Steering control device of shield tbm and steering control method using the same

A steering controller SC of a shield tunnel boring machine (TBM), comprising:

• a memory in which an application program is stored to provide a steering control method for individually controlling operating lengths l of at least four articulation jacks 3 provided between a front shield 1 having a cutter head 1a and a middle shield 2 along an excavation path and radially spaced apart at equal intervals;
• and a processor configured to execute the application program stored in the memory,
• wherein the processor, upon execution of the application program,
• extracts a reference point coordinate Tc of a cutter head 1a at a current point and a reference point coordinate Tt of the cutter head 1a at a target point according to one cycle of operation of a shield jack 4,
• calculates, using an artificial intelligence calculation model, the operating length l of each articulation jack 3 as a continuous real number value based on the reference point coordinate Tc of the current point and the reference point coordinate Tt of the target point,
• verifies whether to operate by comparing a reference point coordinate Tp of the cutter head 1a predicted when each articulation jack 3 operate according to the calculated operating lengths l with the reference point coordinate Tt of the target point, and
• simultaneously operates each articulation jack 3 according to the calculated operating lengths l.