JP3333947B2 - Drilling position display system for tunnel face - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is suitable for displaying a position to be drilled on a face when drilling a blast hole for explosives, for example, when excavating a tunnel using a blasting method. The present invention relates to a system for displaying a drilling position on a tunnel face.

[0002]

2. Description of the Related Art Generally, in order to excavate a tunnel,
There are various construction methods according to geological conditions and the like. In recent years, an excavation method that is automated using various machines has been developed. However, when excavating tunnels in bedrock, blasting methods are still being used extensively. In this blasting method, a tunnel pit is formed by drilling a blast hole along the axial direction of the tunnel on the face of the tunnel to be excavated, and then blasting the face with gunpowder in the blast hole. It has become. Conventionally, in order to drill a blast hole on a face, an arrangement of the blast hole on the face is determined in advance so as to obtain a predetermined tunnel cross-sectional shape, and according to the arrangement, a worker works on an aerial work platform. , The face was marked with paint, and holes were drilled with a drilling machine in accordance with the marking.

[0003]

However, the above-described conventional operation of marking a blast hole on the face of a tunnel as described above has the following problems. In other words, when performing the marking work, the blasting performed in the previous process may cause the face face to be unstable on the bedrock, which is a dangerous work. In addition, there is a case where the marking work must be performed in an unstable posture according to the shape of the face, and thus there is a problem not only in the safety of the work but also in that the marking work itself is a troublesome work. In addition, since the operator performs the marking by hand, the position accuracy of the marking is not always high. In recent years, in order to solve the above problems, a laser transmitter is installed behind the face in the excavation direction, and by irradiating the position of the blast hole to the face with laser light, the blast A method was developed to display the location. However, also in this method, a drilling device for drilling a blast hole is arranged in the vicinity of the facet, so that the drilling device hinders the irradiation of the facet with laser light. In such a case, it is necessary to move the drilling device, etc., and the working efficiency is extremely poor. The present invention has been made in view of the above, without performing the marking work on the working face side, cut to tunnel face surface capable of displaying the position to be drilled on the working face surface entire Hole position display
The purpose is to provide a system .

[0004]

The invention according to claim 1 is
When excavating a tunnel, the face of the tunnel
When drilling a hole extending in the axial direction of the
Drilling used to indicate the position to drill on the face
A position display system, based on hole arrangement data.
Laser irradiation means for irradiating laser light;
Controls the direction of the laser light emitted by the
The irradiation time of the laser beam to each drilling position is
And the position irradiated with laser light is one drilling position
From the hole to another drilling position in sequence
The drilling position of the entire face face can be recognized by the result.
Control device for controlling the laser irradiation means to display
And a drilling device for drilling the displayed drilling position.
The laser irradiation means is provided integrally with the drilling device.
It is characterized by being.

[0005]

According to a second aspect of the present invention, when excavating a tunnel, when drilling a hole extending in the axial direction of the tunnel on the face of the tunnel, a position to be drilled on the face is determined. A drilling position display system used to display, in the back of the tunnel excavation direction, a first laser transmitter that irradiates laser light, and irradiates a light wave in the same direction as the laser light, to the object A total station equipped with a controller for controlling the direction of the laser light and the light wave irradiated by the first laser transmitter and the light wave distance meter, and a light wave distance meter for measuring the distance to the arranged light wave receiver, In front of the total station in the excavation direction, a light wave receiver for emitting a light wave incident from the light wave distance meter toward the light wave distance meter, and the first laser emitting device. A laser receiver for detecting the irradiation position of the laser light emitted from the machine, a second laser transmitter for irradiating the laser light based on the hole arrangement data, and a control device for controlling the second laser transmitter A drilling position irradiating device comprising: is provided, and the control device controls the direction of the laser light to be irradiated by the second laser transmitter, and irradiates the laser light to each drilling position. Is set to a fixed minute time, and the position irradiated with the laser beam is sequentially and continuously switched from one drilling position to another drilling position so that the drilling position of the entire face face can be recognized by an afterimage effect. The method is characterized in that the second laser transmitter is controlled to display.

[0007] The invention according to claim 3 is the boring position display system according to claim 2, a second laser transmitter and optical wave photodetector and the laser receiving element of the drilling position irradiation device, is displayed It is characterized by being provided integrally with a drilling device for drilling a drilling position.

[0008]

According to the first aspect of the present invention, the positions to be drilled are irradiated with the laser beam and displayed on the face, so that all the drilling positions can be displayed.

Further, the irradiation time of the laser light to the drilling position is constant short time, and to sequentially switch continuously and the position to be irradiated with a laser beam from one drilling position to the other drilling position did. Thus, when the face is visually observed, a plurality of drilling positions are displayed on the entire face within a predetermined time. In addition, laser irradiation means are drilled
It was configured to be provided integrally with the device. This allows laser illumination
The drilling device is positioned at the drilling position indicated on the face by
It becomes possible.

[0010] According to the second aspect of the present invention, the total station including the first laser transmitter and the optical distance meter is installed behind the tunnel in the direction of excavation. As a result, when the laser light is applied to the light wave receiver arranged on the object, that is, the light wave is applied to the light wave receiver, and the emitted light wave and the light wave returned from the light wave receiver to the light wave distance meter are emitted. By the phase difference, the total station and the object,
For example, the distance to the face face or the drilling position irradiation device is detected. In the laser light receiver, the irradiation position of the irradiated laser light is detected. Then, the three-dimensional position of the object can be measured from the distance detected by the optical distance meter and the irradiation position detected by the laser receiver. In addition, since the drilling position irradiating device is configured such that the light wave receiver, the laser light receiver, and the second laser transmitter are integrally installed, the position of the light wave receiver and the laser beam to the laser light receiver are set at the total station. By measuring the light irradiation position, that is, the position of the second laser transmitter is measured. Then, the correction data of the hole arrangement data based on the second laser transmitter is calculated, and the laser light is applied to the face by the second laser transmitter based on the calculated data. Can be displayed on the face.

According to the third aspect of the present invention, the second laser transmitter, the light wave receiver and the laser receiver of the drilling position irradiating device are provided integrally with the drilling device. This makes it possible to position the drilling device at the drilling position indicated on the face by the second laser transmitter.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to an embodiment shown in the drawings. Here, for example, when excavating a tunnel using a blasting method, an example in which the method for displaying a hole position on a tunnel face of the present invention and a system for displaying a hole position used therefor will be described. FIG.
1 shows a drilling position display system according to the present invention. As shown in FIG. 1, an irradiation system (a drilling position display system) 1 includes a total station 2 installed near, for example, an entrance of a tunnel T, and a face surface K arranged to face the face K of the tunnel T. A drilling device 3 for drilling a blast hole (hole) H and an irradiation device (a drilling position irradiation device) 4 provided on the drilling device 3 are the main components.

The total station 2 is a first laser transmitter for irradiating a laser beam (first laser transmitter).
A lightwave distance meter 12 provided integrally with the first laser transmitter 11 and irradiating a lightwave in a direction parallel to the laser beam irradiated by the first laser transmitter 11; And a follow-up controller (controller) 13 for controlling the irradiation direction of the lightwave distance meter 12
And a configuration including: As is well known, the first laser transmitter 11 emits a laser beam, which is a visible ray having a short wavelength and high linearity, in one direction. The lightwave distance meter 12 irradiates a lightwave, which is a long invisible light ray having a wavelength close to infrared light, in a direction parallel to the laser light, and the irradiated lightwave is incident on a lightwave receiver disposed at a position separated from the lightwave. Then, when returning to the lightwave distance meter 12, the separation distance from the lightwave receiver is measured from the phase difference between the irradiated lightwave and the returned lightwave. Here, the light wave receiver, when irradiated with the light wave, emits the light wave toward the light wave distance meter 12 regardless of the incident angle. These first laser transmitters 11
The lightwave distance meter 12 is rotatably supported in a horizontal plane and a vertical plane, so that a laser beam and a lightwave can be irradiated in any direction. Further, the first laser transmitter 11 and the lightwave distance meter 12 have a function of detecting the irradiation angle (horizontal direction, vertical direction) of the laser light to be irradiated and the lightwave. When the target 20 described later moves, the tracking controller 13 always emits laser light and light waves to the target 2.
The first laser transmitter 11 and the lightwave distance meter 12 are configured to have a function of automatically rotating and driving the target 20 so as to follow the movement of the target 20 so that the target 20 is irradiated. With such a configuration, in the total station 2, the irradiation position of the laser light, the irradiation angle of the light wave, the light wave distance meter 12
The three-dimensional position coordinates of the target object can be calculated based on the distance from the light-wave receiver measured in step (1).

The drilling device 3 includes a drill bit 15 for drilling a blast hole H for applying an explosive to the face K to be drilled, and an arm 1 for moving the drill bit 15.
6 is provided on the traveling vehicle 17. In the drilling device 3, the drill bit 15 is moved to the position where the laser beam is irradiated by the irradiation device 4 described later,
By moving the drill bit 15 toward the face face K, the blast hole H is drilled.

The irradiation device 4 is provided above the drilling device 3 via an arm 18. Irradiation device 4
Is the first laser transmitter 1 of the total station 2
1, a target 20 receiving a laser beam and a light wave emitted from a lightwave distance meter 12, and an irradiation laser transmitter (laser irradiation means,
(Second laser transmitter) 21 is provided integrally. And this irradiation device 4 is a drilling device 3
It is supported by the arm 18 at a position facing the face K without being interrupted by the arm 18. The target 20 has a CC
D (Charge Coupled Device): a laser receiver 2 which is an image pickup device provided with a charge coupled device
The laser light receiver 22 reads the coordinates of the position irradiated with the laser light by converting the coordinates into electric signals. In addition, the target 20
The light wave receiver 23 is attached at a position where the light wave from the light wave distance meter 12 hits when the laser light from the first laser transmitter 11 is applied to the laser light receiver 22. The irradiation laser transmitter 21 irradiates a laser beam in the same manner as the first laser transmitter 11, and the irradiation laser transmitter 21 blasts the face K, which is input to the personal computer 24. An irradiation control device (control device) 25 that controls the direction, time, and the like to be irradiated with laser light based on the arrangement pattern data (hole arrangement data) of the holes H is provided. The irradiation control device 25 has a function of correcting the arrangement pattern data based on the measurement data of the lightwave distance meter 12 of the total station 2.

An irradiation system 1 having such a configuration
Can be remotely controlled by a remote controller 26.

Next, a method of displaying a position where a blast hole H is to be drilled on the face K of the tunnel T by applying the irradiation system 1 having the above-described configuration will be described. The following operation of the irradiation system 1 is basically performed by remote control at a position separated from the face K by the remote controller 26. Here, for example, FIG.
It is assumed that a blast hole H is drilled in the face K with the arrangement pattern shown in FIG.

The irradiation system 1 is previously arranged as shown in FIG. At this time, as described above, the total station 2 is installed behind the tunnel T in the excavation direction, such as near the entrance of the tunnel T, and the position of the total station 2 is measured by measuring the position of the total station 2 itself. ) Is measured and input to the personal computer 24. In addition, drilling device 3
Is located at an arbitrary position facing the face K.

First, the laser light L1 and the light wave W1 are respectively irradiated by the first laser transmitter 11 and the light wave distance meter 12 of the total station 2, and the laser light L1 is irradiated by the laser light receiver 22 of the target 20 of the irradiation device 4 in front.
The irradiation direction of the first laser transmitter 11 is adjusted while visually confirming that the light beam strikes. Thereby, the lightwave distance meter 1
The light wave W1 emitted from the light source 2 enters the light wave receiver 23, and the light wave W1 'is emitted from the light wave receiver 23 toward the light wave distance meter 12. Then, the lightwave distance meter 12
Then, the separation distance between the target 20 and the lightwave distance meter 12, that is, the separation distance between the irradiation device 4 and the lightwave distance meter 12, is calculated from the phase difference between the irradiated lightwave W1 and the returned lightwave W1 '. Further, the total station 2 also detects the irradiation angles of the laser light L1 and the light wave W1. As a result, the three-dimensional position coordinates of the irradiation device 4 with respect to the total station 2 are measured. Next, face face K
The light wave prism (light wave light receiver) 30 is located at an arbitrary position of. In this case, the light wave prism 30 has a size such that both the laser light L2 from the first laser transmitter 11 and the light wave W2 from the light wave distance meter 12 are irradiated. Then, by adjusting the irradiation direction of the first laser transmitter 11 so that the laser light L2 from the first laser transmitter 11 of the total station 2 strikes the lightwave prism 30, the lightwave W2 from the lightwave distance meter 12 is transmitted to the lightwave prism 30. Hit it. Thus, the three-dimensional position coordinates of the light wave prism 30 are calculated in the same manner as described above, and based on this, the face K and the total station 2 are calculated.
Is calculated. In the personal computer 24, the installation coordinates of the total station 2 and
The three-dimensional position coordinates of the irradiation device 4 with respect to the face K are calculated from the three-dimensional position coordinates of the irradiation device 4 with respect to the total station 2 calculated by the total station 2 and the distance between the face K and the optical distance meter 12.

Next, in the personal computer 24, the arrangement pattern data of the blast holes H input in advance is
Correction is made to correction pattern data (correction data) based on three-dimensional position coordinates of the irradiation device 4 with respect to the face K. Based on the correction pattern data of the blast holes H thus corrected, the irradiation control device 25 irradiates the blast holes H with the irradiation laser transmitter 21 for displaying the blast holes H on the face K. The angles are calculated and sent to the irradiation laser transmitter 21. Then, based on the irradiation angle data of each blast hole H, the laser beam L3 is irradiated from the irradiation laser transmitter 21 toward the face K at a predetermined irradiation angle, so that each blast hole H is applied to the face K. The drilling position is displayed. Further, the irradiation control device 25 sets the irradiation time to each of the blast holes H irradiated from the irradiation laser transmitter 21 to a fixed minute time of, for example, 0.1 second, and the blast holes H, H,... Irradiation is continuously performed from one blast hole H to another blast hole H in a predetermined order. Then, for example, when 40 blast holes H are arranged on the entire face K, all the blast holes H, H,... Are continuously irradiated in 4 seconds. From the afterimage, the arrangement pattern of the blast holes H on the entire face K can be easily recognized.

After the drilling position of the blast hole H is displayed on the face K in this manner, the arm 16 of the drilling device 3 is moved and moved forward toward the face K, as shown in FIG. Each blasting hole H is drilled at a predetermined position on the face K according to the arrangement shown.

In the above-described method for displaying a drilling position on the face K of the tunnel T, the three-dimensional position coordinates of the irradiation device 4 with respect to the face K are measured in advance by the total station 2 arranged in the excavation direction of the tunnel T. The arrangement pattern data of each blast hole H input to the personal computer 24 is corrected to correction pattern data based on the three-dimensional position coordinates of the irradiation device 4, and the irradiation device 4 performs correction based on the corrected pattern data. Laser light L3 on face K
And displays the position of the blast hole H to be drilled. In this manner, the blast hole H can be formed without the operator directly performing the marking operation on the face K as in the related art.
Can be displayed, the safety of the work can be greatly improved, the troublesome work can be abolished, and the position of the blast hole H can be displayed with high accuracy. In addition, when the drilling position is changed, only the arrangement pattern data needs to be changed by the personal computer 24, so that it is possible to easily cope with the change. Further, the irradiation control device 25 sets the irradiation time of the laser beam L3 to each of the blast holes H irradiated from the irradiation laser transmitter 21 to a fixed minute time, and sets the blast holes H,
,... Are sequentially and sequentially irradiated. .. Are continuously irradiated within a short fixed time, and the arrangement pattern of the blast holes H on the entire face K can be easily recognized and confirmed by an afterimage when the blast holes H, H,. It is possible to do.

In the irradiation system 1 described above, the tunnel T
A total station 2 including a first laser transmitter 11, a lightwave distance meter 12, and a follow-up controller 13 is installed behind the excavation direction. This allows
The three-dimensional position of the face K and the irradiation device 4 can be measured. In addition, at this time, since the laser beams L1 and L2 are visible light, it is possible to easily irradiate the facet K and the light wave receiver of the irradiation device 4 with light waves even in the dark tunnel T. In addition, when the irradiating device 4 is moved by the following controller 13, the first laser transmitter 11 and the lightwave distance meter 12 are automatically driven to rotate following the movement of the irradiating device 4. L2 and the light waves W1 and W2 can be constantly irradiated to the light wave receiver,
Even when the drilling device 3 is moved with the progress of the excavation work, it is not necessary to measure the position of the irradiation device 4 every time. Further, since the target 20 of the irradiation device 4 and the irradiation laser transmitter 21 are integrally installed, the target
, That is, the position of the irradiation laser transmitter 21 can be measured. The three-dimensional position coordinates of the irradiation device 4 with respect to the face K measured by the total station 2 and the personal computer 2
The position of the blast hole H to be drilled is displayed by irradiating the facet K with the laser beam L3 by the irradiation device 4 based on the arrangement pattern data of each blast hole H inputted in 4. Can be. At this time, the irradiation device 4 applies the laser beam L3 over the entire face K without being blocked by the drilling device 3.
The drilling position can be efficiently displayed on the face K without moving the drilling device 3. Further, the irradiation device 4 is provided on the drilling device 3 and is integrally configured. Thereby, the drilling device 3 can be positioned with high accuracy at the drilling position indicated on the face K by the irradiation device 4. As a result, it becomes possible to drill the blast hole H according to the drilling position data planned in advance. In addition, since the operation of the irradiation system 1 is performed by remote control by the remote controller 26, the face K
The work can be performed at a safe position separated from the work, and the safety of the work can be further improved.

In the above embodiment, the tunnel T
When excavating the blast using the blasting method, when drilling the blast hole H for loading explosives, it was described using an example of applying the drilling position display system to the tunnel face surface of the present invention, It is not limited to. For example, in addition to the above, when drilling a tunnel T by the split rock method, when drilling a hole for inserting a split rock machine into the face K, etc., the drilling position display on the tunnel face of the present invention is also performed. Cis
By applying Temu, it is possible to achieve the same effects as described above.

[0025]

As described above, according to the system for displaying a drilling position on a tunnel face according to the first aspect, a position to be drilled is irradiated with laser light and displayed on the face. , And it becomes possible to display all the drilling positions. In this way, since the drilling position can be displayed without the operator directly performing the marking work on the face face as in the related art, it is possible to greatly improve the safety of the work and reduce the troublesome work. The drilling position can be eliminated and the drilling position can be displayed with high accuracy. Further, when the drilling position is changed, only the hole arrangement data needs to be changed.

Further, the irradiation time of the laser light to the drilling position is constant short time, and to sequentially switch continuously and the position to be irradiated with a laser beam from one drilling position to the other drilling position did. Thus, when the face is visually observed, a plurality of drilling positions are indicated on the entire face within a certain period of time, and the arrangement pattern of the holes can be easily recognized by the afterimage. Furthermore, drilling laser irradiation means
Laser irradiation means because it is provided integrally with the device
To position the drilling device at the drilling position indicated on the face
It becomes possible. As a result, the hole arrangement data
It becomes possible to drill holes in the same way.

According to the drilling position display system of the second aspect , the total station including the first laser transmitter and the optical distance meter is installed behind the tunnel in the direction of excavation. Thereby, the three-dimensional position of the total station and the target object, for example, the face face or the drilling position irradiation device can be measured. At this time, since the laser light is a visible light, it is possible to easily position and irradiate the light wave receiver with the light wave even in a dark tunnel. In addition, since the drilling position irradiating device is configured such that the light wave receiver, the laser light receiver, and the second laser transmitter are integrally installed, the position of the light wave receiver and the laser beam to the laser light receiver are set at the total station. By measuring the light irradiation position, that is, the position of the second laser transmitter is measured. Then, the control device calculates the hole arrangement data based on the second laser transmitter, and irradiates the laser light to the face with the second laser transmitter based on this, thereby performing the marking operation. Without
The position to be drilled can be displayed on the face .

According to the drilling position display system of the third aspect , the second laser transmitter, the light wave receiver and the laser receiver of the drilling position irradiation device are integrally provided in the drilling device. Thus, if the positions of the light wave receiver and the laser receiver are obtained at the total station, the position of the drilling device can be known. Thereby, if the drilling device is operated based on the positional relationship between the light wave receiver and the laser receiver and the drilling device, the drilling device displays the drilling position indicated on the face by the second laser transmitter. Can be positioned with high accuracy. As a result, it becomes possible to drill holes according to the hole arrangement data planned in advance.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an example of a drilling position display method for a drilling face on a tunnel face according to the present invention and a drilling excavation by applying a drilling position display system used therein.

FIG. 2 is a front view showing an arrangement of holes to be drilled in a face of the tunnel.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Irradiation system (drilling position display system) 2 Total station 3 Drilling device 4 Irradiation device (drilling position irradiation device) 11 First laser transmitter (first laser transmitter) 12 Lightwave distance meter 13 Tracking controller (controller) Reference Signs List 21 Irradiation laser transmitter (laser irradiation means, second laser transmitter) 22 Laser receiver 23 Light wave receiver 25 Irradiation control device (control device) 30 Light wave prism (Light wave receiver) H Blast hole (hole) K Face Surface L1, L2, L3 Laser light T Tunnel W1, W2 Light wave

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takashi Fujiuchi 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Inventor Hidetake Ishizaki 1-2-3 Shibaura, Minato-ku, Tokyo Shimizu (72) Inventor Yuichi Kikuchi 1-3-2 Shibaura, Minato-ku, Tokyo Examiner, Shimizu Construction Co., Ltd. Tomoya Yanagisawa (56) References JP-A-3-103595 (JP, A) JP-A-4-301885 (JP, A) JP-A-5-33578 (JP, A) JP-B-4-64395 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) E21D 9 / 00 G01C 15/00 G09F 19/12

Claims (3)

(57) [Claims] 1. When excavating a tunnel, the tunnel
Drilling a hole extending in the axial direction of the tunnel on the face
When cutting, the position to be drilled is indicated on the face.
Drilling position display system for irradiating a laser beam based on hole arrangement data
Irradiating means and controlling the direction of the laser light irradiated by the laser irradiating means
The irradiation time of the laser beam to each drilling position.
Set the position to be irradiated with laser light at a fixed
From one drilling position to another drilling position
By using the afterimage effect, the drilling position of the entire face face can be recognized.
Control the laser irradiation means to display
And a drilling device for drilling the displayed drilling position , wherein the laser irradiation means is integrated with the drilling device.
Drilling position display system characterized by being provided
M 2. When drilling a tunnel, when drilling a hole extending in the axial direction of the tunnel on a face of the tunnel, a drill used to indicate a position to be drilled on the face of the tunnel. A hole position display system, comprising: a first laser transmitter for irradiating laser light, and a light wave receiver for irradiating a light wave in the same direction as the laser light and arranging the object behind the tunnel in the direction of excavation. And a total station including a controller that controls the direction of the laser light and the light wave irradiated by the first laser transmitter and the light wave distance meter, and the excavation direction than the total station. A light wave receiver for emitting a light wave incident from the light wave distance meter toward the light wave distance meter, and a laser beam emitted from the first laser transmitter are provided in front of the light wave receiver. A laser receiver for detecting the irradiation position of the laser light, a second laser transmitter for irradiating the laser light based on the hole arrangement data, and a control device for controlling the second laser transmitter. A hole position irradiation device is installed, and the control device controls the direction of the laser light irradiated by the second laser transmitter, and sets the irradiation time of the laser light to each drilling position to a fixed minute time. And, the position to be irradiated with laser light is sequentially and continuously switched from one drilling position to another drilling position, and the second drilling position is displayed so that the drilling position of the entire face face can be recognized by an afterimage effect. A drilling position display system characterized by controlling a second laser transmitter. 3. The drilling position display system according to claim 2 , wherein the second laser transmitter, the optical wave receiver and the laser receiver of the drilling position irradiating device drill the displayed drilling position. A drilling position display system, which is provided integrally with a drilling device.