盾构隧道内部中隔墙安装机智能化控制系统设计  

Design of Intelligent Control System for Installation Machine of Shield Tunnel Middle Partition Wall

作　　者：王华 林春刚 李荆 WANG Hua;LIN Chungang;LI Jing(China Railway Tunnel Consultants Co.,Ltd.,Guangzhou 511458,Guangdong,China;Guangdong Provincial Key Laboratory of Intelligent Monitoring and Maintenance of Tunnel Structure,Guangzhou 511458,Guangdong,China)

机构地区：[1]中铁隧道勘察设计研究院有限公司,广东广州511458 [2]广东省隧道结构智能监控与维护企业重点实验室,广东广州511458

出　　处：《隧道建设（中英文）》2023年第4期698-710,共13页Tunnel Construction

基　　金：中国中铁股份有限公司科技研究开发计划课题(2021-重大-03);中铁隧道局集团有限公司科技创新计划课题(隧研合2021-07)。

摘　　要：为解决传统盾构隧道内部中隔墙整体现浇或部分现浇存在的施工效率低、工序繁琐及稳定性较差的问题,以上海轨道交通市域线机场联络线JCXSG-11标工程为依托,基于中隔墙施工工艺与配套安装机结构形式,开发一套智能化控制系统。从总体框架设计、流程设计、功能模组设计和控制与检测算法4个方面详细剖析控制系统的设计过程和功能模块,辅以中隔墙安装机主要结构与工作步骤介绍,重点阐述视觉相机识别中心孔定位和双6轴机械臂多传感信息融合定位的智能化控制设计方法及实施效果,保障中隔墙安装机拼装姿态与控制精度。现场测试结果揭示:1)控制系统能够驱动安装机较好地完成指定动作,实现设计功能;2)现场采用控制系统完成了726块中隔墙的拼装测试,平均每块中隔墙拼装时间控制在38 min左右,小于设计时间,拼装精度基本控制在±3 mm误差范围内。The integral or partial cast-in-situ middle partition wall in conventional shield tunnels has disadvantages,including low construction efficiency,complicated procedures,and poor stability.Hence,an intelligent control system is developed based on the construction technology of the middle partition wall and the structural form of supporting installers,relying on the tunnel project of Lot JCXSG-11 of the airport connecting line project of Shanghai Rail Transit City Line.In this study,the design process and functional modules of the control system are analyzed in detail,from the aspects of overall framework design,process design,function module design,and control and detection algorithm.The main structure and working steps of the middle partition wall mounting machine are then introduced.Furthermore,the design method and implementation effect of the intelligent control of the center hole positioning of the visual camera identification and the multisensor information fusion positioning of the double six-axis manipulator are emphasized,ensuring the assembly attitude and control precision of the middle partition wall installer.The field test results reveal that:(1)The control system can drive the installation machine to better complete the specified action and realize the design function.(2)The control system was used to assemble 360 middle partition walls,the average assembly time of each middle partition wall was controlled about 38 min,which is less than the design time,and the assembly accuracy was controlled within±3 mm.

关 键 词：盾构隧道 中隔墙 预制拼装 智能控制系统 

分 类 号：U45[建筑科学—桥梁与隧道工程]