盾构自主驾驶技术及应用  

Autonomous Driving Technology for Shield and Its Application

作　　者：吴惠明 周文波[2] 王伊[1] WU Huiming;ZHOU Wenbo;WANG Yi(Shanghai Tunnel Engineering Co.,Ltd.,Shanghai 200032,China)

机构地区：[1]上海隧道工程有限公司,上海200032 [2]上海隧道工程股份有限公司,上海200032

出　　处：《隧道建设（中英文）》2024年第11期2107-2118,I0005-I0016,共24页Tunnel Construction

摘　　要：盾构掘进机自动化程度高,但不具备对施工环境的自适应性,其高质量掘进依赖经验丰富的技术人员操控。为降低施工决策的人为因素影响,从盾构施工掘进自动化控制着手,基于互联网、大数据以及人工智能等新一代信息技术,提出施工环境自适应的盾构自主驾驶控制体系,从目标规划、施工决策到控制执行、感知反馈实现盾构的高度自主驾驶。基于控制体系设计并开发盾构自主驾驶系统,系统采用姿态、沉降和掘进3个智能控制单元和施工异常诊断单元实现盾构驾驶层级化控制,通过协同调节盾构姿态、同步注浆和推进速度等关键参数,最终实现盾构沿隧道设计轴线的微扰动自动掘进与长距离精准前行。上海机场联络线工程应用表明:1)盾构自主驾驶系统累计自主驾驶里程达4 km以上,其中超88%的自主掘进环在水平和高程的姿态偏差控制在±30 mm内,隧道施工质量相比人工控制提升30%;2)搭载盾构自主驾驶系统的盾构最大单月掘进距离达829.8 m,有效提升了盾构法隧道的施工产能。Despite of a high level of automation,the shield lacks adaptability to construction environment.Experienced technicians are required for precise control of the shield,and human factors have a significant impact on shield tunneling.Based on the internet,big data,artificial intelligence,and other new-generation information technologies,an autonomous driving control system for shield with adaptive construction environment is proposed.The system can achieve highly autonomous driving of shield from goal programming,construction decision-making to control execution and perception feedback.Based on the autonomous driving control system for shield,the functions and software and hardware architectures of the autonomous driving system are introduced.Micro disturbance automatic tunneling and long-distance precise advance along the tunnel design axis can be achieved through intelligent control of key parameters such as shield posture,synchronous grouting,and advance speed.The engineering applications in Shanghai Airport Link Line show that:(1)The accumulative driving length using autonomous driving technology is over 4 km,and the horizontal and elevated posture deviation of 88%rings by autonomous driving technology is controlled within±30 mm,with a 30%improvement in tunnel construction quality compared to manual control.(2)The maximum monthly advance reaches 829.8 m,greatly improving the shield tunneling efficiency.

关 键 词：盾构 自主驾驶 控制技术 协同决策 

分 类 号：U45[建筑科学—桥梁与隧道工程]