Abstract
Advances in intelligent shield machines reflect an evolving trend from traditional tunnel boring machines (TBMs) to tunnel boring robots (TBRs). This shift aims to address the challenges encountered by the conventional shield machine industry arising from construction environment and manual operations. This study presents a systematic review of intelligent shield machine technology, with a particular emphasis on its smart operation. Firstly, the definition, meaning, contents, and development modes of intelligent shield machines are proposed. The development status of the intelligent shield machine and its smart operation are then presented. After analyzing the operation process of the shield machine, an autonomous operation framework considering both stand-alone and fleet levels is proposed. Challenges and recommendations are given for achieving autonomous operation. This study offers insights into the essence and developmental framework of intelligent shield machines to propel the advancement of this technology.
概要
**年来智能盾构技术的发展体现出盾构机**在由传统的隧道掘进机转变为隧道掘进机器人的趋势。这一转变旨在解决传统盾构机行业在施工环境和人工操控方面所面临的挑战。本文通过系统的文献分析, 梳理了智能盾构的技术发展现状, 提出了智能盾构的定义, 分析了智能盾构的含义、内容和发展模式。通过分析盾构掘进过程各环节的操作流程, 从盾构单机作业和盾构机群施工两个层面提出了盾构自主操控技术框架(图12和13)。针对智能盾构及其自主操控技术发展中所面临的挑战, 本文给出了未来研究中需重点关注的问题建议。智能盾构的发展应采用在传统盾构的基础上集成相应智能模块的方式逐渐演进。盾构掘进操控中涉及到的离散数字量调控采用可编程逻辑控制器比较容易实现自动化, 而需要决策和连续调节的模拟量调控则需要相应的智能化模块。智能盾构技术发展迅速, 潜力巨大, 在**泛化能力的盾构-环境交互模型、执行器控制器自动设计与整定、智能操控**台、试验与工程验证等方面仍面临挑战。
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Acknowledgments
This work is supported by the National Natural Science Foundation of China (No. 52105074) and the Open Project of State Key Laboratory of Shield Machine and Boring Technology (No. SKLST-2021-K02), China.
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Yakun ZHANG and Guofang GONG designed the research. Yakun ZHANG wrote the first draft of the manuscript. Jianbin LI and Liujie JING reviewed this work and contributed via discussion. Guofang GONG and Huayong YANG revised and edited the final version.
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Huayong YANG is an Editor-in-Chief of this journal, and is NOT involved in the editorial review or the decision to publish this article. Yakun ZHANG, Guofang GONG, Huayong YANG, Jianbin LI, and Liujie JING declare that they have no conflict of interest.
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Zhang, Y., Gong, G., Yang, H. et al. From tunnel boring machine to tunnel boring robot: perspectives on intelligent shield machine and its smart operation. J. Zhejiang Univ. Sci. A 25, 357–381 (2024). https://doi.org/10.1631/jzus.A2300377
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DOI: https://doi.org/10.1631/jzus.A2300377
Key words
- Intelligent shield machine
- Tunnel boring machine (TBM)
- Tunnel boring robot (TBR)
- Self-driving
- Autonomous control
- Shield machine