Soil layer survey device, control device for soil layer survey device, control method for soil layer survey device, and soil layer survey method

摘要

PROBLEM TO BE SOLVED: To provide a soil survey device for more accurately measuring a soil layer, a control device for the soil survey device, a control method, and a soil survey method. SOLUTION: A soil layer investigation device 1 includes a working member 11 for excavating a soil layer, a torque generating unit 13 for rotating the working member 11, a thrust generating unit 14 for applying thrust to the working member 11, and a torque generating unit. A rotation control unit that controls the rotation speed of the work member 11 by the unit 13 to the target rotation speed, a propulsion control unit that controls the thrust of the work member 11 by the thrust generation unit 14 to the target thrust, and a propulsion control unit that is rotated at the target rotation speed and It is characterized by having a control device 50 including a measurement result acquisition unit for acquiring information on a reaction force input from a soil layer to a working member 11 propelled by a target thrust. [Selection diagram] Fig. 1