Control System for a Machine for Digging and/or Drilling Soil and Digging and/or Drilling Machine Including Such a System

Control system (40) for a machine for digging and/or drilling earth, wherein said machine for digging and/or drilling earth (10) comprises:

• a digging head (11) arranged to dig the soil;
• a flexible load-bearing element (12) arranged to support said digging head (11) during normal operation;
• at least a first (13) and a second winch (14), each of which in turn comprises a drum (32, 33) about which at least part of the flexible load-bearing element (12) can be wound, and a motor (30, 31) arranged to actuate said drum (32, 33);
• a load-bearing arm (16) on the head (19) of which respective return pulleys of the cable (12) are provided, the head having an extension (23) of the arm extending from it, at the top of which at least one upper return pulley (24) is constrained,
• said digging head (11) being equipped with a block (25) comprising at least one lifting pulley (26),
• the load-bearing cable (12) being fixed at one end to the drum (32) of the first winch (13), relayed, by such return pulleys, by the lifting pulley of the head, by the upper return pulley (24) and finally fixed at the other end to the drum (33) of the second winch (14),
• said system being characterised in that it comprises
• an electronic control unit (43) adapted for controlling the movement of the winches (13,14),
• at least one velocity sensor means (41,42) arranged on a branch of load-bearing cable (12) coming out from the winches (13,14) adapted for monitoring the movement of such a cable,
• at least a fourth sensor (51) arranged to determine the rotation velocity or to measure the position of the digging head 11 with respect to a predetermined reference point at predetermined time intervals and the direction of the return pulley (24),
• such an electronic unit (43) being arranged to calculate the differential velocity with which the digging tool (11) can move based on the detections of the velocity sensor means and of the fourth sensor (51).