The Technology of Automated Guidance for TBM’s and Road Headers

GENERAL Tunneling by hand digging is as old as the history of humans. Mechanized tunneling did not begin to replace manual methods until around the beginning of the 19th century(Brunel patent, 1818). It brought with it a higher degree of safety for the workers and a much higher rate of boring. But for any kind of tunneling, an accurate and feasible method of survey must be accomplished during mining. That means, that for each tunnel project the most efficient survey method must be devised. The method to be defined depends on the spatial curve, diameter, speed of tunneling method, purpose of tunnel and contractual accuracy. The final accuracy of a finished tunnel is heavily dependent upon three critical elements: 1. Quality of the above ground survey 2. Tunnel traverse and directional transfer from above ground 3. Guidance for the mining job. Combining The Survey And The Guidance System Since the guidance system (GS) is one of the critical factors in the determination of the tunnel final accuracy, it is necessary to analyze how the directional control and tunnel traverse measurements can be effectively integrated into a GS. Any guidance system, whether manual or high technology, must continually detect and compensate for movement of its theodoliteor laser station standpoint. Movement beyond a preset allowable amount must generate a warning or error message to the user. Additionally, optical refraction can interfere with the results. Refraction will have an effect on any kind of optical GS. Therefore, careful selection of target and standpoint locations can minimize, but not completely eliminate, the influence of refraction. Some GS technologies, such as Gyro-based systems, are immune to the effects of refraction, but have other, methodical errors which will be described later in this paper. GUIDANCE Overview Why is a guidance system necessary? A GS, whether manual or automatic, compares the design direction and slope of a tunnel with the current position of the mining