Drilling apparatus capable of automatically designing blast hole, and blast hole drilling method using same

Abstract

The present invention relates to a drilling apparatus capable of automatically designing a blast hole, and a blast hole drilling method using same. The apparatus receives position information and angle information of a drilling part moved by a moving vehicle part, displays, on a screen of a display part, a drilling point of the drilling part and a blast hole bored by the drilling part, and displays, on the screen, guidelines for burden or resistance lines on the basis of pre-stored burden or resistance lines, so that the positions of the plurality of blast holes are sequentially and automatically designated at a blasting site, and an operator accurately drills the blast hole at the designated position by means of the drilling part while checking, in real time, the position of the drilling part moved to the designated position, and thus manpower, costs, and time required for a blast hole drilling operation can be greatly reduced, and the safety of the operator during a blasting operation can be improved.

Description

INVENTION TITLE: DRILLING APPARATUS CAPABLE OF AUTOMATICALLY DESIGNING BLAST HOLE, AND BLAST HOLE DRILLING METHOD USING SAME Technical Field [1] The present disclosure relates to a drilling apparatus capable of automatic blast hole design and a blast hole drilling method using the same and, more particularly, to a drilling apparatus capable of automatic blast hole design, which automatically designs a drilling position at a blasting site while checking, in real time, a position of a drilling machine based on GNSS, and a blast hole drilling method using the same. Background Art [2] In general, in construction fields such as rock blasting, demolition blasting of disused buildings, and open-pit blasting, blasting systems using explosives to blast and collapse target objects have been used. [3] Specifically, a region or object to be blasted is divided into a plurality of sections, and a plurality of blast holes into which explosives are inserted are drilled for each section. After explosives are charged into each of the drilled blast holes, the blast holes are connected to a blasting device. By initiating detonators located in the blast holes, the explosives are detonated, causing the object to be blasted and to collapse. [4] In particular, in order to mine metals or minerals, in the case of an open-pit blasting system in which blasting is performed using explosives in a region where the metals or minerals are deposited, blast holes into which explosives are to be charged must first be formed at a blasting site using a drilling apparatus. [5] In this case, after exact positions of multiple blast holes to be drilled at a blasting site are designed according to a planned drilling pattern or spacing and burden, a drilling operation is performed by a drilling apparatus at the designed positions of the blast holes. [6] However, since the design of blast hole positions at a conventional blasting site is performed after photographing the topography of the blasting site and measuring the topography, a large number of personnel are required, and there has been an inconvenience in that a drilling operator must directly mark drilling positions on the ground. [7] In addition, at a conventional blasting site, since an operator frequently gets into and out of a drilling machine in order to mark positions of blast holes on the ground, a large amount of working time is required, the operator is exposed to hazards at the work site while getting out of the drilling machine and marking the ground, and there has been a problem in that there is a high risk of accidents. [8] As a prior patent related to the present disclosure, Korean Patent Application Publication No. 2022-0153338 discloses a “Blasting Management System for Analysis of Vibration and Fragmentation Caused by Blasting.” Disclosure Technical Problem [9] An objective of the present disclosure is to provide a drilling apparatus capable of automatic blast hole design, the drilling apparatus being capable of automatically designating positions of multiple blast holes at a blasting site, moving to the designated positions, and accurately drilling blast holes at the designated positions, and a blast hole drilling method using the drilling apparatus. Technical Solution

[10] In order to accomplish the above objectives, according to an embodiment of the present disclosure, there is provided a drilling apparatus capable of automatic blast hole design, the drilling apparatus including: a drilling portion configured to drill a blast hole in the ground by using a drill rotated by a motor; a mobile vehicle portion provided with the drilling portion and configured to move the drilling portion; a position sensing portion provided on the drilling portion and configured to detect a position of the drilling portion by using GNSS; an angle sensing portion provided on the drilling portion and configured to detect an angle of the drilling portion with respect to a planar ground surface; and a blast hole design terminal configured to receive position information and angle information of the drilling portion from the position sensing portion and the angle sensing portion, display, on a screen of a display portion, a drilling point of the drilling portion moved by the mobile vehicle portion and the blast hole drilled by the drilling portion, and display, on the screen, a guide line for spacing or burden based on pre-stored spacing or burden.

[11] In the present disclosure, the blast hole design terminal may include: a drilling position calculation portion configured to receive the position information and the angle information, calculate the drilling point of the drilling portion, and display the drilling point on the screen.

[12] In the present disclosure, the position sensing portion may be located at an uppermost end of the drilling portion, and the drilling position calculation portion may be configured to generate a reference spherical shape having an entire length of the drilling portion as a radius and having, as a center, an uppermost point of the drilling portion that is a point detected by the position sensing portion, set the uppermost point as center coordinates of the reference spherical shape, and calculate surface coordinates for a lower end portion of the drilling portion on a surface of the reference spherical shape based on a tilt angle of the drilling portion in an X-axis direction or a Y-axis direction, the tilt angle being detected by the angle sensing portion.

[13] In the present disclosure, the drilling position calculation portion may be configured to display, on the screen of the display portion, a change in a position of the drilling point by reflecting, in real time, a position and an angle of the drilling portion when the drilling portion is moved by the mobile vehicle portion.

[14] In the present disclosure, the blast hole design terminal may further include: a design information input portion configured to input a drilling depth, spacing, which is a distance between blast holes, and burden.

[15] In the present disclosure, the blast hole design terminal may further include: a blast hole position storage portion configured to store position information of the blast hole drilled by the drilling portion and display, on the screen of the display portion, the position information of the drilled blast hole.

[16] According to the embodiment of the present disclosure, the drilling apparatus may further include: a cliff line scanning portion configured to scan a cliff line at a blasting site and provide cliff line information to the blast hole design terminal, wherein the blast hole design terminal may further include: a reference drilling row display portion configured to receive the cliff line information and display a reference drilling row spaced apart from the cliff line by a previously input burden distance, the reference drilling row being a row in which a first blast hole is initially drilled.

[17] In the present disclosure, the blast hole design terminal may further include: a first guide line display portion configured to display, based on information on the previously input spacing, on the screen a circular first guide line centered on the drilled blast hole and having the spacing as a radius; and a second guide line display portion configured to display, based on burden information previously input through the design information input portion, on the screen a circular second guide line centered on the drilled blast hole and having the burden as a radius, wherein the first guide line may be a guide line configured to guide positioning of a plurality of blast holes drilled in a row, and the second guide line may be a guide line configured to guide a position of a blast hole in another row with respect to the drilled blast hole when blast holes are drilled in a plurality of rows.

[18] In the present disclosure, the first guide line display portion and the second guide line display portion may be respectively configured to display the first guide line and the second guide line in different colors.

[19] In the present disclosure, the first guide line display portion may be configured to display the first guide line thicker and brighter or in a different color when the drilling point, which moves during the movement of the drilling portion by the mobile vehicle portion, is positioned to coincide with the first guide line, and the second guide line display portion may be configured to display the second guide line thicker and brighter or in a different color when the drilling point, which moves during the movement of the drilling portion by the mobile vehicle portion, is positioned to coincide with the second guide line.

[20] In the present disclosure, the blast hole design terminal may further include: a communication data processing portion configured to wirelessly communicate with a blast hole design terminal provided in another drilling apparatus at the same blasting site, receive position information of a blast hole drilled by the other drilling apparatus, and selectively display the position information on the screen.

[21] In the present disclosure, the blast hole design terminal may further include: an automatic blast hole pattern design portion configured to automatically display, on the screen, a plurality of planned blast hole points to be drilled based on the first blast hole initially drilled at the blasting site, according to rows and columns, the number of blast holes, burden, and spacing which are preset.

[22]

[23] In order to achieve the above objectives, according to an embodiment of the present disclosure, there is provided a blast hole drilling method, in which a plurality of blast holes are drilled in the ground at a blasting site in a pre-designed drilling pattern by using a drilling apparatus having a drilling portion provided on a mobile vehicle and configured to drill a blast hole in the ground at the blasting site, the method including: an information receiving step, in which position information and angle information of the drilling portion are received from a position sensing portion and an angle sensing portion provided on the drilling portion; a drilling point displaying step, in which coordinates of a drilling point at which drilling is performed by the drilling portion at the blasting site are calculated based on the position information and the angle information received in the information receiving step, and the drilling point is displayed on a screen; a first blast hole drilling step, in which a first blast hole is drilled at the blasting site; a drilling position displaying step, in which a drilling position of a next blast hole is guided with the previously drilled blast hole as a center; and a drilling step, in which the drilling portion is moved by the mobile vehicle such that the drilling point displayed on the screen is moved to coincide with the position displayed in the drilling position displaying step, and then the drilling portion is operated to drill a blast hole to a preset drilling depth.

[24] In the present disclosure, the drilling point displaying step may include: a center coordinate setting process, in which an uppermost point of the drilling portion is set as center coordinates by the position sensing portion located at an uppermost end of the drilling portion, with an entire length of the drilling portion as a radius; a surface coordinate calculation process, in which a reference spherical shape having the entire length of the drilling portion as a radius is generated based on the center coordinates set in the center coordinate setting process, and surface coordinates that are on a surface of the reference spherical shape and correspond to an end of the drilling portion are calculated based on a tilt angle of the drilling portion in an X-axis direction or a Y-axis direction, the tilt angle being detected by the angle sensing portion; and a drilling point displaying process, in which the surface coordinates calculated in the surface coordinate calculation process are displayed on the screen.

[25] In the present disclosure, the drilling point displaying step may be configured to display the drilling point on the screen by using GNSS to check, in real time, a change in a position of the drilling portion moved by the mobile vehicle and a change in an angle of the drilling portion, and the method according to an embodiment of the present disclosure may further include: a drilling pattern information input step, in which information on a drilling depth, spacing, and burden is input before a blasting operation is started.

[26] According to an embodiment of the present disclosure, the method for drilling a blast hole may further include: a reference drilling row displaying step, in which a cliff line at the blasting site is scanned before the first blast hole drilling step, and a reference drilling row in which the first blast hole is drilled is displayed on the screen based on information on the scanned cliff line, wherein, in the first blast hole drilling step, the drilling point may be positioned to coincide with the reference drilling row displayed in the reference drilling row displaying step, and then the first blast hole is drilled at the blasting site.

[27] In the present disclosure, the drilling position displaying step may include: a first guide line displaying process, in which a circular first guide line centered on a reference blast hole among blast holes drilled by the drilling portion and having the preset spacing as a radius is displayed; or a second guide line displaying process, in which a circular second guide line centered on the reference blast hole and having the burden as a radius is displayed.

[28] In the present disclosure, the drilling step may include: a first drilling process, in which the drilling portion is moved by the mobile vehicle, the drilling point is positioned to coincide with the first guide line, and blast holes in the same row are drilled; or a second drilling process, in which the drilling portion is moved by the mobile vehicle, the drilling point is positioned to coincide with the second guide line, and blast holes in a row different from the row in which the blast holes are drilled in the first drilling process are drilled.

[29] In the present disclosure, in the first drilling process, the first guide line may be displayed thicker and brighter or in a different color when the drilling point is positioned to coincide with the first guide line, and in the second drilling process, the second guide line may be displayed thicker and brighter or in a different color when the drilling point is positioned to coincide with the second guide line.

[30] In the present disclosure, the drilling position displaying step may include: a blast hole pattern displaying process, in which a plurality of planned blast hole points to be drilled are automatically displayed on the screen based on the first blast hole drilled, according to rows and columns, the number of blast holes, spacing, and burden which are preset. Advantageous Effects

[31] The drilling apparatus of the present disclosure can sequentially and automatically designate positions of multiple blast holes to suit a blasting site in a situation where there is no drilling design, allow an operator to check, in real time, a position of a drilling portion moving to a designated position, and accurately drill blast holes at designated positions by using the drilling portion while conforming to an elevation-level matching design, spacing, and burden, thereby significantly reducing manpower, cost, and time required for drilling the blast holes and improving safety of the operator during a blasting operation. Description of Drawings

[32] FIG. 1 is FIG. 1 is a view schematically illustrating a drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure.

[33] FIG. 2 is a block diagram illustrating the drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure.

[34] FIG. 3 is a view schematically illustrating a cliff line scanning portion of the drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure.

[35] FIG. 4 is a flowchart illustrating a blast hole drilling method according to an embodiment of the present disclosure.

[36] FIGS. 5 and 6 are views illustrating screens of a blast hole design terminal of the drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure.

[37] * Description of the Reference Numerals in the Drawings

[38] 100: Drilling portion 110: Drill portion

[39] 120: Mast portion 200: Mobile vehicle portion

[40] 300: Position sensing portion 400: Angle sensing portion

[41] 500: Blast hole design terminal 500a: Display portion

[42] 510: Precise position data acquisition portion      520:     Drilling     position calculation portion

[43] 530: Design information input portion 540: Blast hole position storage portion

[44] 550: First guide line display portion 560: Second guide line display portion

[45] 570: Drilling operation control portion 580: Communication data processing portion

[46] S100: Information receiving step S200: Drilling point displaying step

[47] S210: Center coordinate setting process S220: Surface coordinate calculation process

[48] S230: Drilling point displaying process S300: Reference drilling row displaying step

[49] S400: First blast hole drilling step         S500: Drilling position displaying step

[50] S600: Drilling step Best Mode

[51] Hereinafter, a preferred embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. However, the technical idea of the present disclosure is not limited to the embodiment described herein and may be embodied in other forms. Rather, the embodiment introduced herein is provided so that the disclosed content may be thorough and complete and so that the idea of the present disclosure may be sufficiently conveyed to those skilled in the art.

[52] In the present specification, when a component is referred to as being on another component, this means that the component may be formed directly on the other component or that a third component may be interposed therebetween. In addition, in the drawings, shapes and thicknesses of regions are exaggerated for effective description of the technical content.

[53] In addition, although terms such as first, second, and third are used to describe various components in various embodiments of the present specification, the components should not be limited by such terms. These terms are used merely to distinguish one component from another component. Accordingly, a component referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes a complementary embodiment thereof. In addition, in the present specification, “and / or” is used to mean including at least one of the components listed before and after “and / or.”

[54] In the specification, a singular expression includes a plurality of expressions unless the context clearly indicates otherwise. In addition, terms such as “include” or “have” are intended to specify the presence of features, numbers, steps, components, or combinations thereof described in the specification, and should not be understood as excluding the presence or possibility of addition of one or more other features, numbers, steps, components, or combinations thereof. In addition, in the present specification, “connection” is used to include both indirect connection and direct connection of a plurality of components.

[55] In addition, in describing the present disclosure below, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present disclosure, the detailed description thereof will be omitted.

[56] FIG. 1 is FIG. 1 is a view schematically illustrating a drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure, FIG. 2 is a block diagram illustrating the drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure, and FIG. 3 is a view schematically illustrating a cliff line scanning portion of the drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure.

[57] An embodiment of the drilling apparatus capable of automatic blast hole design according to the present disclosure will be described in detail below with reference to FIGS. 1 to 3.

[58] The drilling apparatus capable of automatic blast hole design according to the embodiment of the present disclosure includes a drilling portion (100) configured to drill a blast hole in the ground by using a drill rotated by a motor, and a mobile vehicle portion (200) provided with the drilling portion (100) and configured to move the drilling portion (100).

[59] The drilling portion (100) includes a drill portion (110) configured to drill a blast hole in the ground by using the drill rotated by the motor, and a mast portion (120) on which the drill portion (110) is mounted to be movable upward and downward and which guides the upward and downward movement of the drill portion (110).

[60] As an example, the mast portion (120), that is, the drilling portion (100), is mounted on the mobile vehicle portion (200) in a form standing vertically with respect to a planar ground surface.

[61] The drill portion (110) is mounted on the mast portion (120) to be movable upward and downward, and the mast portion (120) is provided with an actuator configured to linearly move the drill portion (110).

[62] As an example, the drill portion (110) is provided on a lower end portion of the mast portion (120), is moved upward and downward by the actuator, and drills a blast hole in the ground.

[63] In addition, the mobile vehicle portion (200) is a known vehicle that is driven by an operator on board to move the drilling portion (100), and, as an example, is a vehicle that travels on tracks (caterpillar tracks).

[64] The drilling portion (100) and the mobile vehicle portion (200) may be variously modified and implemented as a known drilling apparatus in which a drilling machine is mounted on a vehicle, and thus a further detailed description thereof will be omitted.

[65] In addition, the drilling portion (100) may determine a drilling depth achieved by the drill portion (110) based on a movement distance of the drill portion (110) moving in a longitudinal direction of the mast portion (120).

[66] The drilling portion (100) is provided with a position sensing portion (300) configured to detect a position of the drilling portion (100) using GNSS and an angle sensing portion (400) configured to detect an angle of the drilling portion (100) with respect to a planar ground surface.

[67] The position sensing portion (300) and the angle sensing portion (400) are mounted on the mast portion (120), the position sensing portion (300) is located at an uppermost end of the mast portion (120), and the angle sensing portion (400) is located at a central portion of the mast portion (120).

[68] As an example, the position sensing portion (300) may be a GPS antenna configured to detect a position by communicating with GPS satellites, and may also be variously modified and implemented as a known antenna configured to detect a position using GNSS.

[69] A communication system of the position sensing portion (300) includes a module configured to receive GNSS position signals from a plurality of Global Navigation Satellite System (GNSS) satellites and receive current position information data of a mobile terminal, and a module configured to receive, through Network Transport of RTCM via Internet Protocol (NTRIP), position correction data of the mobile terminal repeatedly generated by a plurality of reference stations for each of GPS satellites in the form of a Radio Technical Commission for Maritime Services (RTCM) stream.

[70] In this case, Global Navigation Satellite System (GNSS) is a known satellite surveying system capable of high-precision positioning even in harsh environments by receiving signals broadcast from all satellites, such as GPS (United States), GLONASS (Russia), BDS (China), and Galileo (Europe), and can accurately detect a position, and thus a further detailed description thereof will be omitted.

[71] In addition, as an example, the angle sensing portion (400) is a gyro sensor configured to detect a tilt of the mast portion (120), that is, an angle of the mast portion (120) tilted in an X-axis direction or a Y-axis direction, and may also be variously modified and implemented as a known sensor capable of detecting an angle tilted in the X-axis direction or the Y-axis direction.

[72] The angle sensing portion (400) is mounted at a central portion of the mast portion (120) to accurately detect an angle of the mast portion (120), and the position sensing portion (300) is installed at an uppermost end portion of the mast portion (120) such that coordinates of the uppermost end portion of the mast portion (120) can be calculated using GPS.

[73]

[74] The drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure includes a blast hole design terminal (500) configured to receive position information and angle information of the drilling portion (100) from the position sensing portion (300) and the angle sensing portion (400), respectively, which are mounted on the drilling portion (100), and sequentially designate positions of blast holes to automatically design the positions of the blast holes at a blasting site.

[75] The blast hole design terminal (500) includes a precise position data acquisition portion (510) configured to receive the position information of the drilling portion (100) through the position sensing portion (300) and, based on the received position information, accurately determine the position of the drilling portion (100) moved by the mobile vehicle portion (200).

[76] The position sensing portion (300) receives GNSS position signals from a plurality of Global Navigation Satellite System (GNSS) satellites to receive current position information data of the blast hole design terminal (500) attached to the drilling apparatus and position correction data of the blast hole design terminal (500) repeatedly generated by a plurality of reference stations for each of the GPS satellites. In this case, the blast hole design terminal (500) is detachably attachable to the drilling apparatus and may be attached to and detached from the drilling apparatus by a drilling operator.

[77] The position sensing portion (300) receives, through Network Transport of RTCM via Internet Protocol (NTRIP), position correction data of the terminal repeatedly generated by the plurality of reference stations for each of the GPS satellites in the form of a Radio Technical Commission for Maritime Services (RTCM) stream.

[78] The precise position data acquisition portion (510) acquires precise position data for a GPS antenna attached to the drilling portion (100) by reflecting the position correction data in the received current position information data.

[79] In addition, the blast hole design terminal (500) further includes a drilling position calculation portion (520) configured to receive the position information and the angle information, calculate a drilling point of the drill portion (110), and display the drilling point on a screen.

[80] The drilling position calculation portion (520) generates a reference spherical shape having an entire length of the mast portion (120) as a radius and having, as a center, the uppermost point of the mast portion (120), which is a point detected by the position sensing portion (300), sets the uppermost point of the reference mast portion (120) as center coordinates of the reference spherical shape, and calculates surface coordinates for an end of the drill portion (110) on a surface of the reference spherical shape based on an angle tilted in an X-axis direction or a Y-axis direction, the angle being detected by the angle sensing portion (400).

[81] In addition, the drilling position calculation portion (520) determines a direction of the mobile vehicle portion (200) through the position sensing portion (300), which is implemented as a GPS antenna, determines, determines, through rotation, an X-axis coordinate, a Y-axis coordinate, and a Z-axis coordinate, which are three-dimensional coordinates of a final drilling point of the drilling portion (100) on the ground drilled by an end of the drill portion (110), and displays the determined three-dimensional coordinates on the screen.

[82] The blast hole design terminal (500) further includes a display portion (500a) configured to display, on a screen, a drilling point on the ground at which drilling is performed by the drill portion (110), the drilling point being calculated by the drilling position calculation portion (520), and the drilling position calculation portion (520) displays, on the screen of the display portion (500a), a change in a position of the drilling point by reflecting, in real time, a position and an angle of the drilling portion (100) when the drilling portion (100) is moved by the mobile vehicle portion (200).

[83] In addition, the blast hole design terminal (500) further includes a design information input portion (530) through which a drilling depth, spacing, which is a distance between blast holes, and burden can be input, and the design information input portion (530) displays, on the screen of the display portion (500a), an input screen through which the drilling depth, spacing, and burden can be input, thereby allowing an operator or a work manager to input the drilling depth, spacing, and burden through an input device such as a keyboard or a mouse or through a keypad displayed on a touch screen.

[84] In addition, the blast hole design terminal (500) further includes a blast hole position storage portion (540) configured to store position information of a blast hole drilled by the drilling portion (100) and display position information of the drilled blast hole on the screen of the display portion (500a).

[85] In addition, the blast hole design terminal (500) further includes a first guide line display portion (550) configured to display, based on information on spacing input through the design information input portion (530), on the screen a circular first guide line centered on a drilled blast hole and having the spacing as a radius, and a second guide line display portion (560) configured to display, based on burden information input through the design information input portion (530), on the screen a circular second guide line centered on the drilled blast hole and having the burden as a radius.

[86] The first guide line display portion (550) and the second guide line display portion (560) may display the circular first guide line and the circular second guide line centered on a reference blast hole that is the last drilled blast hole, that is, the most recently drilled blast hole, among blast holes drilled by the drilling portion (100).

[87] The drilling position calculation portion (520) displays the drilling point with a preset diameter, and the first guide line display portion (550) and the second guide line display portion (560) respectively display the first guide line and the second guide line to have a thickness equal to the diameter of the drilling point.

[88] In addition, the first guide line display portion (550) and the second guide line display portion (560) respectively display the first guide line and the second guide line in different colors.

[89] The first guide line and the second guide line are guide lines configured to guide the positioning of a next blast hole with the drilled blast hole as a reference. As an example, the first guide line is a guide line configured to guide the positioning of a plurality of blast holes drilled in a row, and the second guide line is a guide line configured to guide the positioning of a blast hole in another row with respect to a blast hole when blast holes are drilled in a plurality of rows.

[90] When the drilling point, which moves during the movement of the drilling portion (100) by the mobile vehicle portion (200), is positioned to coincide with the first guide line, the first guide line display portion (550) displays the first guide line thicker and brighter or in a different color, thereby allowing an operator to easily confirm that the drilling point coincides with the first guide line.

[91] In addition, when the drilling point, which moves during the movement of the drilling portion (100) by the mobile vehicle portion (200), is positioned to coincide with the second guide line, the second guide line display portion (560) displays the second guide line thicker and brighter or in a different color, thereby allowing the operator to easily confirm that the drilling point coincides with the second guide line.

[92] The blast hole design terminal (500) is installed in the vehicle serving as the mobile vehicle portion (200), and displays the drilling point of the drilling portion (100) and the first guide line or the second guide line, so that an operator may, while driving the vehicle, check on the screen the moving drilling point and the first guide line or the second guide line configured to guide a position of a next blast hole based on a drilled blast hole.

[93] In addition, the operator can sequentially drill blast holes in accordance with spacing or burden by causing the drilling point to coincide with the first guide line or the second guide line.

[94] In addition, the second guide line display portion (560) displays two second guide lines respectively based on burden from two adjacent blast holes drilled in a row, and displays, as a drilling point, a position of a blast hole in another row at a point at which the two second guide lines overlap.

[95] When drilling a blast hole in the next row after drilling a plurality of blast holes in a row by using the first guide line, the drilling portion (100) may drill the blast hole in the next row at a point at which two second guide lines respectively centered on two adjacent blast holes overlap.

[96] Meanwhile, the blast hole design terminal (500) further includes a drilling operation control portion (570) configured to control operation of the drilling portion (100), and the drilling operation control portion (570) operates the drilling portion (100) to drill a blast hole in the ground to a preset drilling depth, that is, an input drilling depth.

[97] The drilling operation control portion (570) automatically sets a drilling target position on the first guide line or the second guide line as the drilling point moves, and, when the drilling point moves to coincide with the corresponding drilling target position, automatically operates the drilling portion (100) to drill a blast hole to a preset drilling depth.

[98] When the drilling point coincides with the corresponding drilling target position, the first guide line display portion (550) and the second guide line display portion (560) display the first guide line and the second guide line thicker and brighter on the screen to notify an operator that a drilling operation is started, and the drilling operation control portion (570) operates the drilling portion (100) immediately after the notification by the first guide line display portion (550) and the second guide line display portion (560) to drill a blast hole at the corresponding drilling target position to a preset drilling depth.

[99] The drilling operation control portion (570) applies a sine value of an angle (0) detected by the angle sensing portion (400) to a preset drilling depth (H1) to calculate an actual drilling depth (H2), and drills a blast hole to the actual drilling depth (H2).

[100] More specifically, the drilling operation control portion (570) calculates the actual drilling depth (H2) according to the following equation.

[101] [Equation]

[102] H2 = Hi x 1 / sin 0

[103] As an example, when an altitude before a blasting operation at a blasting site is 520M and a target altitude after the blasting operation is 5i0M, the preset drilling depth (Hi) of a blast hole is i0M, and the actual drilling depth (H2) is i0 / sin 60°.

[104] The drilling operation control portion (570) may calculate a drilling depth based on the angle (0) detected by the angle sensing portion (400) and accurately drill a blast hole to a preset depth.

[105] In addition, the blast hole design terminal (500) further includes a communication data processing portion (580) configured to wirelessly communicate with a blast hole design terminal (500) provided in another drilling apparatus at the same blasting site, receive position information of a blast hole drilled by the other drilling apparatus, and selectively display the position information on the screen.

[106] The communication data processing portion (580) includes a wireless communication antenna configured to wirelessly communicate with another adjacent drilling apparatus. As an example, the wireless communication antenna is a Bluetooth antenna, and may also be variously modified and implemented as a known communication antenna capable of transmitting data.

[107] The communication data processing portion (580) wirelessly communicates with blast hole design terminals (500) provided in a plurality of drilling apparatuses performing blast hole drilling operations at the same blasting site and shares position data of blast holes drilled by the respective drilling apparatuses, thereby allowing progress of the entire drilling operation to be checked in real time and greatly improving efficiency of the blast hole drilling operation.

[108] The communication data processing portion (580) shares blast hole position data stored in the blast hole position storage portion (540) as a result of drilling performed by another drilling apparatus and selectively displays the blast hole position data on the screen, thereby allowing an operator to distinguish and check blast holes drilled by the drilling apparatus on which the operator is riding and operating and blast holes drilled by another drilling apparatus.

[109] In addition, when the drilling portion (100) moves, the blast hole design terminal (500) displays a blast hole located at a shortest distance from the drilling portion (100), thereby allowing the operator to check a drilling position through the first guide line or the second guide line based on a blast hole drilled by another drilling apparatus and securing convenience in performing a drilling operation.

[110] The blast hole design terminal (500) displays the nearest blast hole by a line connecting the drilling point of the drilling portion (100) displayed on the screen to the nearest blast hole, and displays, on the screen, the first guide line or the second guide line based on the blast hole, thereby guiding the operator to position the drilling point to coincide with the first guide line or the second guide line and accurately perform a blast hole drilling operation.

[111]

[112] Meanwhile, the drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure further includes a cliff line scanning portion (310) configured to scan a cliff line at a blasting site and provide cliff line information to the blast hole design terminal (500), and the blast hole design terminal (500) further includes a reference drilling row display portion (501) configured to receive, from the cliff line scanning portion (310), information on the scanned cliff line at the blasting site, that is, crest line information, and display a reference drilling row in which the first blast hole is drilled.

[113] As an example, the cliff line scanning portion (310) is an RTK scanning portion or a 3D camera configured to scan the cliff line while moving along the cliff line at the blasting site.

[114] The RTK scanning portion may be variously implemented using a known scanning method employing RTK-GNSS positioning, such as a scanning method using a LiDAR sensor, and thus a further detailed description thereof will be omitted.

[115] In addition, as an example, the 3D camera is a depth camera, and may also be variously modified and implemented as a known 3D camera capable of measuring depth.

[116] The blasting site is a site having a high elevation, and information on the cliff line forming a perimeter of the ground of the blasting site may partially be acquired, and a reference drilling row for designating a position of the first blast hole may be identified based on the partially acquired cliff line.

[117] The reference drilling row is displayed in a line form having a shape corresponding to the cliff line and spaced apart from the cliff line by a distance corresponding to the burden.

[118] The reference drilling row is displayed on the screen in a color different from those of the drilling point, the first guide line, and the second guide line, and thus may be distinguished from the drilling point, the first guide line, and the second guide line.

[119] The reference drilling row is a first line spaced apart from the cliff line by the burden, and the reference drilling row display portion (501) displays the first line spaced apart from the cliff line by the burden. When the drilling point, which moves during the movement of the drilling portion (100), is positioned to coincide with the first line, the drilling portion (100) drills, on the first line, the first blast hole serving as a reference for blast hole pattern design.

[120] When the drilling point coincides with the reference drilling row, the reference drilling row display portion (501) displays the reference drilling row thicker and brighter or in another color, thereby allowing an operator to more easily confirm a state in which the drilling point coincides with the reference drilling row.

[121] In addition, although not shown, the blast hole design terminal (500) further includes an automatic blast hole pattern design portion (not shown) configured to automatically display, on the screen, a plurality of planned blast hole points to be drilled based on the first blast hole initially drilled at the blasting site, according to rows and columns and the number of blast holes which are preset.

[122] When rows and columns and the number of blast holes to be worked at the blasting site are input, the automatic blast hole pattern design portion (not shown) automatically displays, on the screen, a plurality of planned blast hole points to be drilled based on the first blast hole, according to the preset rows and columns, the number of blast holes, and the previously input spacing and burden, thereby allowing an operator to check the plurality of planned blast hole points displayed on the screen at one time.

[123] A planned blast hole point is displayed as a circle having the same diameter as the drilling point and in a color different from that of the drilling point, and may coincide with the displayed drilling point of the drilling portion (100).

[124] When the planned blast hole point coincides with the drilling point, the planned blast hole point is displayed larger and brighter or in another color different from that of the drilling point, thereby allowing an operator to easily confirm that the drilling point coincides with the planned blast hole point.

[125] In addition, after the drilling portion (100) drills the first blast hole, the drilling portion (100) is moved to any one of the plurality of planned blast hole points, and, when the drilling point coincides with the planned blast hole point, the drilling operation control portion (570) operates the drilling portion (100) to drill a blast hole to a preset drilling depth.

[126] That is, after drilling the first blast hole, the drilling portion (100) can sequentially drill the plurality of planned blast hole points while moving.

[127]

[128] FIG. 4 is a flowchart illustrating a blast hole drilling method according to an embodiment of the present disclosure, and the embodiment of the method for drilling a blast hole according to the present disclosure will be described in detail below with reference to FIGS. 1, 2, and 4.

[129] The method for drilling a blast hole according to an embodiment of the present disclosure is a method in which a plurality of blast holes are drilled in the ground at a blasting site in a pre-designed drilling pattern by using the drilling apparatus having the drilling portion (100) provided on the mobile vehicle and configured to drill a blast hole in the ground at the blasting site. The method includes an information receiving step (S100), in which position information and angle information of the drilling portion (100) provided on the vehicle are received; a drilling point displaying step (S200), in which coordinates of a drilling point at which drilling is performed by the drilling portion (100) at the blasting site are calculated based on the position information and the angle information received in the information receiving step (S100), and the drilling point is displayed on the screen; a first blast hole drilling step (S400), in which a first blast hole is drilled at the blasting site; a drilling position displaying step (S500), in which a drilling position of a next blast hole is guided with the previously drilled blast hole as a center; and a drilling step (S600), in which the drilling portion (100) is moved by the mobile vehicle such that the drilling point displayed on the screen is moved to coincide with the position displayed in the drilling position displaying step, and then the drilling portion (100) is operated to drill a blast hole to a preset drilling depth.

[130] The drilling point displaying step (S200) includes a center coordinate setting process (S210), in which an uppermost point of the drilling portion (100) is set as center coordinates by the position sensing portion (300) located at an uppermost end of the drilling portion (100), with an entire length of the drilling portion (100) as a radius; a surface coordinate calculation process (S220), in which a reference spherical shape having the entire length of the drilling portion (100) as a radius is generated based on the center coordinates set in the center coordinate setting process, and surface coordinates that are on a surface of the reference spherical shape and correspond to an end of the drilling portion (100) are calculated based on a tilt angle of the drilling portion (100) in an X-axis direction or a Y-axis direction, the tilt angle being detected by the angle sensing portion (400); and a drilling point displaying process (S230), in which the surface coordinates calculated in the surface coordinate calculation process are displayed on the screen.

[131] Through the center coordinate setting process (S210), the surface coordinate calculation process (S220), and the drilling point displaying process (S230), the drilling point displaying step (S200) may accurately calculate coordinates of the drilling point changed according to a tilt angle of the drilling portion (100) and accurately display the drilling point on the screen at the corresponding coordinates.

[132] In addition, the drilling point displaying step (S200) displays the drilling point on the screen by using GNSS to check, in real time, a change in a position of the drilling portion (100) moved by the mobile vehicle and a change in an angle of the drilling portion (100).

[133] The pre-designed drilling pattern includes a drilling depth, spacing, and burden, and the method for drilling a blast hole according to an embodiment of the present disclosure further includes a drilling pattern information input step (not shown), in which information on the drilling depth, spacing, and burden is input before a blasting operation is started.

[134] In the drilling pattern information input step, an operator or a work manager inputs the drilling depth, spacing, and burden through an input device such as a keyboard or a mouse or through a keypad displayed on a touch screen, and may also receive the drilling depth, spacing, and burden from a work management center through wireless communication.

[135] In the drilling pattern information input step, not only information on the drilling depth, spacing, and burden but also information on rows and columns and the number of blast holes of the pre-designed drilling pattern is further input such that a drilling pattern may be automatically designed at the blasting site.

[136] The drilling pattern information input step is performed before the drilling apparatus is positioned at the corresponding blasting site or before a blast hole drilling operation is performed at the blasting site, thereby allowing the blast hole drilling operation to be accurately performed at the blasting site according to the preset drilling pattern.

[137] In addition, the method for drilling a blast hole according to an embodiment of the present disclosure further includes a reference drilling row displaying step (S300), in which a cliff line at the blasting site is scanned and a reference drilling row in which the first blast hole is drilled is displayed on the screen based on information on the scanned cliff line, and, in the first blast hole drilling step (S400), the drilling point is positioned to coincide with the reference drilling row displayed in the reference drilling row displaying step (S300), and then the first blast hole is drilled at the blasting site.

[138] More specifically, in the reference drilling row displaying step (S300), the reference drilling row is displayed in a line shape corresponding to the cliff line at a distance spaced apart from the cliff line by the burden.

[139] In the reference drilling row displaying step (S300), the cliff line is scanned by an RTK scanning portion or a 3D camera while moving along the cliff line.

[140] In the reference drilling row displaying step (S300), the cliff line may be scanned while an operator moves while holding a long work pole to which the RTK scanning portion or the 3D camera is connected, or a portion of the cliff line may be scanned by the RTK scanning portion or the 3D camera while moving along the cliff line using a separate vehicle.

[141] In the reference drilling row displaying step (S300), the reference drilling row is displayed on the screen in a color different from those of the drilling point and the first guide line and the second guide line described below such that the reference drilling row may be distinguished from the drilling point, the first guide line, and the second guide line.

[142] In the first blast hole drilling step (S400), the drilling portion (100) is operated in a state in which the drilling point of the drilling portion (100) coincides with the reference drilling row, thereby drilling a blast hole to a preset drilling depth.

[143] In the first blast hole drilling step (S400), when the drilling point of the drilling portion (100) is positioned to coincide with the reference drilling row, the reference drilling row is displayed thicker and brighter or in a different color, thereby allowing an operator to more easily confirm a drilling operation position of the drilling point.

[144] The drilling position displaying step (S500), in which a drilling position of a next blast hole is guided with the previously drilled blast hole as a center, includes a first guide line displaying process, in which a circular first guide line centered on a reference blast hole among blast holes drilled by the drilling portion (100) and having the spacing as a radius is displayed, or a second guide line displaying process, in which a circular second guide line centered on the reference blast hole and having the burden as a radius is displayed.

[145] In the first guide line displaying process or the second guide line displaying process, the first guide line or the second guide line is displayed to have a thickness equal to a diameter of the drilling point.

[146] In addition, the drilling point has a diameter equal to the thickness of the first guide line or the thickness of the second guide line, thereby allowing it to be easily confirmed that the drilling point is positioned to exactly coincide with the first guide line or the second guide line.

[147] The drilling step (S600) includes a first drilling process, in which the drilling portion (100) is moved by the mobile vehicle, the drilling point is positioned to coincide with the first guide line, and blast holes in the same row are drilled, or a second drilling process, in which the drilling portion (100) is moved by the mobile vehicle, the drilling point is positioned to coincide with the second guide line, and blast holes in a row different from the row in which the blast holes are drilled in the first drilling process are drilled.

[148] As an example, in the second drilling process, a point at which two second guide lines displayed centered on two adjacent blast holes overlap is identified as a position for a blast hole in another row, and a blast hole is drilled after the drilling point is positioned to coincide with the point at which the two second guide lines overlap.

[149] In addition, in the first drilling process, the first guide line is displayed thicker and brighter or in a different color when the drilling point is positioned to coincide with the first guide line, and in the second drilling process, the second guide line is displayed thicker and brighter or in a different color when the drilling point is positioned to coincide with the second guide line, thereby allowing an operator to easily confirm that the drilling point coincides with the first guide line or the second guide line and to accurately perform a blast hole drilling operation at the point of coincidence.

[150] FIGS. 5 and 6 are views illustrating screens of the blast hole design terminal (500) of the drilling apparatus capable of automatic blast hole design according to an embodiment of the present disclosure. More specifically, FIG. 5 illustrates the first drilling process, and FIG. 6 illustrates the second drilling process.

[151] Referring to FIG. 5, in the first drilling process, after a blast hole is drilled by the drilling portion (100), a first guide line (GL1) centered on the drilled blast hole (B) is displayed on the screen, and when a drilling point (P) coincides with the first guide line (GL1) while the drilling portion (100) is moved by the mobile vehicle toward the first guide line (GL1), a blast hole is drilled at the corresponding drilling point (P) by the drilling portion (100).

[152] Referring to FIG. 6, in the second drilling process, second guide lines (GL2) are respectively displayed on the screen for two blast holes (B1, B2) drilled in the same row by the first drilling process, and when the drilling point displayed on the screen coincides with the first guide line while the drilling portion (100) is moved by the mobile vehicle to a point (M) at which the two second guide lines (GL2) overlap, a blast hole is drilled at the corresponding drilling point by the drilling portion (100).

[153]

[154] Meanwhile, in the first blast hole drilling step (S400) and the drilling step (S600), the drilling portion (100) is operated to drill a blast hole in the ground to a preset drilling depth, that is, an input drilling depth.

[155] In addition, in the first blast hole drilling step (S400) and the drilling step (S600), a sine value of an angle (0) detected by the angle sensing portion (400) is applied to the preset drilling depth (H1) to calculate an actual drilling depth (H2), and a blast hole is drilled to the actual drilling depth (H2).

[156] More specifically, in the drilling step (S600), the actual drilling depth (H2) is calculated according to the following equation.

[157] [Equation]

[158] H2 = Hi x 1 / sin 9

[159] As an example, when an altitude before a blasting operation at a blasting site is 520M and a target altitude after the blasting operation is 5i0M, the preset drilling depth (Hi) of a blast hole is i0M, and the actual drilling depth (H2) is i0 / sin 60°.

[160] In the first blast hole drilling step (S400) and the drilling step (S600), a drilling depth may be calculated based on the angle (9) detected by the angle sensing portion (400), thereby allowing a blast hole to be accurately drilled to a preset depth.

[161] In addition, the first blast hole drilling step (S400) and the drilling step (S600) further include a blast hole position storage process of storing positions of drilled blast holes and outputting the positions on the screen. The positions of the blast holes drilled by the drilling portion (i00) are cumulatively stored and displayed on the screen, thereby allowing an operator or a work manager to check, in real time, a status of the blast hole drilling operation at the blasting site and, through this, more efficiently perform the blast hole drilling operation.

[162]

[163] Meanwhile, the drilling position displaying step (S500) further includes a blast hole pattern displaying process, in which a plurality of planned blast hole points to be drilled are automatically displayed on the screen based on the first blast hole drilled, according to the rows and columns and the number of blast holes which are preset.

[164] In the blast hole pattern displaying process, when rows and columns and the number of blast holes to be worked at the blasting site are input, a plurality of planned blast hole points to be drilled are automatically displayed on the screen based on the first blast hole, according to the input rows and columns, the number of blast holes, and the previously input spacing and burden, thereby allowing an operator to check the plurality of planned blast hole points displayed on the screen at one time.

[165] In the blast hole pattern displaying process, a planned blast hole point is displayed as a circle having the same diameter as the drilling point and in a color different from that of the drilling point, and may coincide with the displayed drilling point of the drilling portion (100).

[166] In the blast hole pattern displaying process, when a planned blast hole point coincides with the drilling point, the planned blast hole point is displayed larger and brighter or in another color different from that of the drilling point, thereby allowing the operator to easily confirm that the drilling point coincides with the planned blast hole point.

[167] In addition, in the drilling step (S600), after the first blast hole is drilled, the drilling portion (100) is moved to any one of the plurality of planned blast hole points, and, when the drilling point coincides with the planned blast hole point, the drilling portion (100) is operated to drill a blast hole to a preset drilling depth.

[168] That is, in the drilling step (S600), after the first blast hole is drilled, the plurality of planned blast hole points may be sequentially drilled while the drilling portion (100) is moved.

[169]

[170] The drilling apparatus of the present disclosure may sequentially and automatically designate positions of multiple blast holes to suit a blasting site in a situation where there is no drilling design, allow an operator to check, in real time, a position of the drilling portion (100) moving to a designated position, and accurately drill blast holes at designated positions by using the drilling portion (100) while conforming to an elevation-level matching design, spacing, and burden, thereby significantly reducing manpower, cost, and time required for drilling the blast holes.

[171] In addition, although multiple personnel have conventionally been required for topographic photographing and topographic measurement to achieve accurate drilling design, the drilling apparatus of the present disclosure reduces the number of required personnel and eliminates the need for a drilling operator to mark drilling points at the work site, thereby eliminating unnecessary instances of getting into and out of the drilling apparatus, increasing convenience, and greatly improving safety during work by preventing the operator from being exposed to hazards at the work site.

[172] The functional operations and embodiments relating to the subject matter described above in the present specification may be implemented in digital electronic circuitry, computer software, firmware, or hardware, including the structures disclosed in the present specification and structural equivalents thereof, or in any combination thereof.

[173] One or more embodiments of the subject matter described in the present specification may be implemented as one or more computer program products, that is, as one or more modules of computer program instructions encoded on a tangible program medium for execution by a data processing apparatus, or to control the operation thereof. The tangible program medium may be a propagated signal or a computer-readable medium. The propagated signal is an artificially generated signal, such as a machine-generated electrical, optical, or electromagnetic signal, generated to encode information for transmission to a suitable receiver apparatus for execution by a computer. The computer-readable medium may be a machine-readable storage device, a machine-readable storage substrate, a memory device, a combination of materials affecting a machine-readable propagated signal, or any combination thereof.

[174] In addition, the description set forth herein presents the best mode of the present disclosure and provides examples for explaining the present disclosure and for enabling those skilled in the art to make and use the subject matter of the present disclosure. The specification thus written does not limit the present disclosure to the specific terms presented 5 therein.

[175] Accordingly, although the present disclosure has been described in detail with reference to the above-described examples, those skilled in the art may make modifications, changes, and variations to the examples without departing from the scope of the present disclosure. In short, it should be noted that, in order to achieve the effects intended by the 10 present disclosure, it is not necessary to separately include all functional blocks illustrated in the drawings or to follow all sequences illustrated in the drawings exactly in the order illustrated, and that, even without doing so, an implementation may still fall within the technical scope of the present disclosure as set forth in the claims.

Claims

1. A drilling apparatus capable of automatic blast hole design, the drilling apparatus comprising:a drilling portion configured to drill a blast hole in the ground by using a drill rotated by a motor;a mobile vehicle portion provided with the drilling portion and configured to move the drilling portion;a position sensing portion provided on the drilling portion and configured to detect a position of the drilling portion by using GNSS;an angle sensing portion provided on the drilling portion and configured to detect an angle of the drilling portion with respect to a planar ground surface; anda blast hole design terminal configured to receive position information and angle information of the drilling portion from the position sensing portion and the angle sensing portion, display, on a screen of a display portion, a drilling point of the drilling portion moved by the mobile vehicle portion and the blast hole drilled by the drilling portion, and display, on the screen, a guide line for spacing or burden based on pre-stored spacing or burden.

2. The drilling apparatus of claim 1, wherein the blast hole design terminal comprises:a drilling position calculation portion configured to receive the position information and the angle information, calculate the drilling point of the drilling portion, and display the drilling point on the screen.

3. The drilling apparatus of claim 2, wherein the position sensing portion islocated at an uppermost end of the drilling portion, andthe drilling position calculation portion is configured to generate a reference spherical shape having an entire length of the drilling portion as a radius and having, as a center, an uppermost point of the drilling portion that is a point detected by the position sensing portion, set the uppermost point as center coordinates of the reference spherical shape, and calculate surface coordinates for a lower end portion of the drilling portion on a surface of the reference spherical shape based on a tilt angle of the drilling portion in an X-axis direction or a Y-axis direction, the tilt angle being detected by the angle sensing portion.

4. The drilling apparatus of claim 2, wherein the drilling position calculation portion is configured to display, on the screen of the display portion, a change in a position of the drilling point by reflecting, in real time, a position and an angle of the drilling portion when the drilling portion is moved by the mobile vehicle portion.

5. The drilling apparatus of claim 4, wherein the blast hole design terminal further comprises:a design information input portion configured to input a drilling depth, spacing, which is a distance between blast holes, and burden.

6. The drilling apparatus of claim 4, wherein the blast hole design terminal further comprises:a blast hole position storage portion configured to store position information of the blast hole drilled by the drilling portion and display, on the screen of the display portion, the position information of the drilled blast hole.

7. The drilling apparatus of claim 4, further comprising:a cliff line scanning portion configured to scan a cliff line at a blasting site and provide cliff line information to the blast hole design terminal,wherein the blast hole design terminal further comprises:a reference drilling row display portion configured to receive the cliff line information and display a reference drilling row spaced apart from the cliff line by a previously input burden distance, the reference drilling row being a row in which a first blast hole is initially drilled.

8. The drilling apparatus of claim 5, wherein the blast hole design terminal further comprises:a first guide line display portion configured to display, based on information on the previously input spacing, on the screen a circular first guide line centered on the drilled blast hole and having the spacing as a radius; anda second guide line display portion configured to display, based on burden information previously input through the design information input portion, on the screen a circular second guide line centered on the drilled blast hole and having the burden as a radius,wherein the first guide line is a guide line configured to guide positioning of a plurality of blast holes drilled in a row, andthe second guide line is a guide line configured to guide a position of a blast hole in another row with respect to the drilled blast hole when blast holes are drilled in a plurality of rows.

9. The drilling apparatus of claim 8, wherein the first guide line display portion and the second guide line display portion are respectively configured to display the first guide line and the second guide line in different colors.

10. The drilling apparatus of claim 8, wherein the first guide line display portion is configured to display the first guide line thicker and brighter or in a different color when the drilling point, which moves during the movement of the drilling portion by the mobile vehicle portion, is positioned to coincide with the first guide line, andthe second guide line display portion is configured to display the second guide line thicker and brighter or in a different color when the drilling point, which moves during the movement of the drilling portion by the mobile vehicle portion, is positioned to coincide with the second guide line.

11. The drilling apparatus of claim 6, wherein the blast hole design terminal further comprises:a communication data processing portion configured to wirelessly communicate with a blast hole design terminal provided in another drilling apparatus at the same blasting site, receive position information of a blast hole drilled by the other drilling apparatus, and selectively display the position information on the screen.

12. The drilling apparatus of claim 7, wherein the blast hole design terminal further comprises:an automatic blast hole pattern design portion configured to automatically display, on the screen, a plurality of planned blast hole points to be drilled based on the first blast hole initially drilled at the blasting site, according to rows and columns, the number of blast holes, burden, and spacing which are preset.

13. A blast hole drilling method, in which a plurality of blast holes are drilledin the ground at a blasting site in a pre-designed drilling pattern by using a drilling apparatus having a drilling portion provided on a mobile vehicle and configured to drill a blast hole in the ground at the blasting site, the method comprising:an information receiving step, in which position information and angle information of the drilling portion are received from a position sensing portion and an angle sensing portion provided on the drilling portion;a drilling point displaying step, in which coordinates of a drilling point at which drilling is performed by the drilling portion at the blasting site are calculated based on the position information and the angle information received in the information receiving step, and the drilling point is displayed on a screen;a first blast hole drilling step, in which a first blast hole is drilled at the blasting site;a drilling position displaying step, in which a drilling position of a next blast hole is guided with the previously drilled blast hole as a center; anda drilling step, in which the drilling portion is moved by the mobile vehicle such that the drilling point displayed on the screen is moved to coincide with the position displayed in the drilling position displaying step, and then the drilling portion is operated to drill a blast hole to a preset drilling depth.

14. The method of claim 13, wherein the drilling point displaying step comprises:a center coordinate setting process, in which an uppermost point of the drilling portion is set as center coordinates by the position sensing portion located at an uppermost end of the drilling portion, with an entire length of the drilling portion as a radius;a surface coordinate calculation process, in which a reference spherical shape having the entire length of the drilling portion as a radius is generated based on the center coordinatesset in the center coordinate setting process, and surface coordinates that are on a surface of the reference spherical shape and correspond to an end of the drilling portion are calculated based on a tilt angle of the drilling portion in an X-axis direction or a Y-axis direction, the tilt angle being detected by the angle sensing portion; anda drilling point displaying process, in which the surface coordinates calculated in the surface coordinate calculation process are displayed on the screen.

15. The method of claim 13, wherein the drilling point displaying step is configured to display the drilling point on the screen by using GNSS to check, in real time, a change in a position of the drilling portion moved by the mobile vehicle and a change in an angle of the drilling portion, andthe method further comprises:a drilling pattern information input step, in which information on a drilling depth, spacing, and burden is input before a blasting operation is started.

16. The method of claim 13, further comprising:a reference drilling row displaying step, in which a cliff line at the blasting site is scanned before the first blast hole drilling step, and a reference drilling row in which the first blast hole is drilled is displayed on the screen based on information on the scanned cliff line,wherein, in the first blast hole drilling step, the drilling point is positioned to coincide with the reference drilling row displayed in the reference drilling row displaying step, and then the first blast hole is drilled at the blasting site.

17. The method of claim 15, wherein the drilling position displaying step comprises:a first guide line displaying process, in which a circular first guide line centered on a reference blast hole among blast holes drilled by the drilling portion and having the preset spacing as a radius is displayed; ora second guide line displaying process, in which a circular second guide line centered on the reference blast hole and having the burden as a radius is displayed.

18. The method of claim 17, wherein the drilling step comprises:a first drilling process, in which the drilling portion is moved by the mobile vehicle, the drilling point is positioned to coincide with the first guide line, and blast holes in the same row are drilled; ora second drilling process, in which the drilling portion is moved by the mobile vehicle, the drilling point is positioned to coincide with the second guide line, and blast holes in a row different from the row in which the blast holes are drilled in the first drilling process are drilled.

19. The method of claim 18, wherein in the first drilling process, the first guide line is displayed thicker and brighter or in a different color when the drilling point is positioned to coincide with the first guide line, andin the second drilling process, the second guide line is displayed thicker and brighter or in a different color when the drilling point is positioned to coincide with the second guide line.

20. The method of claim 16, wherein the drilling position displaying step comprises:a blast hole pattern displaying process, in which a plurality of planned blast hole points to be drilled are automatically displayed on the screen based on the first blast hole drilled,according to rows and columns, the number of blast holes, spacing, and burden which are preset.

Images