Device and method for continuously driving a tunnel

A device for continuously driving and lining a tunnel along a predefined setpoint trajectory, comprising:

• a cutting wheel for working a tunnel face;
• a plurality of compactors working in an axial direction and arranged on a side of the cutting wheel facing away from the tunnel face, the compactors held by a compactor bearing against which the cutting wheel is supported in the axial direction, the compactors disposed on a side of the compactor bearing facing away from the cutting wheel and operable to press against tubbing segments;
• at least some of the plurality of compactors attached to a converter module for measuring a pressure value associated with a pressing force exerted on a tubbing segment;
• a central unit with a central control module to which the converter modules are attached for transmitting the pressure values, the central unit including a navigation measuring module and a pressing force correction module which interact whereby an initial trajectory prediction is determined about a future trajectory with the navigation prediction module in the case of at least one given distribution of the pressing forces exerted by the compactors;
• wherein, in the event of a deviation of at least one of a future trajectory or an actual trajectory from the setpoint trajectory predefined by the navigation measuring module via the pressing force correction module, the pressing forces exerted by the compactors for stabilizing an actual force focal point resulting from the exerted pressing forces can be adjusted such that the deviation of the future trajectory from the setpoint trajectory is reduced as compared to the initial trajectory prediction;
• a navigation prediction module operable to determine an initial trajectory prediction about a future trajectory in the case of at least one given distribution of the pressing forces exerted by the compactors during the installation of tubbing segments that are adjacent in the circumferential direction for a continuous driving and lining until a tubbing segment ring is closed, and
• wherein, to determine the trajectory prediction with the navigation prediction module, the deviation of the actual force focal point of all pressing forces from a setpoint force focal point can be determined and the deviation of the actual force focal point from the setpoint force focal point forms a control variable of a control circuit comprising the pressing force correction module, the navigation prediction module and the central control module, wherein the calculation of the new pressing forces takes place in advance for a time period from the beginning of the installation of a tubbing segment until the conclusion of the installation of said tubbing segment and therefore until the beginning of the installation of the next tubbing segment so that the trajectory prediction determined by the navigation prediction module takes place by stabilizing the actual force focal point at least to an approximation of the actual trajectory with the setpoint trajectory for the time period of the installation of new tubbing segments.