Shield Method Automation System

The automation system has been developed based on the purpose of unmanning the operation in shield work through robotization of excavation data collection, automatic surveying and stance controlling. The data collecting section gathers and analyzes various data such as on earth pressure, thrust and speed during excavation performed by the shield machine. The automatic surveying section measures the position (X, Y and Z) and stance (pitching, yawing and rolling) of the shield machine. The stance control section decides (according to various data on the shield machine and its position and stance) which jack to use out of those which are designed to drive the machine to trace a pre-designed line. In this way the section controles the direction of movements of the machine. By organizing these sections, the shield machine can excavate and drive forward automatically. The special feature of this system is the employment of a workstation (SUN-4) and an incorporated intelligence- the “EXPERT SYSTEM”, to the host computer. The EXPERT SYSTEM determines the changes due to excavation in the natural ground and the behavior of the shield machine. It compiles these data to alter its ergonomics to make accurate judgements. By incorporating the learning functions into the former shield auto-control system, a robotized, highly accurate shield excavation can be performed.