US 12,258,863 B2
Control method for tunnel excavation device and tunnel excavation device
Shigeaki Ashikaga, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/919,409
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Apr. 22, 2021, PCT No. PCT/JP2021/016370
§ 371(c)(1), (2) Date Oct. 17, 2022,
PCT Pub. No. WO2021/241092, PCT Pub. Date Dec. 2, 2021.
Claims priority of application No. 2020-094432 (JP), filed on May 29, 2020.
Prior Publication US 2023/0175396 A1, Jun. 8, 2023
Int. Cl. E21D 9/10 (2006.01); E21D 9/11 (2006.01)
CPC E21D 9/1093 (2013.01) [E21D 9/11 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A control method for a tunnel excavation device comprising a front body section including a plurality of cutters, a rear body section disposed to a rear of the front body section, and a plurality of thrust cylinders disposed between the front body section and the rear body section, the method comprising:
a first forward travel step for controlling the plurality of thrust cylinders so that the front body section moves forward along a first movement prediction line set based on a first path line while grippers of the rear body section protrude outward and the rear body section is secured to an inner wall of a tunnel, the first path line being an excavation plan line of the tunnel; and
a second step for controlling the plurality of thrust cylinder so that the rear body section moves forward along a second movement prediction line set based on a second path line while grippers of the front body section protrude outward and the front body section is secured to the inner wall of the tunnel, the second path line being an actual result line of tunnel excavation on which the front body section moved.