为解决传统盾构法建造依赖人工操作经验进行管片拼装造成的隧道成型质量不稳定的现实难题，从运动学模型建立、目标位姿识别计算、拼装机自动控制等方面，构建成套的盾构整环管片自动拼装技术体系。在给出视觉传感器的布置方案与标定方法的基础上，针对管片抓取与拼装2个阶段，分别详细阐述基于不同点云数据处理技术的待拼管片目标位姿计算方法。通过传统拼装机液压系统改制和执行机构动作控制流程设计，在凝练人工管片拼装经验的基础上，制定管片自动抓取与定位安装策略。最终，基于既有超大直径泥水平衡盾构建立可用于本项技术验证的试验平台，充分考量环境模拟、试验安全等问题，并对点云处理精度进行说明。主要结论如下： 1)可表征管片目标位姿重复识别精度的位置坐标和姿态角度极差分别为0.97 mm和0.031°； 2）拼装成环后管片块之间与环之间错台量最大值分别为5.28、6.29 mm，满足工程验收规范要求。

To address the practical problem of unstable tunnel formation quality caused by the traditional shield method′s reliance on manual operation experience for segment assembly, a complete set of automatic shield segment assembly technology system is established. The system integrates kinematic model establishment, target posture recognition and calculation, and automatic control of the assembly machine. The calculation methods for the target posture of the segments to be assembled are elaborated in detail using different point cloud data processing techniques for grasping and assembly of the segments, as outlined in the layout scheme and calibration method of the visual sensor. Modifications are made to the hydraulic system of the traditional assembly machine, and a new action control process is designed for the actuating mechanism, which is used to formulate an automatic segment grasping and positioning installation strategy based on the experience of manual segment assembly. Finally, a test platform suitable for the verification of this technology is established, based on the existing super-large diameter earth-pressure balance shield. Furthermore, the processing accuracy of point clouds is discussed in the context of environmental simulation and test safety. The following conclusions are drawn from this analysis: (1)The positional coordinate and attitude angle range that can characterize the repeated recognition accuracy of the target position of the segment are 0.97 mm and 0.031°, respectively. (2)The maximum misalignment between the segment blocks and the ring after assembly is 5.28 mm and 6.29 mm, respectively, which meets the engineering acceptance specifications.