The present invention relates to a warning device for a mining control module for facilitating a replacement. Accordingly,, a warning device for a mining control module is suggested, which comprises a housing that is configured to be coupled with an opening provided at an outer surface of the control module, wherein the housing defines an inner cavity, and an alarm module which is arranged in said cavity and is configured to be releasably coupled to an inner control unit of the control module via said opening for receiving a control signal. The housing comprises a first portion that extends along a longitudinal axis and is configured to extend at least in part through the opening and a radially extending second portion that is configured to extend over the outer surface of the control module so as to cover the opening, when the device is coupled to the control module. The device furthermore comprises a fixation means, which is arranged on the second portion and is configured to releasably engage the outer surface of the control module so as to secure the device to the control module.

The present invention relates to a warning device for a mining control module for facilitating a replacement. Accordingly,, a warning device for a mining control module is suggested, which comprises a housing that is configured to be coupled with an opening provided at an outer surface of the control module, wherein the housing defines an inner cavity, and an alarm module which is arranged in said cavity and is configured to be releasably coupled to an inner control unit of the control module via said opening for receiving a control signal. The housing comprises a first portion that extends along a longitudinal axis and is configured to extend at least in part through the opening and a radially extending second portion that is configured to extend over the outer surface of the control module so as to cover the opening, when the device is coupled to the control module. The device furthermore comprises a fixation means, which is arranged on the second portion and is configured to releasably engage the outer surface of the control module so as to secure the device to the control module.

The present disclosure relates to a steering controller of a shield tunnel boring machine (TBM) and a steering control method using the same. To this end, the steering controller of the shield TBM individually controls operating lengths of articulation jacks, which are provided between a front shield having a cutter head and a middle shield and are radially spaced at equal intervals along a pre-designed excavation path. The method comprises: extracting reference point coordinates of the cutter head at a current point and reference point coordinates of the cutter head at a target point according to one cycle operation of shield jacks; calculating the operating lengths of each articulation jack as continuous real number values based on the reference point coordinates at the current point and the reference point coordinates at the target point; and simultaneously operating each articulation jack according to the calculated operating lengths.

The present disclosure relates to a steering controller of a shield tunnel boring machine (TBM) and a steering control method using the same. To this end, the steering controller of the shield TBM individually controls operating lengths of articulation jacks, which are provided between a front shield having a cutter head and a middle shield and are radially spaced at equal intervals along a pre-designed excavation path. The method comprises: extracting reference point coordinates of the cutter head at a current point and reference point coordinates of the cutter head at a target point according to one cycle operation of shield jacks; calculating the operating lengths of each articulation jack as continuous real number values based on the reference point coordinates at the current point and the reference point coordinates at the target point; and simultaneously operating each articulation jack according to the calculated operating lengths.