Automatic control system and method for a machine used for excavating drifts, tunnels, stopes, or caverns

摘要

An automatic control of the operation of a machine used for excavating drifts, tunnels, stopes, caverns or the like of a predetermined profile having a rotatable head (10) and cutting arms (14, 16) mounted on the head for rotation therewith, extending in the direction of excavation with at least one cutting arm (14, 16) being radially pivotable. The angular position (&phgr;) of the head (10) is continuously measured and the output signals from these measurements are processed by the computer (44) which controls the angular positions of the head and of the arms according to a predetermined profile code or program stored in the computer memory for cutting the predetermined profile. Additional sensors (54,56) may be provided to control other parameters such as RPM of the rotating head, the force exerted on the arms, the positioning of the machine and the like.