JPH0358039B2 - - Google Patents

Description

[Detailed description of the invention] [Technical field to which the invention pertains] This invention relates to drilling in the bench cut method, and in particular, to a method for automatically positioning a drilling machine at a predetermined drilling position and drilling a hole. Regarding the drilling method in the bench cut method.

[Prior art and its problems]

In addition to quarrying to obtain materials for dams and road construction, limestone quarrying in mines, collection of various raw stones, foundation rock excavation, tunnel excavation, underground power plant excavation, dam and road construction, etc. The bench cut method is widely used for excavation.

In the bench cut method, during the drilling process, the rock quality and hardness of the blast area are accurately determined, and the grain size of the resulting rock is controlled within an appropriate range. Therefore, it is necessary to select an appropriate hole spacing depending on the rock quality and the height of the bench.

From this point of view, when drilling holes using the bench cut method, the self-propelled drilling machine is moved every time one or two holes are drilled, and the appropriate drilling is performed by the operator's operation. It's on. Therefore, drilling machines such as the so-called drill jumbo for tunnel excavation have been automated in various ways, and the work is becoming increasingly unmanned. Currently, drilling work is not automated or unmanned as seen in tunnel excavation methods.

However, when performing bench cutting, marks such as markings are placed at predetermined intervals at the position of the minimum resistance line from the edge of the bench, and the drilling work is performed using these marks as the drilling position. In this case, self-propelled It is difficult and time-consuming to accurately position the drilling machine mounted on the drilling equipment so that it matches the marking position, and
There is a drawback that it requires a great deal of skill to perform the drilling work by setting the correct drilling position, drilling angle, drilling direction, drilling depth, etc. on the drilling machine.

In particular, if the drilling direction is biased, large errors will occur in the bottom of the hole and the distance between the holes. It becomes necessary to re-drill and blast the rocks, etc. that have been removed, which causes problems such as a decrease in work efficiency.

[Purpose of the invention]

The present invention has been made in view of these drawbacks and inconveniences, and in addition to eliminating such drawbacks and inconveniences, it also enables the drilling machine to be automatically positioned at a predetermined hole drilling position without requiring any skill. It is an object of the present invention to provide a method for drilling holes in the bench cut construction method, which allows positioning and also aligns the ends of the holes.

[Key points of the invention]

The feature of the drilling method of the present invention for achieving such an object is that a drilling device including a processing device, a memory, a drilling machine, and a distance measuring device is installed on a bench. It is carried out by setting first and second reference points at arbitrary positions on the
A distance measuring device detects the distance between the first and second reference points and the drilling device or drilling machine, and based on the information on the detected distance, the processing device uses a predetermined position on the bench as a reference. The position of the drilling machine in the specified coordinate system is calculated, and shape information about the shape of the wall of the bench expressed in a predetermined relationship with this predetermined position or a plurality of shapes set corresponding to the shape of the wall of this bench is calculated. drilling information including positional information of each of the drilling points is stored in a memory or inputted via an input device, and predetermined positional information about the shape information or drilling points stored or inputted in the memory; Based on the information about the calculated position, the drilling machine is positioned at the predetermined hole drilling position and the hole is drilled.

With this configuration, the drilling machine can be accurately positioned at a predetermined drilling position without having to precisely position the drilling device at a predetermined position on the bench, and furthermore, If the direction information for drilling a hole is corrected in consideration of the position and the angle corresponding to the deviation of the drilling device, it becomes possible to align the bottom of the hole and drill the hole accurately.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

Fig. 1 is a sectional view for explaining the working state of the drilling method in the bench cut construction method to which the present invention is applied, Fig. 2 is a plan view thereof, and Fig. 3 is an explanatory diagram of the drilling direction correction process. 4 is a block diagram of a control system to which the drilling method in the bench cut construction method of the present invention is applied.

In FIG. 1, 1 is a bench with a height of H, and a self-propelled drilling device 2 equipped with a crawler drill, a rotary drill, etc. is installed on the bench 1. , the i-th drilling position Di (see Figure 2, where i is an integer from ₁ to n, and n is the total number of holes) located at the position of the minimum resistance line W is set by the drilling machine 3. Drill a hole. Here α is the drilling angle and the drilling depth is Ha
It is. Reference numeral 4 denotes a drill rod attached to the drilling machine 3, which is used to drill holes along the rock wall 5. Further, 6 is a distance measuring device mounted at a predetermined position of the drilling device 2.

Here, as shown in FIG. 2, the self-propelled drilling device 2 performs drilling patterns D ₁ , D ₂ ,
D ₃ , ......, Di, ......, Dn (however, D ₁ , D ₂ ,
D ₃ , ......, Di, ......, Dn indicate each drilling point), the holes are positioned at these positions and drilled in sequence.

Here, the depth of drilling Ha is Ha≧H/sin α It is determined by the relationship between

In addition, the drilling patterns D ₁ , D ₂ , D ₃ , ......,
The orientation (drilling direction and drilling angle α) at Di, ......, Dn is at each drilling point D ₁ , D ₂ , D ₃ , ......
It is necessary that Di, .

Therefore, the drilling device 2 selects each drilling pattern D ₁ ,
Even if the drilling machine is installed at an arbitrary angle near D ₂ , D ₃ , ......, Di, ......, Dn, the drilling machine can be positioned correctly at the predetermined drilling position Di,
Furthermore, it is necessary to control the drilling direction so that it coincides with a predetermined constant direction Di-Di'.

Therefore, as shown in Fig. 2, a first reference point O ₁ and a second reference point O ₂ are installed at predetermined locations on the bench 1, and the ball is placed at these reference points O ₁ and O ₂ . A reflecting mirror is installed there as a reference point for measuring the position of the drilling device 2. Note that this reflecting mirror is an optical distance measuring device 6.
It is driven by a motor and rotates within a predetermined range at a constant cycle through a mechanism that converts rotational motion into rocking motion.

Here, the distance between the first and second reference points O ₁ and O ₂ is
Coordinate system X with X ₀ as the origin and the first reference point O ₁
-Set Y. Note that this distance X ₀ can be set arbitrarily.

On the other hand, the drilling device 2 is equipped with an optical distance measuring device 6 using, for example, a laser, in order to measure the position and angle of the drilling device 2 in this coordinate system X-Y. Assume that it is installed at point A of 2.

Here, if drilling at a certain drilling position D _i-1 is completed and the drilling device 2 is moved and installed near the next drilling position Di, at this point, the drilling device 2 , by rotating and scanning the optical distance measuring device 6, each of the first and second reference points is
It measures the distance and angle between O ₁ and O ₂ .
The first and second reference points measured in this way
The distances between O ₁ , O ₂ and the drilling device 2 are AO ₁ , AO ₂ ,
Angle, let angle O ₁ A−O ₂ = ζ.

These distances AO ₁ , AO ₂ and angle ζ, and the distance X ₀ between the first and second reference points O ₁ and O ₂ or the second reference point O ₂
Based on the coordinate information, the X coordinate value = Xa and Y coordinate value = Ya from the origin O ₁ of the drilling device 2 with point A as a reference are calculated based on the triangulation method. In this case, as the coordinates of the drilling machine 3, the X coordinate value =
Alternatively, Xa and Y coordinate values=Ya may be calculated.

On the other hand, in the memory of the control unit of the drilling device 2, drilling patterns D ₁ , D ₂ , D ₃ , .
..., Di, ......, Dn position information d ₁ , d ₂ , d ₃ , ...
..., di, ......, dn are stored.

Therefore, the position information di of the drilling position Di is read out from the memory and converted into position information regarding the origin _O1 . The origin of the location information di calculated in this case
Assume that the X coordinate value=Xi and the Y coordinate value=Yi are obtained as coordinates based on _O1 .

Note that the memory contains drilling patterns D ₁ , D ₂ , D ₃ , ......, Di, ......, Dn as drilling information.
Drilling position information d ₁ , d ₂ , d ₃ , ......, di, ...
..., dn, information indicating the drilling direction, drilling angle α, and further information on the drilling depth are stored. Here, the drilling direction is determined by information indicating the drilling direction and the drilling angle α.

Now, the coordinate values (Xa, Xa,
By performing predetermined calculation processing from the coordinate values (Xi, Yi) of this drilling position Di, the positioning amount of the drilling machine 3 installed in the drilling device 2 can be calculated. The drilling machine 3 can be accurately positioned at the drilling position Di.

Next, regarding the drilling angle, if there is an inclination of the current angle ζ with respect to the first and second reference points O ₁ and O ₂ in the coordinate system in which the drilling device 2 is set, It is necessary to correct the hole orientation. This modification of the drilling direction will be explained next.

FIG. 3 shows an arbitrary direction Di− in the direction of drilling a certain hole by the drilling machine 3 at a certain drilling position Di.
If the correct direction is Di-H for F, then the drilling angle α (angle F-Di
-E) is the correctly oriented drilling angle β (angle H-Di
-G). Note that θ (angle E-Di-G) is the amount of deviation in the drilling direction.

Now, regarding the drilling direction, the direction Di-F of the drilling machine 3 is set to the arbitrary direction Di-F and the correct direction Di.
It is necessary to correct only the direction of the angle θ formed with -H. That is, if the correct drilling direction after correction is λ and the set drilling direction is the angle γ, then the correction is made as follows: λ = γ - θ.

Next, the drilling angle α is corrected, but here, the reference axis of the drilling device 2 is aligned with the origin O ₁ and the drilling device 2
The angle formed by the straight line connecting point A where the distance measuring device 6 is installed is φ, and the angle formed by the direction of the drilling direction at the drilling position Di and the straight line connecting the origin O ₁ and the drilling position Di is φ. Expressing these relationships as an angle δ, tan β=tan α/tan θ, where θ=δ−φ Note that the angle φ is the angle between the first reference point O ₁ (origin) and the drilling device 2. The angle δ is obtained as the angle by which the distance measuring device 6 is rotated to the reference point, and the angle δ is calculated from the coordinate values (Xi, Yi) of the drilling position Di and the set drilling direction angle γ.

In addition, the coordinate values (Xa, Xa,
The distance (X, Y) between the coordinate values (Xi, Yi) of the drilling position Di can be determined from the relationship: X=Xa−Xi−Lsin θ Y=Ya−Yi−Lcos θ. Note that L is a distance indicating the amount of deviation between the reference position A of the distance measuring device 6 in the drilling device 2 and the reference position B of the drilling machine 3. Furthermore, when the coordinates (Xa, Ya) are calculated as the coordinate values of the reference point of the hole drilling machine 3, Lsin θ and Lcos θ in the third term of the above equation are unnecessary.

FIG. 4 is a block diagram showing a control system for the drilling method in the bench cut construction method to which the present invention is applied.

The distance measuring device 6 mounted on the drilling device 2 includes a laser distance measuring device 7 and a turning angle detector 8.
The swing drive mechanism 9 swings at a predetermined speed and within a predetermined angle range. The laser beam rotated by the rotation drive mechanism 9 and irradiated from the laser generator of the laser ranging device 7 rotates at a predetermined rotation position at a predetermined period provided at the first reference point _O1 . The light is reflected by the reflecting mirror 12, and the reflected light is received by the light receiver of the laser distance measuring device 7. In addition, here, the reflecting mirror 1 provided at the first reference point O ₁
By rotating 2, the reflected light can be received no matter where the drilling device 2 is located in the coordinate system shown in FIG.

The laser distance measuring device 7 sends measured distance data to the processing device 11 via the interface circuit 10, and at the time the light receiver of the laser distance measuring device 7 receives the reflected light, the turning angle detector 8 The light receiving signal is sent to the The rotation angle detector 8 detects the current rotation angle position from the rotation drive mechanism 9 according to this detection signal, converts it into A/D,
It is sent to the processing device 11 via the interface circuit 10.

Further, the swing drive mechanism 9 sends a reference position signal to the swing angle detector 8 when the laser beam position of the laser distance measuring device 7 matches the reference axis position of the drilling device 2 . The turning angle detector 8 receives this signal and sends the current turning angle position to the processing device 11 via the interface circuit 10.

Furthermore, the laser ranging device 7 is rotated so that its laser beam is provided at the second reference point _O2 ,
When each reflected light is reflected by the reflecting mirror 12 that rotates at a predetermined period and is received by the receiver of the laser distance measuring device 7, the laser distance measuring device 7 receives the data of the measured distance. is sent to the processing device 11 via the interface circuit 10, and at the same time, when the light receiver of the laser distance measuring device 7 receives the light, a light reception signal is sent to the turning angle detector 8.
In response to this detection signal, the turning angle detector 8 detects the current turning angle position from the turning drive mechanism 9, converts it into A/D, and sends it to the processing device 11 via the interface circuit 10. do.

Note that, similarly to the above, by rotating the reflecting mirror ₁₂ provided at the second reference point O2, the reflecting mirror 12 is rotated, so that no matter where the drilling device 2 is located in the coordinate system shown in FIG. Can receive light.

Here, the processing device 11 stores the distance measurement information from the laser distance measurement device 7 and the angle information from the turning angle detector 8 in a predetermined area of the memory 13. 1st, 2nd
Upon obtaining the distance and angle information from the reference points O ₁ and O ₂ , the processing device 11 calculates the coordinate values (Xa, Ya) indicating the position of the drilling device 2, and further stores the The positional information of the drilling patterns D ₁ , D ₂ , D ₃ , ......, Di, ......, Dn stored in the predetermined area of Read out the i-th (i is an integer from 1 to n, updated sequentially) drilling position information and direction information, and use this information to calculate the coordinate values (Xi, Yi) of this drilling position Di. Calculate and use the above-mentioned
According to each formula, the drilling direction is determined by the angles λ, θ, the positioning coordinates (X, Y) of the drilling machine 3, and the correction angle β.
, and calculate the position of the drilling machine 3 from this information, the coordinate position of the drilling position 2, for example, the coordinate values (Xa, Ya), and the coordinate values of the drilling position Di (Xi, Yi) Information regarding the above is sent to the display 14 for display, and is also sent to a predetermined control device 15 such as a boom to position the drilling machine 3 and drill a hole.

When this drilling is completed, the i-th hole is
If necessary, move to the i+1th drilling position and perform the same process, sequentially forming the drilling pattern D ₁ , D ₂ , D ₃ , ......, Di, ...... The holes are drilled according to the Dn.

Note that in this embodiment, the first reference point O ₁ ,
If the distance X ₀ of O ₂ is measured, there is no need to detect the angle ζ.

Here, in the figure, 16 is an input device consisting of a keyboard or the like for inputting various data.

As explained above, in the embodiment, a laser distance measuring device is used as a device for measuring the distance from the drilling device, but this may also be a radio wave distance measuring device or a sonic distance measuring device. good. Any device may be used as long as it can measure the distance between the so-called drilling device and the reference point.

In addition, in the embodiment, the direction is also corrected, but it is of course possible to correct the direction manually and only when the drilling machine is positioned at the drilling position to be corrected automatically. .

Furthermore, in the embodiment, position information and orientation information are stored in advance as drilling information for the drilling patterns D ₁ , D ₂ , D ₃ , ......, Di, ......, Dn; This is done by memorizing the shape information of the bench wall, determining the minimum resistance line W from this information, and drilling each hole position D ₁ , at a predetermined interval each time.
The position coordinates and drilling direction of D ₂ , D ₃ , ......, Di, ......, Dn may be determined. moreover,
These positional coordinate information, etc. may be inputted by an operator from an input/output device each time and subjected to arithmetic processing. In addition, in the case where the automatic operation is performed only when positioning the drilling machine at the drilling position, the drilling information is based on the drilling patterns D ₁ , D ₂ ,
It is sufficient to store the position information of D ₃ , ......, Di, ......, Dn.

In addition, in the embodiment, the first reference point is the origin, but the drilling patterns D ₁ , D ₂ , D ₃ , ......
Di,……,Dn drilling information (location information, etc.) is
Data that coincides with this origin may be input or stored, or alternatively, data may be obtained using a point set on the bench as a reference point. In this way, the reference point of the distance measuring machine and the drilling pattern D ₁ ,
If the reference points of the information of D ₂ , D ₃ , ......, Di, ......, Dn are different, the processing unit performs arithmetic processing to make them match and extracts each information. will be handled. In this sense, the coordinate system in the embodiment may be set with reference to a predetermined position on the bench.

〔Effect of the invention〕

As can be understood from the above description, the present invention provides a drilling device that includes a processing device, a memory, a drilling device, and a distance measuring device, which is installed on a bench, and placed at any position on the bench. This is done by setting first and second reference points, and detecting the distances between the first and second reference points and the drilling device or drilling machine using a distance measuring device. Based on the distance information, the processing device calculates the position of the drilling machine in a coordinate system based on a predetermined position on the bench, and calculates the shape of the bench wall expressed by this predetermined position and a predetermined relationship. Drilling information including shape information or positional information of each of a plurality of drilling points set corresponding to the shape of the wall of this bench is stored in a memory or inputted via an input device and stored in the memory. Or, based on the inputted shape information or predetermined positional information about the drilling point and information about the calculated position, the drilling machine is positioned at the predetermined drilling position and the hole is drilled. Therefore, the predetermined drilling patterns D ₁ , D ₂ , D ₃ ,...
The drilling machine can be automatically positioned at the correct drilling position according to ..., Di, ......, Dn. Furthermore, by storing information about the orientation and correcting this information when drilling, it becomes possible to drill holes with aligned holes.

As a result, even an unskilled person can perform the drilling work by setting the correct hole drilling position with the drilling machine mounted on the drilling device without requiring much time and effort.

In addition, even if the drilling direction is biased, by correcting the direction, there will be less error in the drilling interval at the bottom of the hole, the correct bench cut will be made that matches the predetermined amount of charge, and the efficiency of blasting will be improved. Become.

[Brief explanation of drawings]

Fig. 1 is a sectional view for explaining the working state of the drilling method in the bench cut construction method to which the present invention is applied, Fig. 2 is a plan view thereof, and Fig. 3 is an explanatory diagram of the drilling direction correction process. 4 is a block diagram of a control system to which the drilling method in the bench cut construction method of the present invention is applied. 1 is a bench, 2 is a drilling device, 3 is a drilling machine,
4 is a drill rod, 5 is a rock wall, 6 is a distance measuring device,
7 is a laser ranging device, 8 is a turning angle detector, 9 is a turning drive mechanism, 10 is an interface circuit, 11
is a processing device, 12 is a reflecting mirror, 13 is a memory, 14
1 is a display device, and 15 is a control device.

Claims (1)

[Claims] 1. A drilling device including a processing device, a memory, a drilling device, and a distance measuring device is installed on a bench,
First and second reference points are provided at arbitrary positions on the bench, and the distances between the first and second reference points and the drilling device or the drilling machine are respectively detected by the distance measuring device. Then, based on the detected distance information, the processing device calculates the position of the drilling machine in a coordinate system based on a predetermined position on the bench, and the position is expressed in a predetermined relationship with this predetermined position. Drilling information including shape information about the shape of the wall of the bench or position information of each of a plurality of drilling points set corresponding to the shape of the wall of the bench is stored in the memory or by an input device. Based on the shape information or the predetermined position information about the drilling point input through the memory and stored or input in the memory, and the information about the calculated position, the drilling machine is moved to the predetermined drilling position. A drilling method in the bench cut construction method that is characterized by positioning and drilling holes. 2. The drilling information includes position information and drilling direction information for each drilling position in a coordinate system based on a predetermined position, and the distance measuring device information about the position calculated by a processing device by detecting the distance to the hole device or the hole drilling machine, respectively, and detecting the direction of the hole drilling device in the coordinate system, and the predetermined hole drilling position of the hole drilling information; position the drilling machine at a predetermined drilling position set on the bench based on the position information and the set direction based on the azimuth information and information about the direction of the drilling device. The drilling method in the bench cut construction method according to claim 1, characterized in that the drilling method is performed based on calculations.