关键词: 盾构, 自主驾驶, 控制技术, 协同决策

Abstract: 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.

Key words: shield, autonomous driving, control technology, collaborative decision making