Abstract: 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.

Key words:  , shield tunnel, middle partition wall, prefabrication and assembly, intelligent control system