Detection method for loading position of explosive, detection device for loading position of explosive, explosive loading method, and explosive loading device

Abstract

To detect the position of a charging hole into which explosives are loaded, and reliably send a preset number of explosives from a loading machine.SOLUTION: A method comprises: a step of inserting a loading pipe into a charging hole; a step of photographing a pit face with imaging means; and a step of estimating the posture of a worker holding the loading pipe from the photographed image, and detecting a position where the loading pipe intersects with the opening of the charging hole from around the worker. If the position of the opening of the loading pipe is detected, the detected position is set as the loading position, and if the position of the opening of the loading pipe is not detected, the midpoint between the shoulder and waist skeleton of the worker estimated by the posture estimation is set as the loading position. A table is created in advance showing the relationship between the loading position, which is the position of the charging hole, and a loading number to be loaded into the charging hole at the loading position, and the loading number to be loaded into the charging hole at the loading position is set using the detected loading position and the table.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a method and an apparatus for detecting the loading position of explosives, and a method and an apparatus for loading explosives into a charge hole formed in a tunnel face. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known an explosive loading device that loads explosives into a charge hole formed in a tunnel face (see Patent Document 1, etc.). This explosives loading device includes an explosives supply device, a charge supply device, and a pumping device that pumps the explosives supplied by the explosives supply device or the charge supplied by the charge supply device into a charge hole drilled in the face. The pressure feeding device is equipped with a loading machine provided on the discharge side of the explosive supply device and the filling material supply device, a loading hose connected to the end of the loading machine, and a loading pipe connected to the end of the loading hose, and loads explosives and filling material into the loading hole based on instructions from a loading instruction device such as a remote controller operated by an operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-113194 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, not only does the number of explosives loaded into each charging hole vary from hole to hole, but there are also a large number of charging holes, so there are cases where workers make a mistake in the number of explosives loaded into each charging hole. Therefore, if the position of the charge hole into which the explosives are to be loaded can be detected in advance, it is possible to reliably load a preset number of explosives into the charge hole.

[0005] The present invention has been made in consideration of the above-mentioned problems in the conventional art, and has an object to provide a method and device for detecting the position of a charging hole into which an explosive is loaded, and an explosive loading method and device which can reliably send a preset number of explosives from a loading machine. [Means for solving the problem]

[0006] The present invention is a method for detecting the position of a loading pipe inserted into a charge hole formed in a face, and detecting a loading position, which is the position of the charge hole into which an explosive is loaded, comprising the steps of inserting a loading pipe into the charge hole, photographing the face with an imaging means, estimating the posture of a worker holding the loading pipe from the photographed image, and detecting a position where the loading pipe intersects with the opening of the charge hole from around the worker (a position where the axis of the pipe inserted into the charge hole intersects with the face surface), and is characterized in that when the intersecting position is detected, the detected position is taken as the loading position, and when the intersecting position is not detected, the midpoint of the worker's shoulder and waist skeleton estimated by the posture estimation is taken as the loading position. This allows the loading position to be detected with high accuracy, making it possible to reliably send a preset number of explosives from the loading machine. In addition, an identification member that can be identified from the face on an image is attached to the position of the loading pipe that intersects with the opening of the charging hole, so that the loading position can be detected more accurately.

[0007] The present invention also relates to a method for loading explosives into a charging hole using an explosive loading device including an explosive supplying means, a pressure-feeding means for pressure-feeding the explosives supplied by the explosive supplying means into a charging hole formed in a face, a control means for controlling the explosive supplying means and the pressure-feeding means, and a loading instruction means for sending a command signal to the control means to load the explosives, the method including the steps of: creating a table showing a relationship between a loading position, which is the position of the charging hole, and the number of explosives to be loaded into the charging hole at the loading position; inserting a loading pipe into the charging hole; photographing the face with an imaging means; detecting the loading position, which is the position of the charging hole into which the explosives are to be loaded, from the photographed image; and detecting the detected number of explosives. The method includes the steps of: using the loading position and the table to set the number of explosives to be loaded into the explosive hole; and sending a command signal to the control means by the loading instruction means to load the set number of explosives into the explosive hole. In the step of detecting the loading position, the posture of the worker holding the loading pipe is estimated from the captured image, and a position where the loading pipe intersects with the opening of the explosive hole from around the worker is detected. If the intersecting position is detected, the detected position is set as the loading position, and if the intersecting position is not detected, the midpoint of the worker's shoulder and waist skeleton estimated by the posture estimation is set as the loading position. This ensures that a preset number of explosives are delivered to the explosive hole.

[0008] It should be noted that the above summary of the invention does not list all of the necessary features of the present invention, and any subcombination of these features may also constitute an invention. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing an explosive loading device according to an embodiment of the present invention; [Diagram 2] FIG. 13 is a diagram showing an example of division of a cutting face. [Diagram 3] FIG. 2 is a diagram illustrating an example of a loading instruction device. [Figure 4]FIG. 2 is a diagram showing an example of the installation position of a camera and an example of a captured image. [Diagram 5] 13 is a flowchart showing a method for estimating a loading position. [Figure 6] 1 is a flow chart showing a method for loading explosives and charge. [Figure 7] 13A and 13B are diagrams illustrating another example of a method for estimating a loading position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] FIG. 1 is a diagram showing an explosives loading device 10 according to the present embodiment. The explosives loading device 10 is equipped with a loading instruction device 11, a loading position detection device 12 having a camera 12a as an imaging means, a charge number setting device 13, an explosives supply device 14, a charge material supply device 15, a pressure feeding device 16, and a control device 17, and loads explosives and charge material into a charge hole 3 drilled in the face 2 at the tunnel excavation site 1. The loading instruction device 11 is attached to a worker 4 performing work on the near side of the face 2, and the camera 12a and the loading position detection device 12 are mounted on a drill jumbo 20, which is a construction machine equipped with a rock drill 21, a bucket arm 22, a bucket 23, etc. In addition, each device from the charge number setting device 13 to the control device 17 is mounted on the loading platform of a vehicle 18 such as a truck. A worker 4 rides in the bucket 23 to perform work. The explosives include, for example, a cartridge-shaped explosive (hereinafter referred to as parent die 5) that has an emulsion-type water-containing explosive and a detonator that ignites the water-containing explosive, and multiple cartridge explosives (hereinafter referred to as additional die 6) that are made up of water-containing explosives without detonators that are detonated by the detonation of parent die 5. The filling material (hereinafter referred to as filling material 7) is used to block the opening of the charge hole 3, and is made of clay or the like. The parent die 5 is attached to the tip of a loading pipe 16c held by an operator 4, and is pressed by compressed air sent from a pressure feeding device 16 to load the charge into the end of the charge hole 3. The booster die 6 is pressure-fed to the charge hole 3 by the explosive supply device 14 and the pressure-fed device 16, and is loaded behind the parent die 5 loaded in the charge hole 3. In addition, the filling material 7 is pressure-fed to the charge hole 3 by the charge supply device 15 and the pressure-fed device 16, and loaded into the mouth side of the charge hole 3, which is behind the addition die 6.

[0011] Figure 2(a) shows the charge hole 3 provided in the face 2, and the number of explosives (additional dies 6) loaded into the charge hole 3 generally varies depending on the position of the charge hole 3. Specifically, the face 2 is divided into an outer periphery indicated by R1 in the figure, a sweeping section indicated by R2, a core removal section indicated by R3, and a base section indicated by R4, and the number of additional dies 6 loaded is set for each area. Needless to say, the number of charges to be loaded is determined by the state of the rock at the face 2 and the number of charging holes 3. Furthermore, the method of dividing the face of the face 2 is not limited to the above example, and it may be divided into three, such as making the sweeping section and the core removal section the same area, or it may be divided even finer, such as dividing the sweeping section into two. As shown in Fig. 2(b), the detonators (not shown) of the parent die 5 are connected in series by a conductor 5k and connected to a blasting device (not shown). This allows the parent dies 5 of all the charge holes 3 to explode simultaneously by operating the blasting device to ignite the detonators of the parent die 5. The explosion of the parent die 5 also causes the additional dies 6 to explode, so that the face 2 can be efficiently crushed.

[0012] The loading instruction device 11 is constituted by, for example, a remote controller, and is connected to the loading number setting device 13 wirelessly or via a wired cable. FIG. 3(a) is a diagram showing an example of a loading instruction device 11 according to the present invention, which includes a power switch 111, a parent die loading button 112, an additional die loading button 113, an anchor loading button 114, an insertion completion button 115, a display 116 as a display means, and an antenna 11A connected to a transceiver 117 built into the loading instruction device 11. The power switch 111 is a switch for turning on and off the power supply built into the loading instruction device 11. When the power switch 111 is pressed, the power supply is turned on and the liquid crystal screen of the display 116 lights up. The parent die loading button 112 is a button that sends an instruction signal to the control device 17 instructing the loading of the parent die 5, the additional die loading button 113 is a button that sends an instruction signal to the control device 17 instructing the loading of the additional die 6, and the filling material loading button 114 is a button that sends an instruction signal to the control device 17 instructing the loading of the filling material 7. The insertion completion button 115 is a button for notifying the loading position detection device 12 that the operator 4 has inserted the loading pipe 16c into the charging hole 3. When the insertion completion button is pressed, an insertion completion signal is sent to the loading position detection device 12, and the loading position detection device 12 starts detecting the position of the charging hole 3 into which the loading pipe 16c has been inserted. It is assumed that the parent die 5 has already been loaded into the charging hole 3. The display 116 displays the number of additional dies 6 to be loaded sent from the charge number setting device 13, and in this example, as shown in FIG. 3(b), a number of circles corresponding to the number of additional dies 6 are displayed. For example, when the number of additional dies 6 is four, the circles p1 to p4 in the same figure are displayed. The circles p1 to p4 disappear one by one from the display 116 in order starting from p1 each time an additional die 6 is loaded, that is, each time the additional die loading button 113 is pressed, and when all the additional dies 6 to be loaded are loaded, all the circles p1 to p4 disappear from the display 116. Note that, in FIG. 3(b), an example is shown in which the maximum number of additional dies 6 is five (five circles can be displayed), but it is also possible to set it to six or more. Also, a number indicating the number of extra dies 6 may be displayed on the display 116, and the displayed number may be decreased by one each time the extra die loading button 113 is pressed.

[0013] The loading position detection device 12 includes a camera 12a, a posture estimation means 12b, and a loading position detection means 12c, and detects the position of the charge hole 3 into which the worker 4 has inserted the charge pipe 16c from the video captured by the camera 12a. As shown in Fig. 4(a), the camera 12a is mounted near the operation panel 25 provided on the main body 24 of the drill jumbo 20, and captures video of the working face 2 and the worker 4 holding the loading pipe 16c. Fig. 4(b) and (c) are captured images (one frame of the video), with (b) being an image showing both the worker 4 and the loading pipe 16c, and (c) being an image showing only the worker 4. The posture estimation means 12b detects the posture of the worker 4 from the video captured by the camera 12a, using a so-called posture estimation method, and detects the loading pipe 16c held by the worker 4 from the image of the worker 4. In this example, as shown in FIG. 4(b), yellow tape 16p and black tape 16q are alternately attached to the loading pipe 16c at regular intervals like a trolley. The yellow tape 16p on the tip side (face 2 side) of the yellow tape 16p is wound at a position where the face surface, which is the opening of the charging hole 3, and the axis of the loading pipe 16c intersect when the loading pipe 16c is inserted into the charging hole 3. This yellow tape 16p on the tip side corresponds to the identification member of the present invention. The identification member may be a yellow paint applied or sprayed. The color of the identification member is not limited to yellow, but may be any color that has a different RGB value from the color of the face 2 and is easy to identify on the image. In addition, the yellow tape 16p may be wrapped only at the position where the tip of the tape intersects with the opening of the charging hole 3 when the loading pipe 16c is inserted into the charging hole 3, but if it is wrapped alternately with the black tape 16q like a trawl rope, the position of the opening of the charging hole 3 can be detected more accurately.

[0014] The posture estimation technique automatically estimates human posture from images and videos in real time, detecting the positions of a person's skeleton (joints such as hands, shoulders, and waists) to estimate the posture. Specifically, features are extracted from image and video data, and a posture estimation model, which is a model of a person's skeleton structure, is constructed by deep learning using a neural network, and the posture estimation model is used to estimate the posture of the person appearing in the image or video. In this example, since one camera 12a was used, two-dimensional skeleton detection was performed for posture estimation. As shown in Figure 4(b), the loading position detection means 12c detects the loading position P, which is the position of the charging hole 3 into which the worker 4 inserted the loading pipe 16c, based on the posture of the worker 4 and the detected position of the loading pipe 16c (the position of the yellow tape 16p at the tip). As shown in Figure 4(c), due to the relationship between the orientation of the worker 4 and the shooting direction of the camera 12a, the loading pipe 16c may be in the shadow of the worker 4, and the yellow tape 16p may not be seen (detected). In this case, the position of the loading hole 3 is estimated from only the posture of the worker 4, and this estimated position of the loading hole 3 is set as the loading position P. The data of the detected loading position P is sent to the charge number setting device 13.

[0015] The operation of the loading position detector 12 will be described with reference to the flow chart of FIG. First, the camera 12a captures a video of the tunnel face 2 during the loading of explosives (step S11). The worker 4 inserts the loading pipe 16c into the charging hole 3 in which the parent die 5 is loaded, and presses the insertion completion button 115 of the loading instruction device 11 to transmit to the loading position detection device 12 that the loading pipe 16c has been inserted into the charging hole 3 (step S12). At this time, if the worker 4 who pressed the insertion completion button 115 does not move both hands or his / her posture for a certain period of time (about 5 seconds), an image for estimating the posture can be reliably extracted from the captured video. Next, the posture estimation means 12b estimates the posture of the worker 4 where the joints or posture of both hands are not moving (step S13), and then determines whether or not the yellow tape 16p is visible around the worker 4 (step S14). When the yellow tape 16p is seen around the worker 4, as shown in FIG. 4(b), the position of the yellow tape farthest from the worker 4 is determined as the loading position P (step S15). If the yellow tape 16p is not visible around the worker 4, the midpoint of the skeleton of the shoulder 4m and waist 4n of the worker 4 estimated in step S13 is set as the loading position P (step S16), as shown in FIG. 4(c).

[0016] The medicine quantity setting device 13 includes a storage means 13a, a medicine quantity setting means 13b, and a loading command communication means 13c. The storage means 13a stores a PN table 13T indicating the relationship between the position P (two-dimensional coordinates) of the charge hole 3 and the number N of charge in the additional die 6. The charge number setting means 13b determines the number N of charges to be loaded into the additional die 6 from the information on the position P of the charge hole 3 sent from the input means 11 and the PN table 13T stored in the memory means 13a, and sends it to the charge command communication means 13c. In addition, the loading position P detected by the loading position detection device 12 may be slightly deviated from the actual position P0 of the loading hole 3, in which case the detected loading position P can be taken as the closest designed position of the loading hole 3. The loading command communication means 13c sends the determined number of pieces N to be loaded to the input means 11, and when a loading command signal is sent from the input means 11, sends a command signal to the control device 17 to load the parent die 5, the additional die 6, and the filling 7, respectively. Note that the loading command signal may be sent directly from the loading command device 11 to the control device 17.

[0017] The explosive supply device 14 includes a hopper 14 a and an explosive die chute 14 b , and supplies the explosive die 6 to the pumping device 16 . The filling supplying device 15 includes an anko storage area 15a and an anko transport section 15b, and supplies the anko 7 to the pumping device 16. The pressure-feeding device 16 comprises a loading machine 16a connected to the explosives supply device 14 and the filling material supply device 15, a loading hose 16b connected to the end of the loading machine 16a, and a loading pipe 16c connected to the end of the loading hose 16b, and sends pressurized air to the loading pipe 16c for loading the parent die 5 into the charging hole 3, and also sends the additional die 6 supplied from the explosives supply device 14 and the filling material 7 supplied from the filling material supply device 15 to the charging hole 3. The control device 17 controls the explosive supply device 14 to supply the explosive 6 to the loading hose 16b, controls the charge supply device 15 to supply the filling material 7 to the loading hose 16b, and also controls the loading machine 16a of the pressure-feeding device 16 to send compressed air from the loading machine 16a side to the explosive 6 or filling material 7 supplied in the loading hose 16b, thereby pressure-feeding the explosive 6 or filling material 7 into the charging hole 3 and loading it. In addition, the control device 17 controls the loading machine 16a to send compressed air from the loading machine 16a side, and loads the parent die 5 attached to the tip of the loading pipe 16c into the charging hole 3. When inserting the loading pipe 16c into the charge hole 3 formed at a high point in the face 2, as shown in Figure 1, for example, a drill jumbo 20 equipped with a rock drill 21, a bucket 23, etc. is used, and a worker 4 rides in the bucket 23 to perform the work. In addition, when inserting the loading pipe 16c into the charge hole 3 formed at a low position near the tunnel bottom 8 of the tunnel face 2, the worker 4 performs the work from the tunnel bottom 8.

[0018] Next, a method for loading explosives and charge will be described with reference to the flow chart of FIG. First, the worker 4 attaches the parent die 5 to the tip of the charging pipe 16c, inserts the charging pipe 16c into the charging hole 3, and sets the parent die 5 on the hole opening side of the charging hole 3 (step S21). Next, the operator 4 presses the parent die loading button 112 of the loading instruction device 11 to transmit a loading command signal to the control device 17 via the loading command communication means 13c (step S22). The control device 17 controls the loading machine 16a of the pressure feeding device 16 to feed compressed air into the loading hose 16b, thereby loading the parent die 5 into the end of the charging hole 3 (step S23). Next, the loading position detection device 12 detects the loading position P, which is the position of the charging hole 3 where the additional die 6 is loaded (step S24). The loading position P is the position of the charging hole 3 where the operator 4 inserts the loading pipe 16c. The data of the loading position P detected in step S24 is sent from the loading position detection device 12 to the medicine number setting device 13 (step S25). The charge number setting device 13 sets the charge number N of the additional die 6 based on the position coordinates of the charge position P and the PN table 13T stored in the storage means 13a, and transmits this charge number N to the charge instruction device 11 (step S26). The charge number N is displayed on the display 116 of the charge instruction device 11. The worker 4 presses the additional die loading button 113 to load the additional die 6 into the charging hole 3 (step S27). Next, it is determined whether or not the number of the additional dies 6 that have been loaded has reached N (step S28). If the number of the additional dies 6 loaded has not reached N, the process returns to step S27 and the next additional die 6 is loaded into the charging hole 3. When the number of the loaded additional dies 6 reaches N, the process proceeds to step S29, and the buffer loading button 114 is pressed. As a result, the buffer 7 is loaded behind the additional die 6 (on the opening side of the charge hole 3). By carrying out such an operation for each charging hole 3, explosives and charge materials are loaded into all the charging holes 3.

[0019] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included in the technical scope of the present invention.

[0020] For example, in the above embodiment, the loading position P is detected from the image of the loading pipe 16c, but as shown in Fig. 7(a), when the hand 4h of the worker is captured in the image, the position of the yellow tape 16p on the leading end side is in the direction of the hand 4h of the worker 4, so that the loading position P, which is the position of the yellow tape 16p on the leading end side, can be easily detected without searching the entire periphery of the worker 4. Therefore, the detection time for the loading position P can be shortened. 7(b), a member (brim member 16d) in the shape of a circular, elliptical, square or rectangular brim may be attached to the loading pipe 16c on the side of the worker 4 so that it is possible to recognize on the image which side the worker 4 is holding, thereby making it easy to detect the loading position P. In this example, a circular brim is used. Also, as shown in FIG. 7(c), yellow tape 16p and black tape 16q may be alternately attached not only to the face 2 side (front side) of the loading pipe 16c but also to the loading hose 16b side (rear side). This makes it possible to easily detect the position of the yellow tape 16p on the leading edge side, since the direction from the rear end of the loading pipe 16c to the leading edge can be known. Note that since the loading hose 16b is connected to the rear end of the loading pipe 16c, it is easy to distinguish between the leading edge and the rear end of the loading pipe 16c. Also, if the loading hose 16b cannot be seen, it is sufficient to determine which side is the rear side from the previous frame. Alternatively, instead of the yellow tape 16p and the black tape 16q, a ball or a flange may be attached to the rear end of the loading pipe 16c. Also, the color of the rear side of the loading pipe 16c may be changed. Also, although not shown in the figure, if the rear end of the loading pipe 16c extends behind the worker 4, even if the front side of the loading pipe 16c is not visible, it is possible to estimate the deviation of the loading position P that would occur if the loading pipe 16c was not visible from the direction and length in which the rear end of the loading pipe 16c extends. In the above embodiment, the camera 12a is one, but it may be multiple. When multiple cameras 12a are installed, they may be attached to the left and right (C1, C2) of the camera 12a installed near the operation panel 25 of the main body 24, or to the left and right tunnel side walls 9 (C3, C4), as shown by circles C1 to C4 in Fig. 4(a). For example, when there are two cameras 12a, it is preferable to attach them to C1 and C2, and when there are three cameras, it is preferable to attach them to the camera 12a and the left and right (C1, C2) of the camera 12a, or to the camera 12a and the left and right tunnel side walls (C3, C4). If a plurality of cameras 12a are used, the loading pipe 16c will appear in the image from one of the cameras, so that the loading position P can be determined more accurately. In addition, in the above embodiment, a case has been described in which the shooting direction of the camera 12a is perpendicular to the surface of the face 2. However, if the shooting direction of the camera 12a is not perpendicular to the surface of the face 2, the coordinates (x', y') of the charge hole 3 on a screen in which the direction of the face 2 and the shooting direction are different can be converted to the coordinates (x, y) of the charge hole 3 on a screen in which the direction of the face 2 and the shooting direction are perpendicular, depending on the angle between the shooting direction of the camera 12a and the surface of the face 2. [Explanation of symbols]

[0021] 1 Tunnel excavation site, 2 Tunnel face, 3 Charge hole, 4 Worker, 5 Parent die, 5k conductor, 6 increase die, 7 anchor, 8 tunnel bottom, 9 tunnel side wall, 10 explosive loading device, 11 loading indicator device, 12 loading position detection device, 12a camera, 12b attitude estimation means, 12c loading position detection means, 13 powder charge number setting device, 13a storage means, 13b powder number setting means, 13c loading command communication means, 14 explosive supply device, 14a hopper, 14b die chute, 15 filling supply device, 15a bean paste storage area, 15b bean paste conveying section, 16 pressure feeding device, 16a loading machine, 16b loading hose, 16c loading pipe, 17 control device, 18 vehicle, 20 Drill jumbo, 21 Rock drill, 22 Bucket arm, 23 Bucket, 24 Drill jumbo body.

Claims

1. A method for detecting a loading position, which is a position of a charge hole into which an explosive is loaded, by detecting a position of a loading pipe inserted into a charge hole formed in a face of a tunnel, comprising: inserting a charge pipe into the charge hole; A step of photographing the face by an imaging means; A step of estimating the posture of the worker holding the loading pipe from the captured image and detecting a position where the loading pipe intersects with the opening of the charging hole from around the worker, When the intersecting position is detected, the detected position is set as the loading position; A method for detecting the loading position of explosives, characterized in that if the intersecting position is not detected, the loading position is determined to be the midpoint of the worker's shoulder and waist skeleton estimated by the posture estimation.

2. The method for detecting the loading position of explosives as described in claim 1, characterized in that an identification member that can be identified from the face on an image is attached to a position of the loading pipe that intersects with the opening of the explosive hole.

3. A method for loading explosives into a charging hole formed in a face of a tunnel using an explosive loading device including an explosive supplying means, a pressure-feeding means for pressure-feeding the explosives supplied by the explosive supplying means into the charging hole, a control means for controlling the explosive supplying means and the pressure-feeding means, and a loading instruction means for sending a command signal for loading the explosives to the control means, comprising: A step of creating a table showing a relationship between a loading position, which is the position of the charging hole, and the number of charges to be loaded into the charging hole at the loading position; inserting a charge pipe into the charge hole; A step of photographing the face by an imaging means; detecting a loading position, which is a position of a charge hole into which the explosive is loaded, from the captured image; A step of setting the number of charges to be loaded into the charge hole using the detected loading position and the table; sending a command signal to the control means to load the set number of explosives into the explosive hole by the loading instruction means; Equipped with In the step of detecting the loading position, From the captured image, the posture of the worker holding the loading pipe is estimated, and a position where the loading pipe intersects with the opening of the charging hole from around the worker is detected; When the intersecting position is detected, the detected position is set as the loading position; An explosive loading method characterized in that, if the intersecting position is not detected, the midpoint of the worker's shoulder and waist skeleton estimated by the posture estimation is set as the loading position.

4. 4. The explosive loading method according to claim 3, further comprising attaching an identification member capable of identifying the face in an image to a position of the loading pipe that intersects with the opening of the explosive hole.

5. A device for detecting a position of a loading pipe inserted into a charge hole formed in a face of a tunnel to detect a loading position, which is the position of a charge hole into which explosives are loaded, comprising: An identification member that can be identified from the face in an image and is attached to a loading pipe for inserting the explosive into the loading hole at a position that intersects with an opening of the loading hole; An imaging means for imaging the face; a loading position detection means for detecting the loading position from the captured image, The loading position detection means is estimating a posture of a worker holding the loading pipe and detecting a position of the identification member from around the worker; When the position of the identification member is detected, the detected position is set as the loading position; A device for detecting the loading position of explosives, characterized in that if the position of the identification member is not detected, the loading position is determined to be the midpoint of the worker's shoulder and waist skeleton estimated by the posture estimation.

6. An apparatus for loading explosives into a charging hole formed in a face using an explosive loading device including: an explosive supplying means; a pressure-feeding means for pressure-feeding the explosives supplied by the explosive supplying means into the charging hole formed in the face; a control means for controlling the explosive supplying means and the pressure-feeding means; and a loading instruction means for sending a command signal for loading the explosives to the control means, An identification member that can be identified from the face in an image and is attached to a loading pipe for inserting the explosive into the loading hole at a position that intersects with an opening of the loading hole; A storage means for storing a table showing a relationship between a loading position, which is the position of the charging hole, and the number of charging holes to be loaded at the loading position, which is created in advance; An imaging means for imaging the face; a loading position detection means for detecting a loading position, which is a position of a charging hole into which the explosive is loaded, from the captured image; A charge number setting means for setting the number of explosives to be loaded into the charge hole using the estimated loading position and the table, and sending a command signal to the control means to load the set number of explosives into the charge hole; Equipped with The loading position detection means is From the captured image, a posture of the worker holding the loading pipe is estimated, and a position of the identification member is detected from around the worker. When the position of the identification member is detected, the detected position is set as the loading position; An explosive loading device characterized in that, when the position of the identification member opening is not detected, the loading position is set to the midpoint of the worker's shoulder and waist skeleton estimated by the posture estimation.

Images