TAUROS for Roadheaders
- Fully automatic positioning of the Roadheader
- Deep integration of the system into the existing PLC
- Clear and straightforward user interface
- High accuracy reduces risk of under/overcutting
When using flexible excavation machines such as Sandvik roadheaders, the ability to exactly and efficiently excavate a desired profile without compromising advance rates by frequent repositioning and tentative excavation can only be achieved by the use of exact geodetic guidance and integrated profile management.
The guidance system TAUROS is jointly developed by Sandvik and Geodata. In contrast to other roadheader guidance systems, all hard- and software components are highly integrated into available roadheader on-board components.
- The control software communicates with integrated on-board sensors and software components and, by this way, any redundant hardware installations are avoided
- All sensors are factory installed and calibrated, subsequent calibration can be done on site
- Advanced features of roadheader control system become available (e.g. auto stop swing on profile boundary)
- All machine data relevant to the
operator is displayed on a single screen
- Support for the entire product through single commercial partner
The hardware is complemented by TunnelEditor, which is used for the input and management of tunnel alignment and profile data. TaurosOnline is the onboard component which is used to guide the machine.
Working PrincipleThe continuous acquisition of the current machine position is based on measurements taken from a total station, which is connected to the PLC via Bluetooth radios.
The total station is mounted on a bracket at the back of the tunnel and continuously measures two motor targets which are mounted on the machine.
At an arbitrary interval, an automatic orientation check is performed to a back-sight prism.
The system adds data acquired by the machine’s integrated inclinometers for pitch and roll to determine the machine’s current 3D position and orientation. The data of several machine sensors are then added into the calculation process to determine the cutter head’s position in the project coordinate system.
All operations are carried out automatically. The automatic observation of thresholds reduces the operator’s workload even more and informs the user of possible problems.