盾构隧道施工物料无人运输发展现状及关键技术

Development status and key technologies of unmanned transportation of shield tunnel construction materials

盾构隧道施工物料无人运输有助于提升运输效率、降低运输成本、减少运输安全事故率。与公路汽车无人驾驶、港口车辆无人驾驶、轨道交通无人驾驶等逐步成熟的无人驾驶技术不同,在隧道场景下实施施工物料无人运输存在运输物料种类繁多、运输调度困难、地下定位信号拒止、狭窄车道频繁会车、行车路面工况复杂、地上地下联动响应慢等诸多挑战。从实现盾构隧道施工物料无人运输的关键问题分析入手,综述当前盾构隧道施工物料运输方式、运输需求、无人运输发展现状及存在的挑战,提出盾构隧道施工物料无人运输的五大关键技术:多种类物料智能货控能效管理技术,无人化垂直装卸门机控制技术,多传感器融合同步定位与地图构建技术,隧道复杂环境路径规划与自主避障技术,隧-地一体化联动响应的高可靠性无线通信技术。

Unmanned transportation in shield tunnel for construction materials benefits to improve transportation efficiency and reduce transportation costs and the accident rate of transportation safety.Different from the gradually mature unmanned technologies such as unmanned road vehicles,unmanned port vehicles,and unmanned rail transit,the implementation of unmanned transportation in tunnel scenarios faces multiple challenges such as many types of transportation materials,difficult to schedule,and underground positioning signal refusal,frequent traffic encounters in narrow lanes,complicated road conditions,and slow response of above-ground and underground linkages.Based on the analysis of the crucial issues about how to achieve unmanned transportation in shield tunnels for construction materials,the current transportation methods,transportation requirements,development status,as well as current challenges of unmanned transportation in shield tunnel for construction materials are summarized,and five key technologies of unmanned transportation in shield tunnel for construction materials are proposed.including:the technology of intelligent cargo control and energy efficiency management for various types of materials,the technology of unmanned vertical loading and unloading control in door machines,the technology of multi-sensor fusion synchronous positioning and map construction,the technology of path planning and autonomous obstacle avoidance control in tunnel,the technology of wireless communication with integrated linkage response between tunnels and ground.