Method for advancing a tunnel boring machine along a planned route during the construction of a tunnel bore

Abstract

The invention relates to a method for advancing a tunnel boring machine along a planned route when driving a tunnel bore with a control system that enables precise traversal of a target trajectory as the planned tunnel route, and to a tunnel boring machine with a control system for implementing the method.

Description

[0001] The invention relates to a method for advancing a tunnel boring machine along a planned route when driving a tunnel bore with a control system that enables precise traversal of a target trajectory as the planned tunnel route, and to a tunnel boring machine with a control system for implementing the method.

[0002] One way to control the direction of advance of a turbomachine is via the overall pressure center of the thrust jacks when advancing the cutterhead of the tunnel boring machine.

[0003] DE102018102330A1 discloses a tunnel boring machine that has a cutterhead and a number of jacking jacks with which the cutterhead can be displaced in a thrust direction. Furthermore, a jacking jack control unit is provided with which the jacking jacks can be controlled, and means for visualizing the overall center of pressure resulting from the pressure exerted by the jacking jacks are included. Also disclosed is a device and a method for continuously advancing a tunnel along a predetermined target trajectory by influencing the pressure forces exerted on the installed tunnel segments via a control loop for the jacks in such a way that, during the advancing and during the installation of the tunnel segments, for example by stabilizing, preferably by controlling, an actual center of pressure, the actual trajectory remains within a permissible range for maintaining the predetermined target trajectory.In the case of continuous tunnel driving, even with the installation of tunnel segments, the predetermined target trajectory can be maintained solely by axially acting pressure forces.

[0004] DE102018102330A1 further discloses that at least some tunnel boring machines are connected to a converter module for measuring a pressure value associated with a contact force exerted on a tunnel segment, that a central unit with a central control module is provided to which the converter modules are connected for transmitting the pressure values, that the central unit further comprises a navigation measurement module, a press force correction module and a navigation prediction module, which interact in such a way that, with the navigation prediction module, an initial trajectory prediction of a future actual trajectory can be determined for at least one given distribution of the contact forces exerted by the machines.In the event of a deviation of the future or actual trajectory from the target trajectory specified by the navigation module, the pressing forces exerted by the presses can be adjusted via the press force correction module to stabilize an actual force center of gravity resulting from the exerted pressing forces, such that the deviation of the future or actual trajectory from the target trajectory is reduced compared to the initial trajectory prediction. Furthermore, it is disclosed that for effective control, it is advantageous that, in order to determine the trajectory prediction with the navigation prediction module, the deviation of the actual force center of gravity of all pressing forces from a target force center of gravity can be determined, and that the deviation of the actual force center of gravity from the target force center of gravity forms a controlled variable of a control loop comprising the press force correction module, the navigation prediction module, and the central control module.

[0005] WO002023057217A1 describes a tunnel boring machine and a method for tunneling. It reveals a simplified control system for the tunnel boring machine. The machine is equipped with a cutterhead that can be moved in the direction of advance by jacking jacks. A jacking jack control unit controls these jacking jacks and visualizes the overall center of pressure. The machine's control unit allows the input of the target total jacking force and the adjustment of the actual center of pressure using coordinate values ​​in a coordinate system. The tunnel boring machine is controlled by directly inputting coordinate values ​​of a target center of pressure to actuate the jacking jacks. A touchscreen displays both the target and actual centers of pressure, significantly simplifying machine control for the operator.Furthermore, it has been revealed that this allows different force profiles to be provided for straight-line travel and cornering in order to control the advance of the tunnel boring machine.

[0006] The overall center of pressure is also commonly referred to as the Center of Trust (CoT). It is preferably divided into a horizontal and a vertical component of the coordinate system for its adjustment during the operation of a tunnel boring machine.

[0007] Another method for controlling the advance of a tunnel boring machine is known to experts as shield steering. A shield is the outer boundary of the tunnel boring machine, supporting the unsupported section of the tunnel. The shield typically consists of a robust steel structure that absorbs the pressure of the surrounding soil or rock and ensures the stability of the tunnel during excavation. The shield is often made up of at least two sections. A shield steering joint is a movable connecting element between two shield sections. This allows the tunnel boring machine to tilt in different directions to control its direction during advance, for example, to navigate a curve or to change direction along the predetermined tunnel alignment.To change the angles of the blade sections relative to each other in the blade control joint, actuators, preferably hydraulic cylinders, are provided which can be controlled to adjust the blade control joint accordingly. The blade control joint is preferably adjusted while stationary. However, adjustment of the blade control joint during operation is also possible.

[0008] A navigation measurement module enables the positioning of tunnel boring machines ("Positioning of Tunnel Boring Machines" by Andreas Beyer (Engineering Surveying 2017, pages 93 to 100, ISBN 978-3-87907-630-7). A geodetic network connecting the starting and target structures serves as the basis for surveying in tunnel construction. This network is transferred into the already excavated tunnel by the site surveyors and extended and monitored as construction progresses. This provides fixed points behind the tunnel boring machine, which can be used to determine its position. The planned route for the tunnel construction project is defined in the same coordinate system as the survey network. This allows the position of the tunnel boring machine to be displayed in relation to the planned route.The current position of the tunnel boring machine is displayed to the operator in the control cabin using a navigation system, enabling him to control the tunnel boring machine according to the route and to correct any possible error.

[0009] To determine the position and direction of the tunnel boring machine's axis, known measuring instruments and calculation methods are used, for example, a hose level to determine the vertical angle of the tunnel boring machine relative to the horizontal plane and a surveying gyroscope, with which a direction to true north can be determined based on the Earth's rotation. From this, the azimuth of the tunnel boring machine (horizontal angle of the tunnel boring machine) can be calculated.

[0010] The object of the invention is to provide, based on the aforementioned disclosures, a tunnel boring machine excavation method with which at least partially automated directional control of the tunnel boring machine is possible via at least one control unit. Furthermore, a tunnel boring machine with at least partially automated directional control is to be provided.

[0011] This problem is solved by a method with the features of claim 1 and a tunnel boring machine with the features of claim 24. Furthermore, this problem is solved according to the invention in a tunnel boring machine of the type mentioned at the outset with the features of the characterizing part of claim 1. Further advantageous embodiments of the invention are the subject of the dependent claims.

[0012] The invention generally provides for the following aspects: A partially automated steering system regulates the dynamic steering behavior of a tunnel boring machine. To provide this automation, at least one actuator is controlled. This actuator could be, for example, the shield steering joint or the center of thrust (CoT). Both can be controlled by the system in such a way that they are automatically adjusted without intervention from the machine operator.

[0013] For this purpose, for example, the current position of the tunnel boring machine (actual position) and / or the actual direction of the machine axis of the tunnel boring machine as well as an actual drift are compared with a target position on the target trajectory (planned tunnel alignment or Designed Tunnel Alignment (DTA)) and / or the target direction as well as a target drift (which is preferably usually equal to 0) and resulting errors are calculated.

[0014] The automatic adjustment of the shield control joint is carried out according to the error between the actual and target position of the TBM and based on the track radius.

[0015] For automatic CoT adjustment, the error between the actual and target positions of the TBM is passed to a controller. Using PID algorithms, this controller calculates the manipulated variable (CoT) that counteracts the error. The CoT is continuously adjusted, and the position of the TBM is thus continuously corrected.

[0016] In the event of a significant deviation from the target trajectory exceeding tolerance limits, a correction curve is used, at least for certain sections, instead of the target trajectory. This allows the tunnel boring machine (TBM) to be guided back to the target trajectory according to the specifications of the finished tunnel – provided the TBM is capable of following this correction curve. The correction curve defines a new target position, which is then used for error calculations and control. Once the TBM is back on the target trajectory, it again defines the target position for directional control.

[0017] The invention provides a method for advancing a tunnel boring machine along a planned route when driving a tunnel bore, comprising the following steps: a) Provision of a tunnel boring machine with a cutting wheel and a feed mechanism with at least one device for influencing the direction of movement of the tunnel boring machine along the planned route; b) Providing at least one control unit for the direction of movement of the tunnel boring machine with at least one data storage unit, with at least one computing unit, with at least one input unit and with at least one output unit, wherein the input unit receives at least measurement data and / or evaluation data, and wherein the output unit outputs analog and / or digital control data and / or regulation data; c) Storing in at least one control unit a defined tunnel route in the ground from a starting point to a destination point as a target trajectory; wherein the target trajectory is stored as a mathematical curve consisting of at least two spatial coordinates in a coordinate system starting from a reference point, for example (0;0;0); d) Storing in the at least one control unit at least one defined setpoint value per spatial coordinate of the mathematical curve, wherein the at least one defined setpoint value is a setpoint position, a setpoint trend and / or a setpoint drift, e) Calculating and storing in at least one control unit a target movement per spatial coordinate by forming a difference between the target tendency and the target drift, f) Storing in at least one control unit a first tolerance storage limit value for the target storage at least for two spatial coordinates; g) Storing in at least one control unit a first tolerance movement limit value for the target movement for at least two spatial coordinates; h) During the advance of the tunnel boring machine along the planned trajectory, the following steps 1 to 11 are carried out, the order of which is variable: 1. Recording an actual position at an actual spatial coordinate, an actual trend, and an actual drift; 2. Calculating an actual movement by forming a difference between the actual trend and the actual drift; 3. Calculate the difference ΔAblage from the target storage minus the actual storage; 4. Calculate the difference Δmovement from the target movement minus the actual movement. 5. Check if Δmotion is equal to a motion difference value; 6. Check if ΔAblage is equal to a storage difference value; 7. If Δmovement equals the movement difference value and Δdeposit equals the deposit difference value, then at least one output value is calculated to control the device for influencing the direction of movement of the tunnel boring machine and transmitted to it for influencing the direction of movement of the tunnel boring machine, and then repeat from step h)-1 for the next spatial coordinate and continue the excavation along the mathematical curve; 8. If Δmovement is not equal to the movement difference value, and / or Δstorage is not equal to the storage difference value, then it is checked whether Δstorage is less than the first tolerance storage limit value and / or whether Δmovement is less than the tolerance movement limit value; 9. If the condition in h)-8. is met, then, based on at least one of the unequal values ​​according to 8., at least one output value for controlling the device for influencing the direction of movement of the tunnel boring machine is calculated and transmitted to it to influence the direction of movement of the tunnel boring machine, then repeat from step h)-1. for the next spatial coordinate and continue the tunneling along the mathematical curve. 10. If the condition in h)-8. is not met, then repeat from step c.), whereby a section of the mathematical curve is replaced by an approximation curve that allows an approximation to the mathematical curve of the target trajectory, and where the target values ​​of the current position are set and stored as the first spatial position of the approximation curve, the actual values ​​of the current position for target placement, target tendency, and target movement, and steps c.) to h)-10. are repeated until the approximation curve again corresponds to the mathematical curve of the target trajectory. 11. Repeat from step c.), whereby the mathematical curve replaces the approximation curve, and from the transition point onwards the stored target values ​​of the mathematical curve of the target trajectory are used.

[0018] It has been shown that this provides a comprehensive solution for the automated control of a tunnel boring machine, which significantly improves the efficiency and accuracy of tunnel excavation through precise control and continuous adjustment. ΔDisposition and ΔMovement are the deviation errors between setpoints and actual values, which can be easily determined. It has also been shown that using these values ​​improves the accuracy of the direction change control.

[0019] In this revelation, the following terms are understood as follows: Tendency refers to the general direction in which the tunnel boring machine (TBM) is moving and how that movement changes. It can also be understood as the direction of the TBM's axis. Tendency describes the inclination or direction in which certain data or events develop. In a tracking system, this could be, for example, the direction in which the TBM is moving. Tendency helps to determine whether the TBM is staying on course or whether adjustments are necessary to maintain the planned route.

[0020] Deviation refers to the difference between the current position of the tunnel boring machine and the planned alignment, preferably expressed as X and Y values ​​in a coordinate system where the Z-axis represents the position along the planned alignment. A small deviation indicates that the machine is staying close to the intended route, and this deviation should preferably be corrected to increase the accuracy of the tunnel boring relative to the target curve. Conversely, a larger deviation indicates a significant discrepancy that must be corrected to achieve an acceptable bore at a reasonable cost.

[0021] Drift: Drift describes the gradual deviation of the tunnel boring machine from its planned path over time. This can be caused by various factors such as soil conditions or mechanical influences and must be continuously monitored and corrected to ensure that the tunnel is advanced in the correct direction.

[0022] The movement or direction of movement refers to the actual direction of movement of the tunnel boring machine, which is calculated from the tendency and the drift.

[0023] By defining tolerance values ​​for the positioning and movement, it is possible to create zones around the planned route within which only minor adjustments to the tunnel boring machine's direction of travel are necessary to keep it on the planned route. These zones can be considered, for example, as a tube or box around the planned route with respect to the positioning. A first tolerance value would preferably be + / -15 mm or + / -20 mm in the X and Y directions, or as a radius around the planned route.

[0024] Due to the low tolerance values ​​of the bedding material around the planned tunnel alignment, it had surprisingly become necessary, according to the invention, to also create a tolerance range for the movement, which is specified, for example, in millimeters per meter. According to the invention, this value must be selected such that the tolerance values ​​of the bedding material are not exceeded within a forward advance of one or two meters. Preferably, the invention provides that the tolerance value of the movement is less than 1° or less than 3 mm / m advance.

[0025] A further teaching of the invention provides that a fixed target value is defined as a horizontal target value and as a vertical target value, such that the target position is a horizontal target position and a vertical target position, and / or such that the target tendency is a horizontal target tendency and a vertical target tendency, and / or such that the target drift is a horizontal target drift and a vertical target drift, wherein the target drift or the horizontal target drift and the vertical target drift are preferably each equal to zero.

[0026] This provides a simple way to achieve more advanced and precise control of the tunnel boring machine by defining detailed horizontal and vertical setpoints and taking drift values ​​into account. This significantly improves the accuracy and efficiency of the tunnel boring process.

[0027] A further aspect of the invention provides that a defined tunnel alignment is stored in the ground and / or at least one defined target value per spatial coordinate is stored in a navigation unit. Improved accuracy and efficiency are achieved through the integration of a navigation unit for processing and evaluating the tunnel alignment and its target values. This contributes to precise and automated control of the tunnel boring machine along the planned alignment.

[0028] A further aspect of the invention provides that the target movement is calculated as follows: a horizontal target movement is calculated by subtracting the horizontal target drift from the horizontal target tendency, and a vertical target movement is calculated by subtracting the vertical target drift from the vertical target tendency. Surprisingly, it has been found that calculating the target movement results in higher accuracy for control than considering only the tendency. The division into horizontal and vertical components further improves the control.

[0029] A further aspect of the invention provides that the first tolerance limit for the target placement is defined for all spatial coordinates and / or the first tolerance limit for the target movement is defined for all spatial coordinates. These tolerance values ​​allow for the simple definition of a range within which a control system for directional control can be implemented precisely, for example, through repetition. Furthermore, a range can be easily established beyond which alternative measures must be taken.

[0030] A further aspect of the invention provides that the first tolerance deposition limit is set as a first horizontal tolerance deposition limit for the horizontal target deposition and as a first vertical tolerance deposition limit for the vertical target deposition, and / or the first tolerance movement limit is set as a first horizontal tolerance movement limit for the horizontal target movement and as a first vertical tolerance movement limit for the vertical target movement. This further improves the accuracy of the control of the direction of the tunnel boring machine by the control system.

[0031] A further teaching of the invention provides that the actual value storage is divided into a horizontal actual value storage and a vertical actual value storage, and / or that the actual trend is divided into a horizontal actual trend and a vertical actual trend, and that the actual drift is divided into a horizontal actual drift and a vertical actual drift. This increases the accuracy of the control in a simple way.

[0032] A further aspect of the invention provides that the actual motion is calculated as a horizontal actual motion by subtracting the horizontal actual drift from the horizontal actual tendency, and as a vertical actual motion by subtracting the vertical actual drift from the vertical actual tendency. This increases the accuracy of the control in a simple way.

[0033] A further aspect of the invention provides that the difference ΔAblage is calculated as a difference ΔAblage-horizontal from the horizontal target position minus the horizontal actual position, and as a difference ΔAblage-vertical from the vertical target position minus the vertical actual position. This increases the accuracy of the control in a simple way.

[0034] A further teaching of the invention provides that checking ΔAblage is carried out by checking whether ΔAblage-horizontal and ΔAblage-vertical are equal to the horizontal storage difference value and equal to the vertical storage difference value. This check allows for a simple differentiation of cases in the individual state conditions or actual positions, or of the different deviation cases of the actual positions.

[0035] Another teaching of the invention provides that the storage difference value, the horizontal storage difference value and / or the vertical storage difference value are equal to 0.

[0036] Another teaching of the invention provides that the difference Δmovement is calculated as a difference Δmovement-horizontal from the horizontal target movement minus the horizontal actual movement and as a difference Δmovement-vertical from the vertical target movement minus the vertical actual movement.

[0037] A further teaching of the invention provides that the testing of Δmotion is carried out by checking whether Δmotion-horizontal and Δmotion-vertical are equal to the horizontal motion difference value and equal to the vertical motion difference value. This test allows for a simple differentiation between individual state conditions or actual positions, or between different deviation cases of the actual positions.

[0038] Another teaching of the invention provides that the motion difference value, the horizontal motion difference value and / or the vertical motion difference value are equal to 0.

[0039] A further teaching of the invention provides that if Δmovement-horizontal and Δmovement-vertical are equal to the horizontal movement difference value and the movement difference value, and if Δdepositing-horizontal and Δdepositing-vertical are equal to the horizontal depositing difference value and the vertical depositing difference value, then at least one output value for controlling the device for influencing the direction of movement of the tunnel boring machine is calculated and transmitted to it for influencing the direction of movement of the tunnel boring machine, and then repeat from step h)-1 for the next spatial coordinate and continue the excavation along the mathematical curve.

[0040] A further teaching of the invention provides that if Δmovement-horizontal is not equal to the horizontal movement difference value and / or Δmovement-vertical is not equal to the vertical movement difference value, and / or if Δplacement-horizontal is not equal to the horizontal placement difference value and / or Δplacement-vertical is not equal to the vertical placement difference value, then it is checked whether all unequal values ​​are less than the first tolerance placement limit and / or tolerance movement limit defined for the respective value. Advantageously, this allows it to be determined whether a specific action is necessary.

[0041] A further teaching of the invention provides that in step h)-10, the actual values ​​of the current position are defined and stored as target values ​​for the first spatial position of the approach curve for horizontal target placement and vertical target placement, horizontal target tendency and vertical target tendency, and horizontal target movement and vertical target movement. It has been shown that, surprisingly, this allows for an optimal starting point for the approach curve and for traversing the path of the approach curve, thus enabling the overcoming of the error situation to be accomplished in a simple manner.

[0042] Another teaching of the invention provides that the at least one output value is a setting specification for an actuator of a shield control joint.

[0043] Another teaching of the invention provides that the at least one output value is at least one coordinate of an overall pressure center of gravity for controlling feed presses of the tunnel boring machine.

[0044] Another teaching of the invention provides that the regulation of at least one coordinate

[0045] Another teaching of the invention provides that the control unit has a PID control unit.

[0046] A further teaching of the invention provides that in the at least one control unit, a second tolerance movement limit value for the target movement is stored for at least two spatial coordinates and / or a second tolerance placement limit value for the target placement is stored for at least two spatial coordinates. By providing a second tolerance range, it becomes possible to easily identify a critical problem, so that targeted action can be taken in this situation without fear that the tunnel being driven will no longer meet the parameters required by the customer.

[0047] A further teaching of the invention provides that in step 10, before the process continues at step c), it is checked whether ΔDeposit or ΔDeposit-horizontal and ΔDeposit-vertical and / or ΔMovement or ΔMovement-horizontal and ΔMovement-vertical is each less than the second tolerance deposit limit or the tolerance movement limit, and, if this is the case, the process continues at step c), or, if this is not the case, the process is interrupted and only continues at step c) if manual confirmation is given by an authorized operator. The system preferably generates a message that is displayed on a screen and must be manually confirmed. This ensures that the process is interrupted for safety reasons in a simple manner.Without this interruption, there would be the possibility that, despite the error situation, one correction curve after another would be driven without the actual mathematical curve being reached again.

[0048] Furthermore, the solution of the invention provides a tunnel boring machine for drilling a borehole in the ground along a planned route, in particular for creating a tunnel borehole, with a cutting wheel, with a feed capability with at least one device for influencing the direction of movement of the tunnel boring machine along the planned route, and with a control unit which is set up to implement the previously described method according to the invention.

[0049] The invention will now be explained in more detail with reference to a preferred embodiment in conjunction with a drawing. The drawing shows Fig. 1 a schematic representation of the method according to the invention with the planned tunnel alignment in the normal case of the method with a tunnel boring machine that travels the alignment, and two tolerance zones arranged parallel to it, Fig. 2 a schematic representation of the method according to the invention with the planned tunnel alignment in the case that the first tolerance range is left by the tunnel boring machine, with a tunnel boring machine to which a correction curve has been assigned in order to approximate the target alignment again, Fig. 3 a schematic representation of the method according to the invention with the planned tunnel alignment in the case that the second tolerance range is left by the tunnel boring machine, with a tunnel boring machine to which a correction curve has been assigned in order to approximate the target alignment again, Fig. 4. A schematic representation of a deviation situation. Fig. 2, where the tunnel boring machine is located below the planned route, Fig. 5 a schematic representation of a deviation situation to Fig. 2, where the correction curve is provided and the traversal of the correction curve begins, Fig. 6. A schematic representation of a deviation situation. Fig. 2 during the traversing of the correction curve to approach the target route, Fig. 7 a schematic representation of a deviation situation to Fig. 2, where the target route has been reached and the correction curve is switched back to the mathematical curve of the target trajectory, Fig. 8 A schematic representation of the control of the directional alignment of the tunnel boring machine via a change in the overall center of pressure during the advance of the tunnel boring machine, Fig. 9 a schematic representation of the control of the directional alignment of the tunnel boring machine via a change in the overall center of pressure during the advance of the tunnel boring machine, and Fig. 10 a schematic representation of the process of the method according to the invention, and Fig. 11 a schematic representation of the control loop according to the invention in a tunnel boring machine for implementing the method according to the invention.

[0050] Fig. Figure 1 shows a schematic representation of the method according to the invention with the planned tunnel alignment 20 in the normal case of the method with a tunnel boring machine 10 traversing the alignment 20 and two tolerance zones 30, 40 arranged parallel to it. The comparison of the target values ​​for position, tendency, drift and movement shows that there is no deviation, so the advance of the tunnel boring machine 10 along the planned tunnel alignment 20 continues without intervention by the control system for correction. It is only necessary to initiate and carry out control processes independently based on the changes in direction of the alignment itself.

[0051] Fig. Figure 2 shows a schematic representation of the method according to the invention with the planned tunnel alignment 20 in the case where the first tolerance range 30 is left by the tunnel boring machine 10, with a tunnel boring machine 10 to which a correction curve 50 has been assigned in order to approximate the planned tunnel alignment 20 again. This approximation is shown in the Fig. Figures 4-7 show a control system based on the overall pressure center of gravity. A first tolerance range 35 of the correction curve 50 is provided. A further second tolerance range of the correction curve 50 is not provided, since the second tolerance range 40 of the planned tunnel alignment 20 is considered a hard limit here.

[0052] Fig. Figure 3 shows a schematic representation of the method according to the invention with the planned tunnel alignment 20 in the case where the first tolerance range 30 and the second tolerance range 40 have been exceeded by the tunnel boring machine 10. A second correction curve 55 was assigned to the tunnel boring machine 10 in order to approximate the planned tunnel alignment 20 again. A first tolerance range 38 of the second correction curve 55 is provided around the correction curve 50. The Fig. The approach shown in Figures 4-7 can also be applied analogously here. Preferably, the tunneling was stopped at this point, for example, to document for legal reasons that the situation had been analyzed and that the tunneling was only resumed after clearance by an authorized person.

[0053] In the Fig. Figures 4-7 each show a tunnel boring machine 10 with a cutting wheel 11 and a shield section 12, which is preferably designed in two parts. A tunnel lining 13, preferably shown here in the form of segmented tunnel segments 14, is provided following the shield element 12.

[0054] The planned tunnel alignment 20 is shown above the tunnel boring machine 10. The tunnel boring machine 10 has a machine axis 15 which ideally does not deviate from the planned tunnel alignment 20.

[0055] Between machine axis 15 and the planned tunnel route 20 there is a distance in the Y direction 60, which is the storage area. In the Fig. Figure 4-7 shows how the distance 60 between the machine axis 15 and the planned tunnel alignment 20 is reduced. Also shown is the movement or direction of movement 70 of the tunnel boring machine 10, which is located in Fig. 4 is still directed away from the planned tunnel route 20. A correction curve 50 is planned to guide the tunnel boring machine back to the planned tunnel route.

[0056] Between section 18 of the tunnel lining 13 and section 16 of the shield element 12, launching cylinders 17 are provided. Only one of the launching cylinders is shown here for simplicity.

[0057] Furthermore, a coordinate system 80 with a horizontal X-axis and a vertical Y-axis is shown in a cross-section through a shield element 12. In the Fig. 4-7 are schematically shown in the shield element 12 the feed presses 17 arranged on the section 16 or provided in this area.

[0058] The selected or planned overall pressure center 85 and the actual currently prevailing overall pressure center 88 are shown on the coordinate system 80. Fig. 4 the actual prevailing overall pressure center 88 lies within the planned overall pressure center 85.

[0059] The prevailing force distribution 90 between section 16 and section 18, which is generated by the feed presses 17, results in the prevailing overall pressure center 88, the force distribution 90, which is schematically represented as upper arrow 91 and lower arrow 92.

[0060] To now determine the movement 70 or the direction of movement from the in Fig. To shift point 4 away from the planned tunnel route 20 in the direction towards tunnel route 20, as described in Fig. Figure 5 shows the planned pressure center 85 shifted downwards along the Y-axis of the coordinate system 80.

[0061] By shifting the overall center of pressure 85, as in Fig. As shown in section 5, the prevailing force distribution changes by 90°. While the force distribution is 90° according to... Fig. Since 4 exhibited a greater force in the upper area (arrow 91) than in the lower area (arrow 92), the force in the lower area (arrow 92) was now increased and in the upper area (arrow 91) decreased to reflect the planned overall pressure center 85, so that the prevailing overall pressure center 88 shifts towards the planned overall pressure center 85.

[0062] While the tunnel boring machine 10 in Fig. 4. Due to the prevailing force distribution, the tunnel boring machine 10, which moved 90° away from the planned tunnel route, is now moving into the Fig. 5 and Fig. 6 caused by the change in force distribution 90 by shifting the overall pressure center of gravity 85 in the opposite direction towards the planned tunnel route 20, so that the storage area 60 begins to decrease while the tunnel boring machine 10 travels along the correction route 50.

[0063] To avoid excessive overshooting, which manifests itself in a strong upward approach of movement 70 or the direction of movement of the tunnel boring machine 10 towards the planned tunnel alignment 20 and thus through an increase in the angle between machine axis 15 and movement 70, the following is done in Fig. 6. The force distribution 90 is corrected by shifting the planned overall pressure center 85 towards the origin of the coordinate system 80. For this purpose, the lower force, represented by the lower arrow 92, is reduced to allow the tunnel boring machine 10 to follow the correction curve 50 more effectively.

[0064] In Fig. 7. The difference between the setpoint and actual value is zero, and the direction of the tangent of the planned tunnel alignment 20 and the movement 70, or the direction of movement, coincide. The force distribution 90 is designed such that the forces of the launching jacks 17 are evenly distributed over the circumference of the shield section 12, so that the upper arrow 91 and the lower arrow 92 are the same, and a launch is carried out along the planned tunnel axis 20. The planned overall pressure center 85 and the prevailing overall pressure center 88 are preferably located at the origin of the coordinate system 80.

[0065] Alternatively, instead of controlling or regulating via the overall pressure, the center of gravity can be controlled or regulated via a shield joint control system by controlling the shield control joint or its actuators (not shown).

[0066] Fig. Figure 8 shows the basic control of the research direction of the tunnel boring machine via the adjustment of the overall pressure center of gravity.

[0067] Box 100 represents the activation of the control system. In box 110, the setpoint and actual values ​​for position, trend, drift, and movement are read into the control system. Box 110 calculates the position error (ΔPosition) and the movement error (ΔMovement). Preferably, the position error is calculated separately as a horizontal position difference and a vertical position difference. The same preferably applies to the movement error.

[0068] In box 120, the planned overall pressure center of gravity is determined based on the placement error and the movement error and transferred to the feed presses in box 130 in order to initiate the desired movement in the tunnel boring machine by changing the overall pressure center of gravity.

[0069] The system then returns to box 110 to record the target and actual values ​​again and to continue the control procedure accordingly.

[0070] Fig. Figure 9 shows the basic control of the research direction of the tunnel boring machine via the adjustment of the shield control joint.

[0071] Box 200 represents the activation of the control system. In box 210, the necessary setpoints and actual values, preferably for position, trend, drift, and movement, are read into the control system. Box 210 calculates the position error (ΔPosition) and the movement error (ΔMovement). Preferably, the position error is calculated separately as a horizontal position difference and a vertical position difference. The same applies preferably to the movement error.

[0072] In box 210, the planned position of the shield control joint is then preferably determined based on the placement error and the movement error and transferred in box 220 to the actuators of the shield control joint for its adjustment, in order to initiate the desired movement in the tunnel boring machine by changing the setting of the shield control joint.

[0073] The system then returns to box 210 to re-enter the target and actual values ​​and continue the control process accordingly until the target values ​​are reached. The system then moves to box 230, which represents the deactivation of the control.

[0074] The adjustment of the shield control joint is preferably carried out when the tunnel boring machine is stationary. However, under certain conditions, it can also be carried out while the tunnel boring machine is in operation.

[0075] Furthermore, it is possible to make the adjustment of the shield steering joint and the adjustment of the overall pressure center of gravity simultaneously.

[0076] Fig. Figure 10 shows a schematic representation of the process according to the invention as elements or steps 300 to 380. The individual steps can be carried out in any order according to the knowledge of the person skilled in the art.

[0077] At 300, a tunnel boring machine with a cutting wheel and a feed capability with at least one device for influencing the direction of movement of the tunnel boring machine along the planned route will be provided.

[0078] At 310, at least one control unit for the direction of movement of the tunnel boring machine is provided, comprising at least one data storage unit, at least one processing unit, at least one input unit, and at least one output unit, wherein the input unit receives at least measurement data and / or evaluation data, and wherein the output unit outputs analog and / or digital control data and / or regulation data. The control unit may preferably be a programmable logic controller (PLC) or software that runs locally or remotely on a computer.

[0079] At 320, a defined tunnel route in the ground from a starting point to a destination point is stored as a target trajectory in at least one control unit; the target trajectory is stored as a mathematical curve consisting of at least two spatial coordinates in a coordinate system starting from a reference point, for example (0;0;0). Preferably, the storage of a defined tunnel route in the ground and / or the storage of the at least one defined target value per spatial coordinate takes place in a navigation unit.

[0080] At least one defined setpoint value per spatial coordinate of the mathematical curve is stored / stored in the at least one control unit at 330, wherein the at least one defined setpoint value is a setpoint position, a setpoint trend, and / or a setpoint drift. Preferably, a defined setpoint value is specified as a horizontal setpoint value and as a vertical setpoint value, such that the setpoint position is a horizontal setpoint position and a vertical setpoint position, and / or such that the setpoint trend is a horizontal setpoint trend and a vertical setpoint trend, and / or such that the setpoint drift is a horizontal setpoint drift and a vertical setpoint drift, wherein the setpoint drift, or the horizontal setpoint drift and the one vertical setpoint drift, is preferably each equal to zero.

[0081] At 340, in at least one control unit, a target movement / target direction of movement for each spatial coordinate is calculated and stored by subtracting the target drift from the target tendency. Preferably, the calculation of the target movement is performed as a calculation of the horizontal target movement by subtracting the horizontal target drift from the horizontal target tendency, and as a calculation of the vertical target movement by subtracting the vertical target drift from the vertical target tendency.

[0082] At 350, a first tolerance limit for the target position is stored in at least one control unit for at least two spatial coordinates. Preferably, this is done for all spatial coordinates. It is further preferably provided that the first tolerance limit is stored as a first horizontal tolerance limit for the horizontal target position and as a first vertical tolerance limit for the vertical target position.

[0083] At 355, as a preferred step of the method according to the invention, a second tolerance movement limit value for the target movement is stored in the at least one control unit, at least for two spatial coordinates and / or a second tolerance placement limit value for the target placement, at least for two spatial coordinates.

[0084] In at least one control unit, a first tolerance limit for the target movement is stored for at least two spatial coordinates at a time of 360°. Preferably, this is done for all spatial coordinates. It is further preferably provided that the first tolerance limit is stored as a first horizontal tolerance limit for the horizontal target movement and as a first vertical tolerance limit for the vertical target movement.

[0085] At 370, during the advance of the tunnel boring machine along the planned trajectory, the following steps 371 to 381 are carried out, the order of which is variable: 371 Recording an actual position at an actual spatial coordinate, an actual trend, and an actual drift; preferably, the actual position is divided into a horizontal actual position and a vertical actual position, and / or the actual trend is divided into a horizontal actual trend and a vertical actual trend, and the actual drift is divided into a horizontal actual drift and a vertical actual drift; 372 Calculating an actual motion by calculating the difference between the actual trend and the actual drift; preferably, the actual motion is calculated as a horizontal actual motion by calculating the difference between the horizontal actual trend and the horizontal actual drift, and as a vertical actual motion by calculating the difference between the vertical actual trend and the vertical actual drift; 373 Calculating a difference Δstorage from the target storage minus the actual storage; preferably, the difference Δstorage is calculated as a difference Δstorage-horizontal from the horizontal target storage minus the horizontal actual storage and as a difference Δstorage-vertical from the vertical target storage minus the vertical actual storage; 374 Calculating a difference Δmovement from the target movement minus the actual movement; preferably, the difference Δmovement is calculated as a difference Δmovement horizontal from the horizontal target movement minus the horizontal actual movement and as a difference Δmovement vertical from the vertical target movement minus the vertical actual movement; 375 Checking whether Δmovement is equal to a motion difference value; Preferably, it is provided that the checking of Δmovement is carried out as checking whether Δmovement-horizontal and Δmovement-vertical are equal to the horizontal motion difference value and equal to the vertical motion difference value, and / or that the motion difference value, the horizontal motion difference value and / or the vertical motion difference value are equal to 0; 376 Checking whether ΔAblage is equal to a storage difference value; Preferably, it is provided that the checking of ΔAblage is carried out as checking whether ΔAblage-horizontal and ΔAblage-vertical are equal to the horizontal storage difference value and equal to the vertical storage difference value, and / or that the storage difference value, the horizontal storage difference value and / or the vertical storage difference value are equal to 0; 377 If Δmovement equals the movement difference value and Δdeposit equals the deposit difference value, then at least one output value is calculated to control the device for influencing the direction of movement of the tunnel boring machine and transmitted to it for influencing the direction of movement of the tunnel boring machine, and then repeat from step 371 for the next spatial coordinate and continue the excavation along the mathematical curve;Preferably, it is provided that if Δmovement-horizontal and Δmovement-vertical are equal to the horizontal movement difference value and the movement difference value, and if Δdeposit-horizontal and Δdeposit-vertical are equal to the horizontal deposit difference value and the vertical deposit difference value, then at least one output value for controlling the device for influencing the direction of movement of the tunnel boring machine is calculated and transmitted to it for influencing the direction of movement of the tunnel boring machine (step 385), and then repeat from step 371 for the next spatial coordinate and continue the excavation along the mathematical curve; 378 If Δmovement is not equal to the movement difference value, and / or Δdeposit is not equal to the deposit difference value, then it is checked whether Δdeposit is less than the first tolerance deposit limit value and / or whether Δmovement is less than the tolerance movement limit value;; Preferably, it is provided that the checking of Δmovement is carried out as checking whether Δmovement-horizontal and Δmovement-vertical are equal to the horizontal movement difference value and equal to the vertical movement difference value, and / or that the movement difference value, the horizontal movement difference value and / or the vertical movement difference value are equal to 0;Preferably, if Δmovement-horizontal is not equal to the horizontal movement difference value and / or Δmovement-vertical is not equal to the vertical movement difference value, and / or if Δdepositing-horizontal is not equal to the horizontal depositing difference value and / or Δdepositing-vertical is not equal to the vertical depositing difference value, then it is checked whether all unequal values ​​are less than the first tolerance depositing limit and / or tolerance movement limit specified for the respective value; 379 If the condition of 378 is met, then, based on at least one of the unequal values ​​according to 378, at least one output value for controlling the device for influencing the direction of movement of the tunnel boring machine is calculated and transmitted to it for influencing the direction of movement of the tunnel boring machine (step 381), then repeat from step 371 for the next spatial coordinate and continue the excavation along the mathematical curve; 380 If the condition in step 378 is not met, then repeat from step 320, replacing a section of the mathematical curve with an approximation curve that allows an approximation to the mathematical curve of the target trajectory, and specifying and storing the actual values ​​of the current position for target placement, target tendency, and target movement as the first spatial position of the approximation curve (step 381), and repeating steps 320 to 380 until the approximation curve again corresponds to the mathematical curve of the target trajectory. Preferably, it is provided that in step 380, the actual values ​​of the current position are specified and stored as the first spatial position of the approximation curve for horizontal target placement and vertical target placement, horizontal target tendency and vertical target tendency, and horizontal target movement and vertical target movement. 383 In step 380, before the procedure continues at step 320, it is checked whether ΔDeposit or ΔDeposit-horizontal and ΔDeposit-vertical and / or ΔMovement or ΔMovement-horizontal and ΔMovement-vertical is each less than the second tolerance deposit limit or the second tolerance movement limit, each possibly divided into horizontal and vertical, and, if this is the case, the procedure continues at step 320, or if this is not the case, the procedure is interrupted (step 384) and the procedure continues at step 320 only if manual confirmation is given by an authorized operator, for example via an input unit.

[0086] Fig. Figure 11 shows a schematic representation of the control loop according to the invention in a tunnel boring machine for implementing the method according to the invention.

[0087] The tunnel boring machine 10 has a device for influencing the direction of movement. This includes, for example, a shield joint control or a direction control via the overall center of pressure. These are equipped with manually controlled actuators such as hydraulic cylinders 17. These can be extended and retracted, for example, based on control data.

[0088] Furthermore, sensors and transducers are provided that supply measurement data, as well as measurement procedures with which measurement data 390 are obtained.

[0089] Furthermore, the tunnel boring machine 10 is equipped with a control unit 400, which includes, for example, an evaluation unit 410, a computing unit 420, a storage unit 430, an input unit 480 and an output interface 460.

[0090] The evaluation unit 410, for example, receives the measured values ​​and measurement data 390 and passes the evaluated data, for example, to the computing unit 420.

[0091] Furthermore, defined initial data 395, for example, are stored in the storage unit 430.

[0092] The computing unit 420 can read data from the storage unit 430 and store it in the storage unit.

[0093] Furthermore, the evaluation unit 410 can also read data from the storage unit 430 and store it in the storage unit.

[0094] The initial data 395, for example, are the data of the planned tunnel route (target tractor) tolerance values, i.e. the target values ​​that are relevant for the calculation and that form the basis for the calculation and the control.

[0095] The evaluation unit 410 transmits actual data from the tunnel boring machine 10 to the computing unit 390, which uses the corresponding sensors to provide information on actual positions as well as position, trend and drift. The values ​​can be provided both absolutely and split into vertical and horizontal components.

[0096] The calculation unit 420 calculates difference values, which can also be referred to as deviations or errors, from the evaluated data of the evaluation unit 410 and the target data, for example from the memory of the storage unit 430.

[0097] The difference values ​​are then passed to a controller 440. The controller 440 then determines an output value based on which the difference should be reduced to zero. Preferably, one controller 440 is provided for each controlled variable. Preferably, the controller 440 is a PID controller, available as a software or hardware solution.

[0098] The controller's output value is then transferred, for example, to a conversion unit 450, which converts the controller's output value into pressure values ​​for controlling the actuators 17. These are then transferred via an interface 460 to a current actuator controller 470. This then controls the actuators 17 of the tunnel boring machine 10 in the desired manner and implements the specifications of the controller 440.

[0099] Subsequently, the measurement data 390 are collected again and the regulation according to the previously described inventive method is implemented again.

[0100] If tolerance values ​​are exceeded, for example, the evaluation unit 410 or the processing unit 420 can calculate an approximation curve 50, which is then used as new target values ​​for approximating the planned tunnel alignment 20 during calculations and control. The approximation curve or its data can be stored accordingly in the storage unit 430, so that it can be used for the duration of its application during calculations in the processing unit 420.

[0101] Preferably, the computing unit 420 calculates the movement from the output values ​​and the stored setpoints and determines Δmovement and Δstorage from the output values ​​and the setpoints for the current spatial coordinate of the curve under consideration.

[0102] It has been shown that this approach allows for the automation of the tunnel boring machine's directional control in a particularly simple way. At the same time, providing tolerance values ​​increases safety should significant deviations from the planned tunnel alignment occur.

Claims

[1] Method for advancing a tunnel boring machine along a planned route when driving a tunnel bore comprising the steps: a) Provision of a tunnel boring machine with a cutting wheel and a feed mechanism with at least one device for influencing the direction of movement of the tunnel boring machine along the planned route; b) Providing at least one control unit for the direction of movement of the tunnel boring machine with at least one data storage unit, with at least one computing unit, with at least one input unit and with at least one output unit, wherein the input unit receives at least measurement data and / or evaluation data, and wherein the output unit outputs analog and / or digital control data and / or regulation data; c) Storing in at least one control unit a defined tunnel route in the ground from a starting point to a destination point as a target trajectory; wherein the target trajectory is stored as a mathematical curve consisting of at least two spatial coordinates in a coordinate system starting from a reference point, for example (0;0;0); d) Storing in the at least one control unit at least one defined setpoint per spatial coordinate of the mathematical curve, wherein the at least one defined setpoint is a setpoint position, a setpoint trend and / or a setpoint drift; e) Calculating and storing in at least one control unit a target movement per spatial coordinate by forming a difference between the target tendency and the target drift, f) Storing in at least one control unit a first tolerance storage limit value for the target storage at least for two spatial coordinates; g) Storing in at least one control unit a first tolerance movement limit value for the target movement for at least two spatial coordinates; h) During the advance of the tunnel boring machine along the planned trajectory, the following steps 1 to 11 are carried out, the order of which is variable:

1. Recording an actual position at an actual spatial coordinate, an actual trend, and an actual drift; 2. Calculating an actual movement by forming a difference between the actual trend and the actual drift; 3. Calculate the difference ΔAblage from the target storage minus the actual storage; 4. Calculate the difference Δmovement from the target movement minus the actual movement.

5. Check if Δmotion is equal to a motion difference value; 6. Check if ΔAblage is equal to a storage difference value; 7. If Δmovement equals the movement difference value and Δdeposit equals the deposit difference value, then at least one output value is calculated to control the device for influencing the direction of movement of the tunnel boring machine and transmitted to it for influencing the direction of movement of the tunnel boring machine, and then repeat from step h)-1 for the next spatial coordinate and continue the excavation along the mathematical curve; 8. If Δmovement is not equal to the movement difference value, and / or Δstorage is not equal to the storage difference value, then it is checked whether Δstorage is less than the first tolerance storage limit value and / or whether Δmovement is less than the tolerance movement limit value; 9. If the condition in h)-8. is met, then, based on at least one of the unequal values ​​according to 8., at least one output value for controlling the device for influencing the direction of movement of the tunnel boring machine is calculated and transmitted to it to influence the direction of movement of the tunnel boring machine, then repeat from step h)-1. for the next spatial coordinate and continue the tunneling along the mathematical curve.

10. If the condition in h)-8. is not met, then repeat from step c.), whereby a section of the mathematical curve is replaced by an approximation curve that allows an approximation to the mathematical curve of the target trajectory, and where the target values ​​of the current position are set and stored as the first spatial position of the approximation curve, the actual values ​​of the current position for target placement, target tendency, and target movement, and steps c.) to h)-10. are repeated until the approximation curve again corresponds to the mathematical curve of the target trajectory.

11. Repeat from step c.), whereby the mathematical curve replaces the approach curve, and from the transition point onwards the stored target values ​​are used in the mathematical curve of the target trajectory. [2] Method according to claim 1, characterized by, that a specified target value is defined as a horizontal target value and as a vertical target value, such that the target position is a horizontal target position and a vertical target position, and / or such that the target tendency is a horizontal target tendency and a vertical target tendency, and / or such that the target drift is a horizontal target drift and a vertical target drift, wherein the target drift or the horizontal target drift and the one vertical target drift are preferably each equal to zero. [3] Method according to claim 1 or 2, characterized by , that the placement of a defined tunnel route in the ground and / or the placement of at least one defined target value per spatial coordinate in a navigation unit takes place. [4] Method according to any one of claims 1 to 3, characterized by, that the calculation of the target movement is carried out as a calculation of a horizontal target movement by forming a difference between the horizontal target tendency and the horizontal target drift, and as a calculation of a vertical target movement by forming a difference between the vertical target tendency and the vertical target drift. [5] Method according to any one of claims 1 to 4, characterized by , that the first tolerance storage limit value for the target storage for all spatial coordinates and / or the first tolerance movement limit value for the target movement for all spatial coordinates is set. [6] Method according to any one of claims 1 to 5, characterized by, that the first tolerance deposition limit is set as a first horizontal tolerance deposition limit for the horizontal target deposition and as a first vertical tolerance deposition limit for the vertical target deposition, and / or the first tolerance movement limit is set as a first horizontal tolerance movement limit for the horizontal target movement and as a first vertical tolerance movement limit for the vertical target movement. [7] Method according to any one of claims 1 to 6, characterized by , that the actual storage is divided into a horizontal actual storage and a vertical actual storage, and / or that the actual trend is divided into a horizontal actual trend and a vertical actual trend, and that the actual drift is divided into a horizontal actual drift and a vertical actual drift. [8] Method according to any one of claims 1 to 7, characterized by, that the actual movement is calculated as a horizontal actual movement by forming a difference between the horizontal actual trend and the horizontal actual drift, and as a vertical actual movement by forming a difference between the vertical actual trend and the vertical actual drift. [9] Method according to any one of claims 1 to 8, characterized by , that the difference ΔAblage is calculated as a difference ΔAblage-horizontal from the horizontal target storage minus the horizontal actual storage and as a difference ΔAblage-vertical from the vertical target storage minus the vertical actual storage. [10] Method according to claim 9, characterized by , that checking ΔAblage is done by checking whether ΔAblage -horizontal and ΔAblage -vertical are equal to the horizontal storage difference value and equal to the vertical storage difference value. [11] Method according to claim 9 or 10, characterized by, that the storage difference value, the horizontal storage difference value and / or the vertical storage difference value are equal to 0. [12] Method according to any one of claims 1 to 11, characterized by , that the difference Δmovement is calculated as a difference Δmovement-horizontal from the horizontal target movement minus the horizontal actual movement and as a difference Δmovement-vertical from the vertical target movement minus the vertical actual movement. [13] Method according to claim 12, characterized by , that checking Δmotion is done by checking whether Δmotion-horizontal and Δmotion-vertical are equal to the horizontal motion difference value and equal to the vertical motion difference value. [14] Method according to claim 12 or 13, characterized by that the motion difference value, the horizontal motion difference value and / or the vertical motion difference value are equal to 0. [15] Method according to any one of claims 9 to 14, characterized by, that if Δmovement-horizontal and Δmovement-vertical are equal to the horizontal movement difference value and equal to the movement difference value, and if Δdeposit-horizontal and Δdeposit-vertical are equal to the horizontal deposit difference value and equal to the vertical deposit difference value, then at least one output value for controlling the device for influencing the direction of movement of the tunnel boring machine is calculated and transmitted to it for influencing the direction of movement of the tunnel boring machine, and then repeat from step h)-1 for the next spatial coordinate and continue the excavation along the mathematical curve. [16] Method according to any one of claims 9 to 14, characterized by, that if Δmovement-horizontal is not equal to the horizontal movement difference value and / or Δmovement-vertical is not equal to the vertical movement difference value, and / or if Δdepositing-horizontal is not equal to the horizontal depositing difference value and / or Δdepositing-vertical is not equal to the vertical depositing difference value, then it is checked whether all unequal values ​​are less than the first tolerance depositing limit and / or tolerance movement limit specified for the respective value. [17] Method according to any one of claims 1 to 16, characterized by , that in step h)-10. the actual values ​​of the current position are defined and stored as the target values ​​for horizontal target placement and vertical target placement, horizontal target tendency and vertical target tendency, and horizontal target movement and vertical target movement. [18] Method according to any one of claims 1 to 17, characterized by, that at least one output value is a setting for an actuator of a shield control joint. [19] Method according to any one of claims 1 to 18, characterized by , that at least one output value is at least one coordinate of an overall pressure center of gravity for controlling the feed presses of the tunnel boring machine. [20] Method according to claim 18 or 19, characterized by that the control of at least one coordinate of a total pressure center of gravity is carried out via a PID control unit. [21] Method according to any one of claims 1 to 20, characterized by that the control unit has a PID control unit. [22] Method according to any one of claims 1 to 18, characterized by , that in at least one control unit a second tolerance movement limit value for the target movement is stored for at least two spatial coordinates and / or a second tolerance placement limit value for the target placement is stored for at least two spatial coordinates. [23] Method according to claim 22, characterized by , that in step 10, before the procedure continues at step c), it is checked whether ΔDeposit or ΔDeposit-horizontal and ΔDeposit-vertical and / or ΔMovement or ΔMovement-horizontal and ΔMovement-vertical is each less than the second tolerance deposit limit or the second tolerance movement limit, and, if this is the case, the procedure continues at step c), or if this is not the case, the procedure is interrupted and the procedure continues at step c) only if manual confirmation is given by an authorized operator. [24] Tunnel boring machine for drilling a borehole in the ground along a planned route, in particular for creating a tunnel borehole, with a cutting wheel, with a feed capability with at least one device for influencing the direction of movement of the tunnel boring machine along the planned route, and with a control unit which is configured to implement the method according to claims 1 to 23.

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