| 摘要 |
PURPOSE:To make it possible to realize directional control with high accuracy while anticipating the displacement of an excavator by measuring the displacement characteristic of a land in front of the shield excavator to control the drive of a driving jack. CONSTITUTION:A receiver 30 for detecting a self-position, a pitching meter 31 for detecting an attitude angle, a gyro 32 for detecting a vectorial angle, a sensor 34 for detecting a load of each driving jack 16, an earth pressure gauge 36 for detecting 3 axial earth pressure applied to a cutter head, and the like are mounted on an excavator. Earth pressure vector applied to the front of the shield excavator from a facing side is measured, and a correction coefficient is derived from actural displacement against the past earth pressure vector. After that, the measured earth pressure vector is corrected in accordance with the coefficient to correct a target direction. Successively, or independently, after the displacement characteristic of the front land of the shield excavator is obtained, the land displacement caused by the displacement characteristic and the present load distribution of the driving jack is obtained to calculate anticipated load distribution. In addition, the directional control in the case of excavation is made based on the anticipated load distribution. Accordingly, directional control with high accuracy can be realized. |
