| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy of direction correcting control by setting the threshold width of an attitude angle according to the range of the maximum and minimum values of attitude angles of a digging machine at a designated time after the end of oscillating a head part, and sending a control command to a direction correcting, actuator when the detected attitude angle exceeds the threshold width. SOLUTION: In a laser target 3, the attitude angle and position in the horizontal and vertical directions of a digging machine from the advance start to the present are sequentially detected to sequentially obtain a deviation of the attitude angle and position to the target value. The oscillating angle of a cutter head 4 is detected by a proximity sensor 6, and in the lapse of designated time (20 sec.) after the end of oscillating the cutter head 4, the maximum value and the minimum value of attitude angles are obtained to set the threshold width of the attitude angle according to the range of the maximum value and the minimum value of attitude angles. When the attitude angle detected by a laser target 3 exceeds the threshold width, a control command is sent to a direction correcting actuator 5. |
