Method and apparatus for controlling a tunneling machine

A control system for controlling displacement of a winning tool by a support arm adapted for universal movement while supported by the frame of a tunneling machine employed to form a tunnel with a desired profile, said control system including the combination of:

• means for projecting a laser beam in a direction along a desired tunnel heading toward said tunneling machine while the winning tool thereof is arranged to release material from the heading face of a tunnel,
• means including a laser beam detector on the tunneling machine for generating first electrical signals corresponding to a position change of said tunneling machine with respect to said laser beam,
• means for generating second and third electrical signals corresponding to perpendicular position coordinates of said winning tool with respect to said tunneling machine,
• means responsive to said first and second electrical signals to continuously compute a limit coordinate signal which corresponds to a measure of the distance lying perpendicularly between an intersection with the winning tool as defined by an intersection with one of said two perpendicular position coordinates and a point on the track of movement by the winning tool when cutting the heading face at a tangent to the desired profile of the tunnel, said last-named means being responsive to said third electrical signal by comparing therewith said limit coordinate signal in a manner to prevent movement of the winning tool beyond the desired profile of the tunnel as defined by said limit coordinate signal, and
• control means responsive to said limit coordinate signal for universal positioning of said winning tool to form a desired tunnel profile.