New measurement and control technology in tunnelling - Tunnel Engineering: Basics and Additional Services for Design and Construction - page 259

For the control of a rail-mounted roadheader, the movement parameters to be measured
are reduced to the three degrees of movement of the machine.
The simplest way of determining the position of the machine is to observe a target fixed
to the machine from a theodolite set up at an appropriate location. Since the machine not
only moves forward as it works but also changes its parallel divergence, this demands
the continuous presence of a surveyor. Automatic control of the excavator boom control
would scarcely be practical since this would require updated data about the position of the
machine to flow to the control computer. The automatic control system described below is
based on the following principles:
1. The machine position is determined using a system, of which some parts are installed
separately from the machine in the tunnel.
2. The cutting boom position is determined with a machine-mounted system of sensors.
6.4.2 Roadheader control system from Voest Alpine
VOEST-ALPINE Bergtechnik Ges.m.b.H. (VAB) offers the integrated control system
AMOR as an option for its machines. The objective is a considerable improvement of the
productivity and safety of the machines. Machines from VAB have been fitted with inte-
grated control systems since 1990 (Fig. 6-15) and more than 250 roadheaders equipped
with these control systems were in use worldwide in 2003 [248].
The automation includes:
- Control of direction.
- Display.
- Automated cutting.
- Remote control.
- VOEST ALPINE Monitoring and Reporting System.
- Safety and overload protection system.
- Tele-operation and underground communication.
- Electronic operating manuals and maintenance aids.
- Remote maintenance.
The determination of direction, as with the company Eickhoff (see 6.4.3), is mostly based
on the PPS system and is not described in more detail here. Similar systems are also of-
fered and applied by the companies VMT and Geodata.
Control of direction. VAB has tried out and put into practice control of direction using
either a theodolite or a north-seeking gyroscope. The control of direction enables cutting
of the correct profile to an accuracy of centimetres related to the design tunnel axis. This
reduces costs by avoiding later reprofiling and unnecessary overbreak and also saves shot-
crete quantity.