智能机器人在复杂隧道施工环境中的应用现状及适应性研究

刘志锋; 何红曈; 陈臣; 王旌; 张吉哲

doi:10.20265/j.cnki.issn.1007-2993.2025-0275

智能机器人在复杂隧道施工环境中的应用现状及适应性研究

doi: 10.20265/j.cnki.issn.1007-2993.2025-0275

刘志锋^1,,
何红曈²,
陈臣¹,
王旌^2, ,,
张吉哲²

1.
广州地铁设计研究院股份有限公司，广东广州　510000
2.
山东大学，山东济南　250061

基金项目: 国家重点研发计划（2022YFB2603303）；山东省交通运输厅科技计划项目（2021B101）；济南市“新高校20条”资助项目（20228054）

详细信息

作者简介:
刘志锋，男，1991年生，硕士，高级工程师，主要从事城市轨道交通勘测方面的研究。E-mail：690851999@qq.com

通讯作者:
王　旌，男，1990年生，博士，教授，主要从事盾构隧道智能建造与灾害防控的研究。E-mail：wjingsdu@163.com

中图分类号: TU455.4；TU69
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- 文章访问数: 46
- HTML全文浏览量: 20
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2025-06-20
- 修回日期: 2025-10-29
- 录用日期: 2025-11-11
- 网络出版日期: 2026-10-08
- 刊出日期: 2026-10-08

Current status and adaptability research of intelligent robots in complex tunnel construction environments

1.
Guangzhou Metro Design & Research Institute Co., Ltd., Guangzhou 510000, Guangdong, China
2.
Shandong University, Jinan 250061, Shandong, China

摘要

摘要: 隧道施工环境极为复杂，传统的人工及机械施工方式效率低、主观性强，智能机器人凭借其先进的感知、决策和执行能力，极大提高了复杂环境下隧道工程的施工精度和可靠性。为了研究智能机器人对复杂隧道施工环境的适应性，在总结国内外应用现状的基础上，对复杂隧道施工环境特点进行了详细分析，明确了地质条件复杂、空间受限以及环境恶劣等因素对智能机器人作业的影响。从工程案例出发，展示了智能机器人在提高隧道施工效率、提升质量和保障安全等方面的优势，探究了导航与定位精度、通信稳定性、能源供应与续航能力等影响智能机器人适应性的技术影响因素，以及施工工艺匹配度和与其他设备协同作业能力等工程影响因素，提出包括定制化设计和加强设备间协同作业标准化等策略，确保智能机器人能够更好地适应复杂隧道施工环境和工艺要求，提高隧道施工效率和安全性。
- 隧道 /
- 智能机器人 /
- 应用现状 /
- 影响因素 /
- 适应性
Abstract: The tunnel construction environment exhibits extreme complexity and traditional manual and mechanical construction methods have low efficiency and strong subjectivity. With their advanced perception, decision-making, and execution capabilities, intelligent robots have significantly enhanced the precision and reliability of tunnel engineering construction in complex environments. This study systematically analyzes the distinctive characteristics of tunnel construction environments. On the basis of summarizing the current research status at home and abroad, it identifies three predominant factors - complex geological conditions, spatial constraints, and harsh working environments - that significantly impact the operational performance of intelligent robots. Starting from engineering cases, it demonstrates the advantages of intelligent robots in improving tunnel construction efficiency, quality, and safety. At the same time, the technical factors affecting the adaptability of intelligent robots, such as navigation and positioning accuracy, communication stability, energy supply and endurance, as well as engineering factors such as construction process matching and collaborative operation ability with other equipment, were explored. Finally, a series of practical and feasible strategies were proposed, including customized design and strengthening the standardization of collaborative operation between equipment, to ensure that intelligent robots can better adapt to complex tunnel construction environments and process requirements, and improve tunnel construction efficiency and safety.
- tunnel /
- intelligent robot /
- current applications /
- influencing factors /
- adaptability

HTML全文

图 1 AI智能安全巡查机器人

Figure 1. AI-powered intelligent security inspection robot

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图 2 凿岩机器人

Figure 2. Rock drilling robot

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图 3 喷浆机器人

Figure 3. Shotcrete robot

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图 4 监控量测机器人

Figure 4. Monitoring and measuring robot

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图 5 巡检机器人

Figure 5. Inspection robot

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图 6 钻爆法施工与智能机器人配合流程图

Figure 6. Flowchart of drilling and blasting construction coordinated with intelligent robots

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表 1 凿岩机器人前后施工效率

Table 1. Construction efficiency before and after using rock-drilling robots

对比项目	每个循环进尺/m	钻孔精度/mm	施工人员数量/人
人工凿岩	1.6	±50	8
凿岩机器人	4	±15	2
变化情况	提高150%	精度提高 700%	减少75%

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表 2 湿喷机和拱架机器人前后施工质量对比

Table 2. Comparison of construction quality before and after using the wet shotcreting machine and the arch robot

对比项目	湿喷每小时喷射量/m³	湿喷回弹率/%	每榀拱架安装时间/min	每榀拱架安装施工人员数量
人工作业	10	25	60	9
机器人作业	30	10	20	3
变化情况	提高200%	降低60%	缩短66%	减少66%

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表 3 智能机器人与其他设备协同作业标准和规范

Table 3. Standards and specifications for collaborative operation between intelligent robots and other equipment

协同作业环节	通信要求	作业顺序	安全注意事项
隧道开挖	采用工业以太网通信，挖掘机器人实时向装载机和运输车辆发送挖掘进度和位置信息，装载机和运输车辆及时反馈自身状态信息	挖掘机器人先进行挖掘，达到一定量后，装载机进行装载，运输车辆等待装载，装载完成后运输车辆运出岩石	挖掘机器人作业时，周围严禁其他人员和设备靠近；装载机和运输车辆行驶过程中，保持安全距离，遵守交通规则
初期支护	通过 OPC UA 协议实现湿喷机器人、拱架机器人与其他支护设备的数据交互，实时调整作业参数	先进行拱架安装，拱架安装完成后，湿喷机器人进行喷射混凝土作业	湿喷机器人喷射作业时，确保喷头方向正确，避免混凝土飞溅伤人；拱架机器人作业时，注意防止拱架掉落
隧道检测	建立专用的无线通信网络，检测机器人与控制中心实时通信，上传检测数据	检测机器人按照预定路线进行检测，检测完成后将数据传输给控制中心进行分析处理	检测机器人在隧道内行驶时，设置警示标志，防止其他设备碰撞；控制中心及时对检测数据进行分析，发现问题及时通知相关人员处理

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