盾构隧道“推-拼-运-管”一体化人机协同智能建造——以上海地铁13号线区间工程为例

doi:10.3973/j.issn.2096-4498.2026.10.013

隧道建设（中英文） ›› 2026, Vol. 46 ›› Issue (10): 2226-2239.DOI: 10.3973/j.issn.2096-4498.2026.10.013

盾构隧道“推-拼-运-管”一体化人机协同智能建造——以上海地铁13号线区间工程为例

朱叶艇^{1, 2}, 裴烈烽¹, 朱雁飞¹, 吴惠明¹, 龚卫^{1, 2}, 黄圣^{1, 2}, 潘伟强¹, 黄德中¹

(1. 上海隧道工程有限公司, 上海 200232; 2.上海城建隧道装备有限公司, 上海 200137)

出版日期:2026-10-20 发布日期:2026-10-20
作者简介:朱叶艇（1987—），男，浙江绍兴人，2017年毕业于同济大学，隧道及地下建筑工程专业，博士，正高级工程师，主要从事盾构隧道施工新技术与智能装备研发工作。E-mail: zhuyeting@stecmc.com。

Human-Machine Collaborative Intelligent Construction Integrating Shield Driving, Segment Assembly, Material Logistics, and Project Management: A Case Study of Shanghai Metro Line 13 Section

ZHU Yeting^{1, 2}, PEI Liefeng¹, ZHU Yanfei¹, WU Huiming¹, GONG Wei^{1, 2}, HUANG Sheng^{1, 2}, PAN Weiqiang¹, HUANG Dezhong¹

(1. Shanghai Tunnel Engineering Co., Ltd., Shanghai 200232, China; 2. Shanghai Urban Construction Tunnel Equipment Co., Ltd., Shanghai 200137, China)

Online:2026-10-20 Published:2026-10-20

摘要/Abstract

摘要： 为解决盾构隧道施工中掘进、拼装、运输3大核心系统长期依赖人工经验、协同性差、响应滞后等突出问题，集成运用盾构自主掘进、管片自动拼装、物料自动运输、3层管控方法4大核心技术，构建数智盾构技术架构，进而提出“推-拼-运-管”一体化人机协同智能建造模式。该模式重点从人机协同决策与执行机制、系统协同联动机制2个层面，实现盾构自主掘进、管片自动拼装、物料自动运输3大核心系统的集成与协同控制。依托上海地铁13号线芳乐路站—季乐路站区间隧道工程，开展系统化示范应用。工程应用结果表明： 1）3大系统在全流程中实现了协同运行与人机高效分工； 2）盾构自主掘进系统应用率超80%，水平与高程偏差控制在设定目标±15 mm以内的环数，分别占94.2%和96.1%，切口与盾尾处累计沉降分别控制在-1.19~+7.43 mm和-9.01~+8.16 mm，成型隧道轴线偏差约96.1%的环数控制在±50 mm以内； 3）管片自动拼装系统交付后连续实现126环无人工介入，隧道椭圆度约94.7%的环数控制在±2‰以内； 4）物料自动运输系统稳定运行258环，实现了工作井口至拼装面的协同运输。

关键词: 盾构隧道, 自主掘进, 自动运输, 自动拼装, 人机协同, “推-拼-运-管”一体化, 智能建造

Abstract: To address key challenges in shield tunnel construction, including long-standing reliance on manual experience, poor inter-system coordination, and slow dynamic responses among the three core systems (shield driving, segment assembly, and material logistics), this study integrates four core technologies—autonomous shield driving, automated segment assembly, automated material logistics, and a three-level control method—to establish a digital-intelligent shield construction architecture. Based on this architecture, an integrated driving, assembly, logistics, and management human-machine collaborative intelligent construction model encompassing is proposed. The model focuses on two aspects: the human-machine collaborative decision-making and execution mechanism and the system-level collaborative linkage mechanism, enabling the integration and coordinated control of the three core systems. Demonstration applications were conducted on the tunnel section between Fangle Road Station and Jile Road Station on Shanghai Rail Transit Line 13. The engineering results show that: (1) the three core systems achieved coordinated operation and efficient human-machine task allocation throughout the construction process; (2) the autonomous shield driving system achieved an application rate exceeding 80%. The proportions of rings with horizontal and vertical attitude deviations within ±15 mm of the targetvalues were 94.2% and 96.1%, respectively. Cumulative settlements at the cutting face and shield tail were maintained within －1.19 to +7.43 mm and －9.01 to +8.16 mm, respectively. Approximately 96.1% of the rings had as-built tunnel axis deviations within±50 mm; (3) following commissioning, the automated segment assembly system completed 126 consecutive rings without manual intervention, with approximately 94.7% of the rings achieving an ellipticity within ±2‰; and (4) the automated material logistics system operated stably for 258 rings, enabling fully coordinated material transport from the working shaft to the segment assembly area.

Key words: shield tunneling, autonomous shield driving, automated material logistics, automated segment assembly, human-machine collaboration, driving, assembly, logistics, and management integration, intelligent construction

朱叶艇, 裴烈烽, 朱雁飞, 吴惠明, 龚卫, 黄圣, 潘伟强, 黄德中. 盾构隧道“推-拼-运-管”一体化人机协同智能建造——以上海地铁13号线区间工程为例[J]. 隧道建设, 2026, 46(10): 2226-2239.

ZHU Yeting, PEI Liefeng, ZHU Yanfei, WU Huiming, GONG Wei, HUANG Sheng, PAN Weiqiang, HUANG Dezhong. Human-Machine Collaborative Intelligent Construction Integrating Shield Driving, Segment Assembly, Material Logistics, and Project Management: A Case Study of Shanghai Metro Line 13 Section[J]. Tunnel Construction, 2026, 46(10): 2226-2239.

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盾构隧道“推-拼-运-管”一体化人机协同智能建造——以上海地铁13号线区间工程为例

Human-Machine Collaborative Intelligent Construction Integrating Shield Driving, Segment Assembly, Material Logistics, and Project Management: A Case Study of Shanghai Metro Line 13 Section

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