for controlling controlling the the boom, boom,

whereinthe wherein thesensors sensorsare are configured configured to obtain to obtain location location information, information,

wherein aanozzle wherein nozzletip tipofof the theboom boomis is configured configured to to contact contact several several contact contact points to define points to define boundaries boundaries of of thethe area area to sprayed to be be sprayed on a surface on a surface and theand the sensors sensors

10 10 are are configured configured to obtain to obtain location location information information of the tip of the nozzle nozzle tip in in each each point contact contact point so that the so that the controller controllerisis configured configuredtotodefine define location location of of thethe eacheach contact contact point point in a in a

co-ordinate co-ordinate system of the system of the boom boomonona agrounds grounds of of thetheobtained obtained locationinformation location information so that defined so that defined locations locations ofof the contact points the contact points areare used usedtotoform formthe thearea areatotobebe sprayed sprayed in in the the co-ordinate-system. co-ordinate-system.

15 15 2. 2. The system The system according according to the to the previous previous claim, claim, whereinwherein the controller the controller presents presents the co-ordinate the co-ordinate system, system, which whichisisaathree-dimensional three-dimensionalco-ordinate co-ordinatesystem system having having an origin that an origin that locates locates at atan an attachment mechanism attachment mechanism of of thethe boom, boom, whereupon whereupon the the each contact each contact point point in the in the co-ordinate co-ordinate system system is located is located in relation in relation to the attach- to the attach-

ment ment mechanism. mechanism.

20 20 3. 3. The system The system according according to any to any one of one the of the previous previous claims, claims, whereinwherein the control- the control- ler ler receives receives a a spraying distance, which spraying distance, which determines determinesa afirst first distance distance between between thethe surface to be surface to sprayedand be sprayed andthe thenozzle nozzletip, tip,from fromananoperator operatorofofthe theboom, boom, where- where- upon thecontroller upon the controller takes takes the the form formofof the thesurface surfaceofofeach eachformed formed area area and and the the spraying spraying distance distance into into account account when spraying movements when spraying movements areare calculated. calculated.

25 25 4. 4. The system The system according according to any to any one of one the of the previous previous claims, claims, whereinwherein the control- the control- ler ler defines at least defines at leaststarting startingand and stopping stopping locations locations for afor a concrete concrete sprayingspraying in the in the

co-ordinate system co-ordinate system and and a position a position for nozzle for the the nozzle tip intip in relation relation to thetoeach the formed each formed area. area.

5. 5. TheThe system system according according to any to any one one of the of the previous previous claims, claims, wherein wherein the the control- control- 30 30 lerler calculates calculates spraying spraying movements, movements, which which are performed are performed by a structure by a structure of the of the boom duringconcrete boom during concretespraying, spraying,forforthe thenozzle nozzletiptipon onthe thegrounds groundsof of a a form form of of a a surface ofthe surface of theformed formed area area in the in the co-ordinate-system. co-ordinate-system.

6. 6. TheThe system system according according to claim to claim 4, wherein 4, wherein the controller the controller re-calculates re-calculates the the spraying movements, spraying movements, ifif an anoperator operatorof of the the boom controls the boom controls the boom boomduring duringa aspray- spray-

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ing ing movement movement soso thatitit lengthens that lengthensor or shortens shortensthis this spraying movement spraying movement in in a a direc- direc- tion of tion of a a lenght of the lenght of area. the area.

7. 7. TheThe system system according according to claim to claim 4, wherein 4, wherein the controller the controller adjusts adjusts a speed a speed of of the spraying the spraying movements movements ininaccordance accordance with with a a desiredlayer desired layerthickness thicknessofof aa sprayed sprayed 5 material. 5 material. 2020272984

8. 8. TheThe system system according according to any to any onethe one of of previous the previous claims, claims, wherein wherein the lenght the lenght of of the the area area is is defined defined by by contacting contacting first firstand second and secondcontact contactpoints, points,whereupon a whereupon a second distance second distance between between these these points points is the is the lenght, lenght, and aofwidth and a width of the the area area is de- is de-

fined by fined by contacting contacting a a third thirdcontact contactpoint, point, whereupon whereupon a a third third distance distance between the between the 10 thirdcontact 10 third contactpoint pointand and a linebetween a line between the the firstand first and second second contact contact points points is the is the width width ofof the the area. area.

9. 9. TheThe system system according according to claim to claim 6, wherein 6, wherein the area the area is a is a first first subarea subarea and and a a width of width of aa second subareaisisdefined second subarea definedbybycontacting contactingaafourth fourth contact contact point, point, where- where- upon upon a afourth fourthdistance distance between between the fourth the fourth contact contact point point and and the thesubarea first first subarea is the is the

15 width 15 width of of thethe second second subarea subarea and and a lenght a lenght of the of the second second subarea subarea corresponds corresponds with with the lenght the lenghtof of the thefirst first subarea. subarea.

10. Thesystem 10. The system according according to claim to claim 9, wherein 9, wherein the the controller controller forms forms the the areaarea by by combining combining at at leastthethe least firstand first andsecond second subareas. subareas.

11. 11. A Adefinition definition method methodfor fordefining defining aaspraying sprayingareaareafor fora aspraying sprayingmachine machine by by 20 means 20 means of system of the the system according according to anytooneanyofone the of the previous previous claims, claims, comprising comprising at at least least steps of steps of

contacting, contacting, byby a a nozzle tip ofofaaspraying nozzle tip spraying boom several contact boom several contact points points to to de- de- fine boundaries fine boundaries ofof thearea the area to to be be sprayed sprayed on a on a surface, surface,

obtaining, obtaining, byby sensors sensors ofof the the boom, boom,location locationinformation informationofof the the nozzle nozzletiptip in in 25 each 25 each contact contact point, point, and and defining, byaacontroller defining, by controllerofofthe theboom, boom, location location of theof each the each contact contact point point in a in a co-ordinate co-ordinate system of the system of the boom boomonona agrounds grounds of of thetheobtained obtained locationinformation location information so that defined so that defined locations locations of of the contact points the contact points areare used usedtotoform formthethearea areatotobebe sprayed sprayed ininthe theco-ordinate co-ordinate system. system.

30 30 12.12. A controller A controller forfor defininga aspraying defining sprayingarea areacomprising comprising a a processor part and processor part and a data transfer a data transferpart, part, whereinthe wherein thedata data transfer transfer part part is is configured configured to receive to receive location location information, information,

2020272984 21 May 2025

16

whereinthe wherein thelocation location information information is location is location information information of contact of each each contact point point from sensors from sensorsof of aa spraying spraying boom boomofofa aspraying sprayingmachine machine to to which which contact contact points points a a nozzle tip of nozzle tip ofthe theboom has contacted boom has contactedwhenwhen boundaries boundaries of of thethe area area to to be be sprayed sprayed has beendefined has been definedon onaasurface, surface, whereupon whereupon thethe processor processor partpart is isconfigured configuredtotode- de- 5 fine 5 fine locationofofthe location theeach eachcontact contactpoint pointinina aco-ordinate co-ordinatesystem system of of thetheboom boom on aon a grounds grounds ofof thethe received received location location information information sodefined so that that defined locations locations of the con- of the con- 2020272984

tact points tact are used points are usedtotoform form the the area area to to be be sprayed sprayed in co-ordinate-system. in the the co-ordinate-system.

13. 13. A Adefinition definition method methodfor fordefining defining aaspraying sprayingarea areabybymeans means of the of the controller controller according according totoclaim claim12,12, comprising comprising at least at least steps steps of: of:

10 10 receiving, receiving, bybya adata data transfer transfer part, part, location location information information of each of each contact contact point point

from sensors from sensorsof of aa spraying spraying boomboomofofa aspraying sprayingmachine machine to to which which contact contact points points a a nozzle tip of nozzle tip ofthe theboom has contacted boom has contactedwhen when boundaries boundaries of of thethe area area to to be be sprayed sprayed has beendefined has been definedononaasurface, surface, and and defining, defining, by by the the processor part, location processor part, location of of the the each contact point each contact point in in aa co- co- 15 ordinate 15 ordinate system system of the of the boomboom on aon a grounds grounds of theof received the received location location information information so so that defined that locationsofofthe defined locations thecontact contact points points areare usedused to form to form the area the area to be to be sprayed sprayed

in in the the co-ordinate-system. co-ordinate-system.

14. 14. A Acomputer computer program program comprising comprising instructions instructions which, which, when when the the program program is ex- is ex- ecuted ecuted byby the the controller controller according according to claim to claim 12, cause 12, cause the controller the controller to out to carry carry at out at

20 least 20 least the the steps steps ofofthe themethod method according according to to claim13. claim 13.

15. 15. A Atangible tangiblecomputer computerreadable readable medium medium comprising comprising the computer the computer program program ac- ac- cording toclaim cording to claim14. 14.

WO wo 2020/208305 PCT/FI2020/050233 PCT/FI2020/050233

1/3 1/3

P6 P6 114 106 a A4 P5 g A3 h3 104 115 a P4 (IS3) 113 A2 w2 P3" (IS1") IS4 IS2' IS2" 120 112 P3' / & IS2 P6 P3 /(IS1) (IS1) /12 / 108 12 A1 w1 100 P2 11 P2 110 P1

102 Fig. 1

Memory Memory 120 434 434

DT Data transfer Movement 436 436 424 424 426

SE Processor Remote MO 438 438 440 422 428

PS CP Power supply Sensors 442 442 444 432 432 430

Fig. 4

WO wo 2020/208305 PCT/FI2020/050233

2/3

Start Another area? 276

Presenting a co-ordinate system NO YES 252 Moving the nozzle tip to a new point 278 Moving a nozzle tip to a first point

256 Contacting the new point for defining a width of another area Contacting the first point on a surface 280 to be sparayed

258 Storing location info of new point

282 Storing location info of first point

260 Forming the another area

284 Moving the nozzle tip to a second point Last area? NO 262 286

Contacting the second point for YES defining a lenght of spraying area Forming a consistent surface area 264 264 from defined areas

288 Storing location info of second point

266 Defining a spraying distance for the nozzle nozzletip tip

Moving the nozzle tip to a third point 290 268 Starting a concrete spraying

Contacting the third point for defining 292 a width of area

270 Calculating a movements of the nozzle tip nozzle tip Storing location info of third point 294 272 Spraying the concrete in accordance Forming the area with the calculated movements

274 296

End

Fig. 2

L6 (...)

100 106 L5 (...) # 350 354 Z 354 L4 L4 (x4, (x4, y4, y4, z4) z4)

104 Y 88 X O (0, ,0,0) 0, 0) L3 (x3, y3, z3)

110 d 115 di

O L2 (x2, y2,z2) y2, z2)

108 L1 (x1, y1, z3) 102

Fig. 3a

100

A2', A3', A4' 350 106 A2, A2, A3, A3, A4, A4,

14

104 C

12

B 350c 350a A1' A1' A1

350a 11 I1 350b

Fig. Fig. 3b 3b

Claims (15)

The claims defining the invention are as follows:

1. A definition system for defining a spraying area for a spraying machine, com prising a spraying boom of the machine, sensors of the boom, and a controller for controlling the boom, wherein the sensors are configured to obtain location information, wherein a nozzle tip of the boom is configured to contact several contact points to define boundaries of the area to be sprayed on a surface and the sensors are configured to obtain location information of the nozzle tip in each contact point so that the controller is configured to define location of the each contact point in a co-ordinate system of the boom on a grounds of the obtained location information so that defined locations of the contact points are used to form the area to be sprayed in the co-ordinate-system.

2. The system according to the previous claim, wherein the controller presents the co-ordinate system, which is a three-dimensional co-ordinate system having an origin that locates at an attachment mechanism of the boom, whereupon the each contact point in the co-ordinate system is located in relation to the attach ment mechanism.

3. The system according to any one of the previous claims, wherein the control ler receives a spraying distance, which determines a first distance between the surface to be sprayed and the nozzle tip, from an operator of the boom, where upon the controller takes the form of the surface of each formed area and the spraying distance into account when spraying movements are calculated.

4. The system according to any one of the previous claims, wherein the control ler defines at least starting and stopping locations for a concrete spraying in the co-ordinate system and a position for the nozzle tip in relation to the each formed area.

5. The system according to any one of the previous claims, wherein the control ler calculates spraying movements, which are performed by a structure of the boom during concrete spraying, for the nozzle tip on the grounds of a form of a surface of the formed area in the co-ordinate-system.

6. The system according to claim 4, wherein the controller re-calculates the spraying movements, if an operator of the boom controls the boom during a spray- ing movement so that it lengthens or shortens this spraying movement in a direc tion of a lenght of the area.

7. The system according to claim 4, wherein the controller adjusts a speed of the spraying movements in accordance with a desired layer thickness of a sprayed material.

8. The system according to any one of the previous claims, wherein the lenght of the area is defined by contacting first and second contact points, whereupon a second distance between these points is the lenght, and a width of the area is de fined by contacting a third contact point, whereupon a third distance between the third contact point and a line between the first and second contact points is the width of the area.

9. The system according to claim 6, wherein the area is a first subarea and a width of a second subarea is defined by contacting a fourth contact point, where upon a fourth distance between the fourth contact point and the first subarea is the width of the second subarea and a lenght of the second subarea corresponds with the lenght of the first subarea.

10. The system according to claim 9, wherein the controller forms the area by combining at least the first and second subareas.

11. A definition method for defining a spraying area for a spraying machine by means of the system according to any one of the previous claims, comprising at least steps of contacting, by a nozzle tip of a spraying boom several contact points to de fine boundaries of the area to be sprayed on a surface, obtaining, by sensors of the boom, location information of the nozzle tip in each contact point, and defining, by a controller of the boom, location of the each contact point in a co-ordinate system of the boom on a grounds of the obtained location information so that defined locations of the contact points are used to form the area to be sprayed in the co-ordinate system.

12. A controller for defining a spraying area comprising a processor part and a data transfer part, wherein the data transfer part is configured to receive location information, wherein the location information is location information of each contact point from sensors of a spraying boom of a spraying machine to which contact points a nozzle tip of the boom has contacted when boundaries of the area to be sprayed has been defined on a surface, whereupon the processor part is configured to de fine location of the each contact point in a co-ordinate system of the boom on a grounds of the received location information so that defined locations of the con tact points are used to form the area to be sprayed in the co-ordinate-system.

13. A definition method for defining a spraying area by means of the controller according to claim 12, comprising at least steps of: receiving, by a data transfer part, location information of each contact point from sensors of a spraying boom of a spraying machine to which contact points a nozzle tip of the boom has contacted when boundaries of the area to be sprayed has been defined on a surface, and defining, by the processor part, location of the each contact point in a co ordinate system of the boom on a grounds of the received location information so that defined locations of the contact points are used to form the area to be sprayed in the co-ordinate-system.

14. A computer program comprising instructions which, when the program is ex ecuted by the controller according to claim 12, cause the controller to carry out at least the steps of the method according to claim 13.

15. A tangible computer readable medium comprising the computer program ac cording to claim 14.

P6 114 106 a A4 P5 A3 h3 104 115 P4 (IS3) 113 A2 w2 P3" (IS1") IS4 IS2' 120 112 P3' / IS2 P6 (IS1) /12 / 108 w1 A1 100 P2 11 110 P1

102 Fig. 1

Memory 120 434

DT Data transfer Movement 436 424 426

SE Processor Remote MO 438 440 422 428

PS CP Power supply Sensors 442 444 432 430

Fig. 4

Start Another area? 276

Presenting a co-ordinate system NO YES 252 Moving the nozzle tip to a new point 278 Moving a nozzle tip to a first point

256 Contacting the new point for defining a width of another area Contacting the first point on a surface 280 to be sparayed

258 Storing location info of new point

282 Storing location info of first point

260 Forming the another area

284 Moving the nozzle tip to a second point Last area? NO 262 286

Contacting the second point for YES defining a lenght of spraying area Forming a consistent surface area 264 from defined areas

288 Storing location info of second point

266 Defining a spraying distance for the nozzle tip

Moving the nozzle tip to a third point 290 268 Starting a concrete spraying

Contacting the third point for defining 292 a width of area

270 Calculating a movements of the nozzle tip

Storing location info of third point 294 272 Spraying the concrete in accordance Forming the area with the calculated movements

274 296

End

Fig. 2

L6 (...)

100 106 L5 (...) # 350

Z 354 L4 (x4, y4, z4)

104 Y 88 X O (0, ,0,0) L3 (x3, y3, z3)

110 115

O L2 (x2, y2,z2)

108 L1 (x1, y1, z3) 102

Fig. 3a

100

A2', A3', A4' 350 106 A2, A3, A4,

104

12

B 350c 350a A1' A1

350a 11 350b

Fig. 3b