JP2005220627A - Boring positioning control method in rock drill mounted carriage - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve working efficiency and positioning precision without interfering with boring work even when a collimation target cannot be collimated concerning boring positioning control. <P>SOLUTION: A boring positioning control method comprises successively moving a bit 13a of a rock drill 13 from the order of moving in accordance with a boring pattern planned previously in a state that a coordinate of a drill jumbo 1 and an attitude state are known at each plan boring point i on the basis of operation coordinate data for boring positioning set on a controller 2 before boring or during boring interruption, surveying the collimation target 8 provided on a guide shell 12 in a state that it is stopped on each plan boring point i by surveying equipment 4, acquiring a bit position of the rock drill 13 as a surveying coordinate on the basis of the survey, comparing an operation coordinate of each plan boring point by the operation coordinate data for the boring positioning with each survey coordinate surveyed really, setting a difference as composite errors at each plan boring point i, and making the composite errors a correction amount of the operation coordinate. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a drilling positioning control method for automatically and accurately controlling a rock drill bit to a drilling position in tunnel excavation using a rock drill mounted carriage (drill jumbo).

  In the past, drilling using a drill jumbo has been performed by manually irradiating laser light to the drilling position on the cross section of the face and marking it manually. In recent years, tunnel excavation work has been automated and labor saving. In response to the request, etc., various sensors (rotation angle sensor, displacement sensor, proximity sensor, etc.) are attached to each joint of the guide shell and boom that support the rock drill, and each joint based on the position of the reference point of the drill jumbo The computer calculates the travel distance and angle data to calculate the positioning coordinates of the rock drill, and automatically moves the rock drill to the positioning coordinates by the servo mechanism that operates the guide shell and boom. The drilling positioning control method to be used has come to be adopted.

  In the drilling positioning control system using the servo mechanism, each boom, the inherent error of the sensor, the deflection, the pin that gradually increases with the operating period, and the backlash due to the wear of the bush are included and set. In many cases, the drilling positioning control system has been tried in recent years to improve accuracy, even if the rock drill is positioned according to the positioning coordinates. ing. For example, in Patent Document 1 below, a laser target is provided on the rear side of the carriage and the rock drill to realize labor saving and high-precision tunnel excavation in tunnel excavation using a drill jumbo. Measure the position coordinates of the drill jumbo using the surveying instrument installed in, then continuously collimate the collimation target installed in the rock drilling machine and detect its position, and the position information of the collimation target A drilling positioning control method is disclosed in which a rock drill is automatically operated through a servo mechanism of a rock drill according to a control signal based on it, and a drill bit is guided and positioned at a drilling position on a face calculated in advance. Has been.

Further, in Patent Document 2 below, an automatic tracking surveying instrument with a built-in laser beam irradiation mechanism installed behind a rock drill, a control device for automatically positioning or displaying a position of a guide shell, and the surveying instrument are provided. Transmits the position data of the bit position of the rock drill set by the control device and the rock drill to the surveying instrument via the communication device, and irradiates the laser beam from the surveying instrument based on the position data When the deviation between the irradiation position of the laser beam and the bit position of the rock drill has occurred, based on the amount of movement required to match the irradiation position of the laser beam and the bit position of the rock drill, There has been proposed a drilling positioning correcting device for a rock drill equipped with correcting means for correcting the drilling positioning. In this case, when the bit coordinates are deviated from the drilling position coordinates irradiated by the surveying instrument, the corrected moving amount is changed to the laser beam position irradiated from the surveying instrument by switching the control device to the manual mode. It is set by moving the rock drill until the bits match, and measuring the amount of movement.
Japanese Patent Application Laid-Open No. 5-15685 JP 2003-314181 A

  However, in the case of Patent Document 1, when moving the rock drill from one drilling point to the next drilling point, the collimating target attached to the rear end of the guide shell can always be visually recognized from the surveying instrument installed on the tunnel wellhead side. If there is an obstacle between the collimation target and the surveying instrument even if it cannot be collimated even temporarily, the boom cannot be moved, and the movement speed of the laser beam by the automatic tracking function of the laser However, there is a problem that workability is poor because the traveling speed of the rock drill needs to be almost the same.

  On the other hand, in the case of Patent Document 2, when the coordinate of the rock drill bit is deviated from the drilling position coordinates irradiated by the surveying instrument, the operator moves the control device to the manual mode and It is moved until the bit coincides with the laser beam irradiated by the surveying instrument. This manual operation requires a lot of time and effort, and it cannot be performed at the same time as the drilling work process, and is a separate process. Therefore, the work efficiency is poor and the tunnel excavation process is delayed. In addition, when moving the rock drill bit to the laser beam irradiation position, the part that depends on human intuition is large, and whether the laser beam from the surveying instrument and the bit of the rock drill are the same or not in the tunnel site. It is very difficult to check with the face, and even if they are matched, there are many cases where an error of several centimeters to several tens of centimeters remains, and there is a problem that accuracy is not improved.

  Therefore, the main problem of the present invention is that, even if the collimation target cannot be collimated, the drilling operation is not hindered, and the manual operation part by the operator is eliminated, so that the work efficiency and the positioning accuracy can be improved. In addition, during normal excavation, the operator can concentrate on automated drilling work without being particularly aware of error correction, thereby saving labor.

In order to solve the above-mentioned problems, the present invention according to claim 1 is directed to a dolly capable of traveling by supporting a guide shell on which a rock drill is mounted via an articulated boom, and the articulated boom and the guide shell. In a bogie equipped carriage equipped with a controller that attaches various sensors to the movable part of the and obtains position information based on measurement data from these various sensors and moves the rock drill to a predetermined drilling position by a servo mechanism. A drilling positioning control method comprising:
At least the rear of the bogie mounted carriage, the guide shell or the rock drill and a collimation target, respectively, and a surveying instrument capable of measuring the coordinates of the collimating target on the rear side of the rock drill mounted carriage Install
Prior to drilling or when drilling is interrupted, the bits of the rock drill are transferred to the controller according to the movement order according to the drilling pattern planned in advance, with the coordinates and posture of the bogie mounted carriage being known. Based on the set drilling positioning calculation coordinate data, it is sequentially moved to each planned drilling point, and the collimation target provided in the guide shell or rock drill is stopped by each planned drilling point by the surveying instrument. Survey, and based on this survey, obtain the bit position of the rock drill as surveying coordinates, and compare the calculated coordinates of each planned drilling point by the calculated coordinate data for drilling positioning with the measured survey coordinates. , Set the difference as a compound error for each planned drilling point,
Thereafter, the bit error of the rock drill is sequentially moved to each planned drilling point in the order of movement according to a pre-planned drilling pattern, and the composite error is added as a movement correction amount with respect to the calculated coordinates. A drilling positioning control method for a rock drill mounted carriage is provided.

  In the present invention according to claim 1, for example, prior to drilling or when drilling is interrupted, the bits of the rock drill are set in the controller in the order of movement according to a drilling pattern planned in advance. Based on the calculation coordinate data for positioning, it sequentially moves to each planned drilling point. At this time, at each planned drilling point, by collimating the collimation target installed in the guide shell or rock drill with the surveying instrument, the coordinates are obtained, and the bit position coordinates of the rock drill are determined, Get the coordinates. Then, the calculated coordinates of each planned drilling point based on the calculated coordinate data for drilling positioning are compared with the measured survey coordinates, and the difference is set as a composite error for each drilling position. Is added as a movement correction amount, and the rock drill is moved to each planned drilling point. As described above, in the present invention, since the movement correction amount is set in advance as a combined error for each planned drilling point, the drilling operation is not hindered even if the collimation target cannot be collimated. In addition, since there is no manual operation part by the operator, the work efficiency and the positioning accuracy can be improved. In addition, the operator can concentrate on the automated drilling work without paying special attention to error correction, so that the work is saved. By the way, the “composite error” is an error that comprehensively includes all errors such as sensor error, pin, bush play, and boom deflection.

  As a second aspect of the present invention, two collimation targets are set in the rear part of the rock drill mounted carriage, which are separated in the horizontal direction and have different heights in the vertical direction. The drilling positioning control method in the rock drill mounted carriage according to claim 1 is provided, wherein the coordinates of the rock drill mounted carriage are acquired and the posture state thereof is acquired.

  In the present invention described in claim 2, in order to grasp the coordinates and posture state of the rock drill mounted carriage, the rear portion of the rock drill mounted carriage is separated in the horizontal direction and the height is set in the vertical direction. By setting two different collimation targets and surveying them, the coordinates and attitude of the rock drill mounted carriage are obtained. There are several ways to know the coordinates and attitude of the bogie mounted carriage. In this method, only the surveying of the two collimating targets is performed, and the coordinates of the bogie mounted carriage are detected. And the posture state can be obtained.

  As a third aspect of the present invention, the collimation target installed in the guide shell is installed in any one of the front part, the intermediate part and the rear part of the guide shell, or a combination position, and installed in the rock drill. The drill positioning control method for a rock drill mounted carriage according to claim 1, wherein the collimation target to be set is installed at a rear portion of the rock drill.

  In the present invention described in claim 3, when the bit position coordinates of the rock drill moved to each planned drilling point are obtained by surveying, when the collimation target installation point is installed in the guide shell, Either the front part, the middle part, the rear part, or the combination position is installed, or the rear part when installed in the rock drill. It is possible to survey at least one collimation target provided on the guide shell or the rock drill, and obtain the bit position coordinates of the rock drill by calculation based on the coordinates of the survey point. In addition, when providing a collimation target to a rock drill, since a rock drill moves back and forth along a guide shell, it is necessary to grasp | ascertain a position with a sensor.

As the present invention according to claim 4, a rock drill according to any one of claims 1 to 3, wherein a composite error is set for each zone instead of setting the difference as a composite error for each planned drilling point. A drilling positioning control method in an on-board carriage is provided.
Basically, it is desirable to set a composite error for each planned drilling point, but the composite error may be set for each grouped zone.

  As the present invention according to claim 5, the excavation cross-sectional shape is measured by the surveying instrument after blasting, and compared with the planned excavation cross-section, a difference in the tunnel radial direction is set as a cross-section correction correction value, and the calculation is performed at the next excavation. The drilling positioning control method for a rock drill mounted carriage according to any one of claims 1 to 4, wherein the excavation or attrition is reduced by correcting coordinates based on the cross-section correction correction value.

  As described above, according to the present invention, the drilling operation is not hindered even if the collimation target cannot be collimated, and the manual operation part by the operator is eliminated, so that the work efficiency and the positioning accuracy are improved. To get. Further, during normal excavation, the operator can concentrate on automated drilling work without being particularly aware of error correction, so that work efficiency is improved.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
<Drill jumbo with drill positioning control system>
The drill jumbo 1 is a boring heavy machine having a structure in which a guide shell 12 on which a rock drill 13 is mounted is supported via a multi-joint boom 11 with respect to a dolly 14 that can travel. Various sensors are attached to 12 movable parts, and position information is obtained based on measurement data obtained by these sensors, and a controller 2 is provided for moving the rock drill 13 (bit 13a) to a predetermined drilling position by a servo mechanism. ing.

  Specifically, as shown in FIG. 3, the drilling device 10 including the articulated boom, the guide shell, and the rock drilling machine has a boom base 16 pivotally mounted on a base 15 of a carriage 14 by a pivot shaft 17. The base end of the telescopic boom 18 is pivotally attached to the boom base 16 by a lifting shaft 19. The telescopic boom 18 includes a proximal end boom 18A and a distal end boom 18B, and the distal end boom 18B is slidably extended with respect to the proximal end boom 18A. A turning hydraulic cylinder 20 is provided between the base 15 and the boom base 16, and a lifting hydraulic cylinder 21 is provided between the base end boom 18A of the telescopic boom 18 and the boom base 16, thereby extending and contracting. The boom 18 can be turned and raised.

  A tilt body 22 is pivotally attached to the tip of the tip boom 18B by a tilt shaft 23, and a tilt hydraulic cylinder 24 is provided between the tip boom 18B and tiltable. A swing body 25 is pivotally attached to the tilt body 22 by a swing shaft 26, and a swing hydraulic cylinder (not shown) is provided between the tilt body 22 and swinging is possible. The swing body 25 is provided with a guide rotary 27 so as to be able to rotate about the rotary shaft 28. A guide mounting 29 is supported on the guide rotary 27 by a mount shaft 30, and the guide shell 12 is supported by the guide mounting 29 so as to be slidable back and forth. The guide shell 12 is equipped with a rock drill 13 having a rod 13b with a bit 13a attached to the tip of the guide shell 12. The rock drill 13 is fed forward and backward to the rock surface of the face S. Perforate.

  In each of the movable parts of the swinging shaft 17 of the telescopic boom 18 of the drill jumbo, the lifting shaft 19, the tilt shaft 23, the swing shaft 26, the rotary shaft 28, the telescopic boom 18, the guide mounting 29, and the sliding portion of the guide shell 12. A detector (not shown) for detecting the operation amount is installed, and the turning angle θ1, the elevation angle θ2, the tilt angle θ3, the swing angle θ4, the rotary angle θ5, the boom slide length L1, and the guide slide length L2. The rock drill feed length L3 is detected.

  In this drill jumbo 1, the reference point of operation of the drilling device 10 including the guide shell 12 on which the rock drill 13 is mounted and the telescopic boom 18 that supports the guide shell 12 by the guide mounting 29 is the pivot shaft 17 of the boom base 16. Above (referred to as reference point J).

  As shown in FIG. 1, a control device 2 using a computer and a radio communication device 3 are mounted on the drill jumbo 1. The control device 2 is input with the calculation coordinate data for positioning according to the drilling pattern planned in advance, and operates the actuator of each movable part by the servo mechanism, and automatically turns the bits 13a of the rock drill 13 sequentially. Position for each planned drill point. At this time, the coordinates of the tip of the bit 13a with respect to the reference point J of the rock drill 13 are a function F of the detection values (θ1, θ2, θ3, θ4, θ5, L1, L2, L3) of the detector, and The direction of the guide shell 12 with respect to the reference direction of the rock drill 13 is calculated by the computer of the control device 2 as a function G of the detected values (θ1, θ2, θ3, θ4, θ5).

<Correcting method of drilling positioning control>
As explained in the background section, in the case of only the drilling positioning control system using the conventional servo mechanism, the pin that gradually increases according to each boom, the inherent error of the sensor, the deflection, and the operation period. Because of the positioning coordinates including backlash due to bush wear, high-precision tunnel excavation could not be expected.

  Therefore, in the present invention, for each drilling position, a correction value (hereinafter referred to as a composite error) that comprehensively includes the cause of the error is set, and the bit 13a of the rock drill 13 is accurately set to each planned drilling point. To be positioned.

Hereinafter, the correction method of this drilling positioning control will be specifically described in detail.
With respect to the drill jumbo 1, collimation targets 7A and 7B are installed at two rear portions thereof, and at a predetermined position of the guide shell 12, specifically, a front portion, an intermediate portion and a rear portion of the guide shell (illustrated example) Then, the collimation target 8 is installed so as to be installed at any one of the above or a combination position. Then, a surveying instrument 4 capable of measuring the coordinates of the collimating targets 7A, 7B, and 8 is installed on the rear side of the drill jumbo 1. A wireless communication device 5 is connected to the surveying instrument 4 so that it can communicate with the wireless communication device 3 connected to the controller 2 of the drill jumbo 1, and a computer 6 is connected to the wireless communication device 5. Are connected, and the information of the computer 6 can be transmitted and received via the controller 2 and the wireless communication devices 3 and 5. Communication between the controller 2 and the surveying instrument 4 or the computer 6 may be performed by wire.

  First, the drill jumbo 1 is positioned before the face S, but since the drilling pattern is set on the face S, the rock drill 13 is automatically positioned and drilled by computer control. In this case, after the drill jumbo 1 is installed in the vicinity of the face S, it is necessary to input the position of the reference point J of the drill jumbo 1 with respect to the face S to the control device 2 before starting drilling. Further, since it is difficult to install the carriage 14 of the drill jumbo 1 in a direction that correctly matches the reference direction of drilling, a deviation of the reference direction of the drill jumbo 1 from the reference direction of drilling is input to the control device 2 in advance. It is necessary to correct the coordinate data for drilling positioning before drilling.

  Specifically, in order to grasp the deviation of the reference point J of the drill jumbo 1 and the drilling reference direction, in the example shown in FIG. 1, the two collimation targets 7A and 7B installed at the rear part of the drill jumbo 1 are This is performed by collimating with a surveying instrument (for example, total station) installed on the rear side of the drill jumbo 1 and obtaining the coordinates of the collimating targets 7A and 7B. In this case, the two collimation targets 7A and 7B installed at the rear part of the drill jumbo 1 are separated from each other in the horizontal direction and installed at different heights in the vertical direction, so that the installation coordinates of the drill jumbo 1 are set. The posture state (roll angle, pitch angle, yaw angle) of the drill jumbo 1 can be known. The position and orientation of the drill jumbo 1 are set such that one collimation target is installed at the rear, a three-axis angle sensor is attached to the fuselage, coordinates are acquired by the collimation target, and the three-axis angle sensor is used. You may make it grasp | ascertain a posture state.

If the coordinates and posture state of the drill jumbo 1 are known, the drilling rock according to the movement order according to the drilling pattern planned in advance as shown in the flow chart of FIG. 4 before drilling or when drilling is interrupted. The bit 13a of the machine 13 is sequentially moved to each planned drilling point (X _i , Y _i , Z _i ) (hereinafter referred to as calculation coordinates) based on the calculation coordinate data for drilling positioning set in the controller 2. (See FIG. 2). At this time, the bit 13a of the rock drill 13 is moved toward each planned drilling point i, and when the planned drilling point i is reached, the controller 2 transmits a movement end signal to the surveying instrument 4 side. If this signal is received, the collimation target 8 of the guide shell 12 stopped at the planned drilling point i is measured by the surveying instrument 4, and the position of the bit 13a of the rock drill 13 is determined based on this surveying. Are _obtained as survey coordinates (X _k , Y _k , Z _k ).

Then, as shown in the following formula (1), the calculated coordinates (X _i , Y _i , Z _i ) of the planned drilling point i based on the calculated drilling positioning coordinate data and the measured survey coordinates (X _k , Y _k , Z _k ) and the difference is set as a compound error (k _X , k _Y , k _Z ) at the planned drilling point i. This composite error (k) can be considered as an error that comprehensively includes sensor error, pin, bush play, boom deflection, and the like.

The composite error setting operation is performed for each planned drilling point (i = 1 to n) in the order of movement in accordance with a pre-planned drilling pattern, and combined for each planned drilling point (i = 1 to n). An error (k _{i = 1 to n} ) is set.

Once the composite error (k _{X (i)} , k _{Y (i)} , k _{Z (i)} ) has been set for all planned drilling points (i = 1 to n) of the face S, When the bit 13a of the rock drill 13 is sequentially moved to each planned drilling point i in the order of movement according to the drilling pattern planned in advance, the calculation is performed as shown in the following formula (2). The composite error (k _{X (i)} , k _{Y (i)} , k _{Z (i)} ) is added as a movement correction amount to the coordinates (X _i , Y _i , Z _i ).

  As described above, it is possible to perform drilling positioning control in which errors including sensor errors, pins, bush play, boom deflection, and the like are comprehensively corrected, and the bit 13a of the rock drill 13 is accurately controlled to a predetermined drilling position by a servo mechanism. Can be positioned. Since it is incorporated in advance in the calculation coordinates as a compound error, drilling work will not be hindered even if the collimation target cannot be collimated, and the operator does not need to be particularly aware of error correction, and drilling is automated. You will be able to concentrate on your work.

[Other examples]
(1) In the above embodiment, the collimation target 8 is installed at a predetermined position of the guide shell 12, but it may be installed in a rock drill. In this case, it is desirable to provide in the rear part. In this case, since the rock drill moves back and forth along the guide shell 12, the position needs to be grasped by a sensor.

(2) The complex error setting work can be performed anywhere as long as there is a space for moving the boom other than inside the tunnel and there is a surveying instrument that can measure the collimating target. Never give.

(3) Since the play due to wear of the pin and bush gradually increases with the operating period, it is desirable to perform the composite error setting work periodically at predetermined intervals.

(4) In the above embodiment, the composite error is set for each planned drilling position i. However, the face S may be divided into arbitrary zones, and the composite error may be set for each zone. .

(5) Even if drilling is carried out by charging and blasting after accurately positioning at each planned drilling position according to a pre-planned drilling pattern, the finish will follow the drilling section planned according to the condition of the natural ground. However, there may be a lot of excavations or claws. Therefore, after blasting, the excavation cross-sectional shape is measured by the surveying instrument, and compared with the planned excavation cross-section, the difference in the tunnel radial direction is set as the cross-section correction correction value, and the calculated coordinates are set to the cross-section correction correction value at the next excavation. It is possible to reduce overburdens or claws by making corrections based on the above. This excavation cross-sectional correction is not performed every excavation cycle, but is preferably performed when a threshold value is set for overexcavation or attrition and the threshold value is exceeded.

(A) is a side view and (B) is a plan view showing a drilling positioning control method according to the present invention. It is a perforation pattern example figure in the face S. It is explanatory drawing of the drilling apparatus 10 provided with the drilling positioning control system. It is a flowchart of the drilling positioning control method which concerns on this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Drill jumbo, 2 ... Controller, 3 * 5 ... Wireless communication machine, 4 ... Surveying instrument, 6 ... Computer, 7A * 7B * 8 ... Collimation target, 10 ... Drilling device, S ... Face

Claims (5)

For the dolly that can travel, the guide shell carrying the rock drill is supported via the articulated boom, and various sensors are attached to the articulated boom and the movable part of the guide shell, and the measurement data by these various sensors is used. A drilling positioning control method in a rock drill mounted carriage provided with a controller for obtaining position information based on the controller and moving the rock drill to a predetermined drilling position by a servo mechanism,
At least the rear of the bogie mounted carriage, the guide shell or the rock drill and a collimation target, respectively, and a surveying instrument capable of measuring the coordinates of the collimating target on the rear side of the rock drill mounted carriage Install
Prior to drilling or when drilling is interrupted, the bits of the rock drill are transferred to the controller according to the movement order according to the drilling pattern planned in advance, with the coordinates and posture of the bogie mounted carriage being known. Based on the set drilling positioning calculation coordinate data, it is sequentially moved to each planned drilling point, and the collimation target provided in the guide shell or rock drill is stopped by each planned drilling point by the surveying instrument. Survey, and based on this survey, obtain the bit position of the rock drill as surveying coordinates, and compare the calculated coordinates of each planned drilling point by the calculated coordinate data for drilling positioning with the measured survey coordinates. , Set the difference as a compound error for each planned drilling point,
Thereafter, when the rock drill bit is sequentially moved to each planned drilling point in the order of movement according to a pre-planned drilling pattern, the composite error is added as a movement correction amount to the calculated coordinates. A drilling positioning control method for a bogie mounted carriage.   By setting two collimation targets spaced apart in the horizontal direction and having different heights in the vertical direction at the rear part of the bogie mounted carriage, and surveying the two collimation targets, the rock drilling The drilling positioning control method for a rock drill mounted carriage according to claim 1, wherein the coordinates of the machine mounted carriage are acquired and the posture state thereof is acquired.   The collimation target installed in the guide shell is installed at any one of the front, middle and rear of the guide shell, or a combination position, and the collimation target installed in the rock drill is the rock drilling The drilling positioning control method for a rock drill mounted carriage according to claim 1, wherein the drilling carriage is installed at a rear portion of the machine.   The drilling positioning control method for a rock drill mounted carriage according to any one of claims 1 to 3, wherein a composite error is set for each zone instead of setting the difference as a composite error for each planned drilling point. After the blasting, the surveying instrument measures the excavation cross-sectional shape, compares it with the planned excavation cross-section, sets the difference in the tunnel radial direction as a cross-section correction correction value, and based on the calculated coordinates at the next excavation based on the cross-section correction correction value The drilling positioning control method in the rock drill mounted carriage according to any one of claims 1 to 4, wherein the excavation or attrition is reduced by correcting the drilling.

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