Automatic control system and method for a machine used for excavating drifts, tunnels, stopes, or caverns

A system for automatically controlling the operation of a machine used for excavating drifts, tunnels, stopes, or caverns of a predetermined profile, said machine having a rotatable head on which are mounted at least two cutting arms which are rotatable with the head and extend in the direction of excavation, at least one of said cutting arms being radially pivotable by means of a hydraulic cylinder having a piston and a shaft one end of which is connected to the piston and the other acts on each pivotable cutting arm to pivot the same, said system comprising:

• means for continuously measuring angular position .phi. of the head as it is rotating;
• means for continuously measuring radial position angle .theta. of each pivotable cutting arm;
• a computer responsive to output signals of said means for measuring .phi. and .theta., said computer controlling valve means which continuously control flow of hydraulic fluid to the hydraulic cylinder so that for each angular position .phi. of the head, each pivotable cutting arm is radially positioned at a preset angle .theta. according to a predetermined profile code stored in the computer memory for cutting said predetermined profile.