| 摘要 |
PURPOSE:To enable directional control with high accuracy by providing the course of a shield excavator caused by the soil characteristic and load distribution properly in the case excavation is made for a target value. CONSTITUTION:A self-position detecting receiver 30, an attitude angle detecting pitching meter 31, a vectorial angle detecting gyro 32, a load detecting sensor 34 for each driving jack 16, an earth pressure gauge 36 for detecting 3 axial earth pressure applied to a cutter head 10 and the like are mounted on a shield excavator. The present position and attitude of the shield excavator are measured, and the position and attitude of the shield excavator in a target point are calculated. After that, a vectorial angle of earth pressure vector acted on the present shield excavator is measured, and the correction of a target value is made in consideration of the course of the shield excavator. Then, a target value of load distribution is corrected, and a penetration test is made in advance to calculate a displacement characteristic of the land. When there is no pervious spiral excavation line execution data, calculated execution data is applied as it is, and pressure control of the driving jack 16 is made to drive. |
