Drilling charge navigation device and drilling charge navigation method

Abstract

To provide a drilling navigation device and a drilling charge navigation method capable of flexibly and accurately setting a drilling position and an explosive charge amount according to rock strength.SOLUTION: In a method for drilling using a drilling navigation device that assists drilling operations at a rock face, using a drilling machine and a drilling device capable of changing the position and attitude of the drilling machine, contour map information of rock strength at the rock face for a plurality of drilling targets based on the drilling energy values at the rock face from rock strength contour map creation processing means is displayed superimposed on a navigation operation screen for the rock face, and an operator performs drilling and charging operations by referring to the contour map information when drilling at a plurality of drilling positions in at least a portion of the remaining drilling area at the rock face.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a drilling charge navigation device and a drilling charge navigation method. [Background technology]

[0002] In the blasting method, the optimization of the explosive charge is generally an issue, and blasting with an appropriate charge is also effective in reducing overexcavation. In addition, in order to safely construct the tunnel while ensuring its quality, it is important to proceed with excavation while properly evaluating the geology ahead of the tunnel face. Conventionally, there is a drilling navigation device that supports the application of an excavation device that includes a movable carriage, a drilling machine, and a boom that can change the position and attitude of the drilling machine.

[0003] Also, a drilling navigation device (Patent Document 1) is known that aims to more appropriately inform the operator of the drilling position and angle at the face. According to the invention of Patent Document 1, the position, attitude, and direction of the carriage are measured by surveying with a total station TS, and further information from an angle sensor and distance sensor provided in the boom drive unit is added to obtain the position and attitude of the drilling machine.

[0004] Furthermore, a drilling navigation device (Patent Document 2) is known that is equipped with a current strength estimation unit that estimates the rock strength of the target rock face from the strength obtained by a rock strength acquisition unit that acquires the rock strength of the face, and a charge hole position calculation unit that calculates the position of the charge hole predicted from the position and attitude of the drilling machine. However, the estimation of rock strength at the drilling face in Patent Document 2 estimates the strength of the rock at the drilling face currently being drilled from the rock strength at the previous drilling face, and when there is a large variation in rock strength depending on the location, there may be a large difference with the rock strength at the previous drilling face, which poses a problem in terms of accuracy. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6345991 [Patent Document 2] Patent No. 6352684 Summary of the Invention [Problem to be solved by the invention]

[0006] In conventional technology, even when a contour diagram was created based on drilling data, etc., the obtained drilling energy, rock strength data, and appropriate loading amount were not displayed in real time on the navigation screen while drilling was being performed. In addition, rock strength was not taken into consideration when determining drilling conditions such as the drilling position, or if it was, it was estimated from the rock strength obtained at the previous face when drilling the previous face. The rock condition at the drilling face is different from that at the previous work. Especially when the continuity of rock strength is low, the estimated rock strength obtained at the previous work may be far from the actual one. Under such circumstances, it is difficult to determine the necessary charge amount and the appropriate drilling position. In addition, since the strength of the working face was not immediately grasped, it was difficult to detect weak parts of the rock at an early stage, which posed a safety problem.

[0007] Therefore, the main object of the present invention is to provide a drilling charge navigation device and a drilling charge navigation method that can flexibly and accurately set a drilling position according to the rock strength. [Means for solving the problem]

[0008] The aspects of the present invention for solving the above problems are as follows. (First aspect) A drilling charge navigation device that supports a drilling operation on a face performed using a drilling machine and a drilling device that can change the position and attitude of the drilling machine, A punching energy element acquisition means for acquiring a punching energy value required for punching, the punching device being provided with the punching energy element acquisition means; a drilling energy value calculation processing means for calculating a drilling energy value based on the element information acquired from the drilling energy element acquisition means; A rock strength calculation means for calculating the rock strength based on the drilling energy value from the drilling energy value calculation means at the drilling position; A navigation operation screen for the face is provided, A contour map creation processing means is provided for the rock strength of the drilling target based on the drilling energy value; For one or more drilling targets based on the drilling energy value at the face, the contour map information of the rock strength of the face from the contour map creation processing means of the rock strength, A display means for displaying the face on the navigation operation screen is provided. A drilling charge navigation device characterized by:

[0009] (Second aspect) A method for performing drilling using a drilling machine and a drilling device capable of changing the position and attitude of the drilling machine, the method comprising: The perforation charge navigation device includes: A punching energy element acquisition means for acquiring a punching energy value required for punching, the punching device being provided with the punching energy element acquisition means; a drilling energy value calculation processing means for calculating a drilling energy value based on the element information acquired from the drilling energy element acquisition means; A rock strength calculation means for calculating the rock strength based on the drilling energy value from the drilling energy value calculation means at the drilling position; A navigation operation screen for the face; A contour diagram creation processing means for the rock strength of the drilling target based on the drilling energy value, For a plurality of drilling targets based on the drilling energy value at the face, the contour map information of rock strength at the face from the contour map creation processing means of rock strength is superimposed on the navigation operation screen of the face, and The operator performs drilling work by referring to the contour map information when drilling a plurality of drilling positions in at least a part of the remaining drilling area at the face. A drilling navigation method comprising: Effect of the Invention

[0010] According to the present invention, it is possible to perform drilling work by superimposing a real-time display of a contour diagram of the rock strength of the drilling target based on the drilling energy value on the navigation operation screen 11. This enables accurate and flexible construction, and enables efficient drilling, such as calculating the amount of charge according to the rock strength and selecting the drilling position according to the rock strength. In addition, it becomes possible to find weak parts of the rock early, which improves the prevention of disasters due to falling rocks. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram of a drilling navigation device. [Diagram 2] FIG. 2 is an explanatory diagram of an overview of the relationship with a total station. [Diagram 3] 1A and 1B are explanatory views of the main parts of a drilling device, in which (a) is a plan view and (b) is a front view. [Figure 4] FIG. 1 is a schematic diagram of a display unit including a conventional navigation operation screen. [Diagram 5] FIG. 2 is a schematic diagram of only a navigation operation screen on a display unit according to the present invention. [Figure 6] FIG. 13 is a process flow diagram for creating a contour map of rock strength. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described with reference to the drawings. The drilling navigation system of the present invention supports drilling work for drilling explosive charge holes for loading explosives into a tunnel face using a drilling device. As the drilling device, for example, a Drill Jumbo (trademark) can be used, but is not limited to this.

[0013] An embodiment of a drilling navigation device 1 according to the present invention will be described with reference to the drawings.

[0014] (Drilling device) As shown in Fig. 1, the drilling navigation device 1 is mounted on a drilling device 4 for drilling a charge hole 3 for loading explosives into a tunnel face 2. As the drilling device 4, for example, a Drill Jumbo (trademark) can be adopted. The drilling device 4 comprises a mobile carriage 5, a boom 6 mounted on the mobile carriage 5, and a guide cell 8 attached to the boom 6 and carrying a drilling machine 7.

[0015] The boom 6 includes a boom swing 9 for horizontally oscillating the boom 6, a boom slide 10 for moving the boom 6 forward and backward, a guide swing 11 for horizontally oscillating the guide cell 8, a guide tilt 12 for vertically oscillating the guide cell 8, and a guide slide 13 for moving the guide cell 8 forward and backward. This allows the boom 6 to change the position and attitude of the drilling machine 7 in response to the operation of the operator of the drilling device 4.

[0016] The drilling machine 7 includes a drilling rod 14 having a drilling bit at its tip, and a drifter 15 that strikes the rear end of the drilling rod 14. The drilling machine 7 is also provided with a feeder 16 that moves the drilling machine 7 forward and backward (in the axial direction of the drilling rod 14). As a result, the drilling machine 7 can strike the rear end of the drilling rod 14 with the drifter 15 and move forward in response to the operation of the operator, thereby drilling a charge hole 3 in the face 2 with the bit 14a.

[0017] This allows the operator to operate the drilling device 4 and drill multiple charge holes 3 in the face 2 by repeatedly pressing the tip of the drilling rod 14 against the face 2 and striking the rear end of the drilling rod 14 while moving the drilling machine 7 forward. The drilling navigation device 1 includes horizontal angle detection units 17, 18, a vertical angle detection unit 19, advance / retreat amount detection units 20, 21, a navigation device operation switch 22, a drilling status detection unit 23, a charge hole position (drilling position) memory unit 24, a monitor 25, and a controller (control device) 26.

[0018] The horizontal angle detection unit 17 is disposed on the boom swing 9, and detects the swing angle of the boom 6 in the horizontal direction. Then, the horizontal angle detection unit 17 outputs the detection result to the controller 26. The horizontal angle detection unit 18 is disposed on the guide swing 11, and detects the swing angle of the guide cell 8 in the horizontal direction. Then, the horizontal angle detection unit 18 outputs the detection result to the controller 26. The vertical angle detection unit 19 is disposed in the guide tilt 12, and detects the vertical oscillation angle of the guide cell 8. Then, the vertical angle detection unit 19 outputs the detection result to the controller .

[0019] The advance / retract amount detection unit 20 is disposed on the boom slide 10, and detects the amount of advance / retraction of the boom 6 in the forward / backward direction. Then, the advance / retract amount detection unit 20 outputs the detection result to the controller 26. The advance / retract amount detection unit 21 is disposed on the feeder 16, and detects the amount of advance / retraction of the guide cell 8 in the forward / backward direction. Then, the advance / retract amount detection unit 21 outputs the detection result to the controller 26. The navigation device activation switch 22 is provided in the driver's seat or the like of the drilling device 4, and is a switch that the operator presses when starting operation of the drilling navigation device 1. When the operator presses the navigation device activation switch 22, it outputs an operation start signal for the drilling navigation device 1 to the controller 26.

[0020] The drilling state detection unit 23 is disposed in the drilling machine 7 (drifter 15) and detects whether the drilling machine 7 (drifter 15) is operating, that is, whether the charge hole 3 is being drilled in the face 2. Then, the drilling state detection unit 23 outputs the detection result to the controller 26. The charge hole position memory unit 24 currently stores the actual drilling position of the charge hole 3 for which drilling has been completed. The monitor 25 is placed in a position visible to the operator, and displays image data generated by the controller 26 (images for assisting the drilling of the charge holes 3 into the face 2).

[0021] The controller 26 includes an integrated circuit including an A / D conversion circuit, a D / A conversion circuit, a CPU, a ROM, and a RAM. The ROM stores one or more programs for implementing various processes. An EEPROM, whose contents are rewritable, can be used as the ROM. The CPU executes various processes according to one or more programs stored in the ROM. When the navigation device activation switch 22 outputs an operation start signal for the drilling navigation device 1, the CPU executes drilling support processing according to the program stored in the ROM. In the drilling support process, the CPU displays on the monitor 25 an image for supporting the operator in the drilling work of the charge hole 3 at the face 2 based on the detection results output by the horizontal angle detection units 17, 18, the vertical angle detection unit 19, the advance / retreat amount detection units 20, 21, the navigation device operation switch 22, and the drilling state detection unit 23. In addition, the CPU calculates the actual drilling position of the charge hole 3 at the face 2 from the position and attitude of the drilling machine 7, and stores the calculated drilling position of the charge hole 3 in the charge hole position storage unit 24.

[0022] In addition to the program, data indicating the extension direction of the tunnel to be excavated and a number of blasting patterns are stored in the ROM of the controller 26. When the operator presses the navigation device activation switch 22 to start navigation, the controller 26 acquires the current position of the face 2 in the extension direction of the tunnel. For example, the operator managing the process can press the navigation device activation switch 22 and then input a station number representing the blasting process number, and the position of the face 2 can be obtained from that station number.

[0023] (Using a total station) Alternatively, the position of the face 2 may be obtained using surveying prisms 27, 28, 29, 30 or a total station 31, which will be described later. As shown in FIG. 2, survey prisms 27, 28, and 29 are attached to the rear end of the movable cart 5 at three locations appropriately spaced apart in the vertical and horizontal directions, as survey markers, with their light-receiving surfaces facing backward. 2, a survey prism 27 is fixed to the lower center of the rear end of the movable dolly 5, and survey prisms 28, 29 are fixed to both the left and right sides of the upper part of the rear end of the movable dolly 5. In addition, a survey prism 30 is attached to the rear end of the guide cell 8 as a surveying marker with its light receiving surface facing backward.

[0024] The drilling navigation device 1 includes a total station 31 as an automatic tracking surveying instrument as shown in Fig. 2. The total station 31 acquires the distances to the surveying prisms 27-30, its own position and attitude during surveying, and transmits the information to the controller 26 via an antenna 32 for wireless communication.

[0025] (operation) Next, an example of the operation of the drilling navigation device 1 according to this embodiment will be described. That is, the operator registers in advance data indicating the extension direction of the tunnel to be excavated and a plurality of blasting patterns in the ROM (for example, a rewritable EEPROM) of the controller 26 by transferring the data from a USB memory or the like. Also, a total station 31 is installed at a known position within the tunnel. It should be noted that, as the tunnel construction progresses and the distance between the tunnel face 2 and the surveying prisms 27 to 30 increases, the total station 31 is moved to the next position, making surveying difficult.

[0026] Then, before starting drilling work by the drilling machine 7, the operator operates the controller 26 to transmit a measurement start signal via wireless communication to the total station 31. Then, the total station 31 performs surveying of the survey prisms 27-29 attached to the rear end of the movable carriage 5, and transmits the results to the controller 26 via wireless communication. The controller 26 performs arithmetic processing based on the information transmitted from the total station 31 to calculate the position, attitude, and direction of the mobile carriage 5 (processing as a measurement unit).

[0027] Meanwhile, the operator inputs the station number of the face 2 where drilling will be performed, and the controller 26 acquires the current position of the face 2 in the tunnel extension direction based on the input station number (processing as a face position acquisition unit). Furthermore, the controller 26 calculates the drilling position of the charge hole 3 at the tunnel face 2 based on the acquired position of the tunnel face 2, the calculated position, posture and orientation of the mobile carriage 5, data representing the extension direction of the tunnel that has been registered in advance, and multiple blasting patterns (processing as a charge hole position (drilling position) calculation unit). The station number can also be obtained in the following way, instead of being input by the operator as described above. That is, the tip of the guide cell 8 is pressed against the most convex part of the current surface of the tunnel face 2, and the surveying prism 30 provided at the rear end of the guide cell 8 is surveyed by the total station 31, and the surveying results are sent to the controller 26. The controller 26 performs calculations based on the information sent from the total station 31 to determine the position of the tunnel face 2 and obtain the station number.

[0028] Then, the controller 26 displays information related to the calculated drilling position of the charge hole 3 on the monitor 25 (processing as a display unit). The monitor 25 takes into consideration (considers) the calculated information regarding the position, attitude and direction of the movable carriage 5. For example, as shown in Figures 4 and 5, the monitor 25 can display the position of the opening of each charge hole 3 as a rectangular figure "□" and the direction of each charge hole 3 as a straight line extending from the figure "□" (see Figure 4).

[0029] Furthermore, the total station 31 performs surveying on a surveying prism 30 provided at the rear end of the guide cell 8, and transmits the results to the controller 26 by wireless communication. The controller 26 then calculates the position and attitude of the drilling machine 7 (the drilling direction of the charge hole 3) based on the information transmitted from the total station 31 (the survey results of the guide cell 8, the survey results of the mobile carriage 5) and the detection results of the horizontal angle detection units 17, 18, the vertical angle detection unit 19, and the advance / retreat amount detection units 20, 21. The controller 26 also displays the calculated position and attitude of the drilling machine 7 (the drilling direction of the charge hole 3) on the monitor 25 (processing as a display unit).

[0030] Thereafter, it is desirable for the total station 31 to constantly measure the position and posture of the drilling machine 7 while conducting surveying of the survey prism 30 provided at the rear end of the guide cell 8, and display this on the monitor 25. However, if there are more drilling machines 7 than total stations 31, for example, the total station 31 will be used on a time-sharing basis, which will result in a time lag or waiting time before the results are displayed on the monitor 25.

[0031] However, in the configuration of the embodiment, horizontal angle detection units 17, 18, vertical angle detection unit 19, and advance / retract amount detection units 20, 21 are provided, and the position and attitude of the drilling machine 7 can be recognized based on the detection results of each of these detection units 17 to 21, so that even in a situation where surveying using the total station 31 cannot be performed continuously, the position and attitude of the drilling machine 7 can be acquired and displayed on the monitor 25. This allows the operator to perform drilling work without waiting.

[0032] One possible solution would be to increase the number of total stations 31, but the total stations 31 are relatively expensive, which would be a major economic burden. In addition, if the mobile cart 5 is large, there are cases where surveying cannot be performed using the total station 31 depending on the position of the drilling machine 7, such as when drilling the center of the face 2. Therefore, as in the embodiment, surveying using the total station 31 is performed intermittently, and it is advantageous to have a configuration that makes it possible to recognize the position and posture of the drilling machine 7 based on the detection results of each detection unit 17-21, such as the horizontal angle detection unit 17.

[0033] In short, the surveying by the total station 31 may be performed when the possibility that the position and attitude of the drilling machine 7 may contain an error increases due to the autonomous traveling of the drilling device 4. This allows for more accurate navigation display. Alternatively, the surveying may be performed again when the operator recognizes that the error has increased, or an alarm may be issued to prompt a re-surveying when a certain amount of angular displacement is observed by the tilt sensor mounted on the mobile carriage 5, or the re-surveying may be performed automatically.

[0034] Furthermore, after drilling the charging hole 3, the controller 26 calculates the actual drilling position of the charging hole 3 from the position and attitude of the drilling machine 7 when the charging hole 3 is drilled (the calculated position and attitude of the drilling machine 7), and stores the result in the charging hole position memory unit 24.

[0035] Thus, the drilling navigation device in the above embodiment has the following configuration. A drilling navigation device that supports tunnel excavation work using a drilling device that includes a movable carriage, a drilling machine, a boom provided on the carriage, and a guide cell that is attached to the boom and carries the drilling machine, the boom being capable of swinging and advancing and retreating the guide cell to change the position and attitude of the drilling machine, A storage unit that stores data representing a tunnel extension direction and a plurality of blasting patterns; a face position acquisition unit for acquiring a current face position in the tunnel extension direction; A measurement unit that measures the position, attitude, and orientation of the cart; A charge hole position calculation unit that calculates a drilling position of a charge hole for blasting at the face based on the face position acquired by the face position acquisition unit, the measurement result of the measurement unit, and the memory contents of the memory unit; A display unit that displays the calculated position of the charge hole; A mark attached to a rear end of the guide cell; and a surveying instrument capable of measuring the distance between the landmarks.

[0036] In the above embodiment, the mobile carriage 5 in FIG. 1 constitutes the carriage. The drilling machine 7 constitutes the drilling machine. The boom 6 constitutes the boom. Furthermore, the ROM of the controller 26 constitutes the memory unit. The controller 26 constitutes the face position acquisition unit. Furthermore, the controller 26 constitutes the measurement unit. The controller 26 constitutes the charge hole position calculation unit. Furthermore, the monitor 25 constitutes the display unit. Furthermore, the surveying prisms 27, 28, 29 constitute markers. The total station 31 constitutes the surveying instrument. The horizontal angle detection units 17, 18 and the vertical angle detection unit 19 constitute angle sensors. Furthermore, the advance / retreat amount detection units 20, 21 constitute distance sensors. The charge hole position memory unit 24 constitutes the charge hole position memory unit.

[0037] (Effects of the embodiment) The drilling navigation device 1 according to the embodiment provides the following effects. (1) According to the drilling navigation device 1 of the embodiment, the controller 26 is configured to perform navigation based on the surveying results by the total station 31 and the detection results of each of the detectors 17-21 such as the horizontal angle detector 17, so that even if there are a small number of total stations 31, or even if the position and attitude of the drilling machine 7 cannot be determined by surveying, the position and attitude of the drilling machine 7 can be continuously determined. Therefore, there is no waiting time for the operator, and good navigation can be performed. (2) According to the drilling navigation device 1 of the embodiment, the controller 26 stores the actual drilling position of the charge hole 3 in the charge hole position storage unit 24. Therefore, after drilling or blasting, the drilling position and direction of the charge hole 3 can be judged to be good or bad, and the result can be used for the next drilling or blasting, and can also contribute to the transfer of technical information.

[0038] (Modification) In the above embodiment, in order to grasp the position and attitude of the drilling machine 7, the drilling navigation device 1 is configured to include horizontal angle detection units 17, 18, vertical angle detection unit 19, and advance / retreat amount detection units 20, 21. However, in order to grasp the position of the drilling machine 7 more accurately, it is desirable to have a configuration including various sensors as shown in Figure 3. 3(a) is a plan view showing the boom 6, the drilling machine 7, and the guide cell 8, and FIG. 3(b) is a side view, and is provided with various sensors such as a boom slide length sensor 34, a boom swing angle sensor 35, a boom lift angle sensor 36, a guide tilt angle sensor 37, a guide swing angle sensor 38, a guide slide length sensor 39, a guide dump angle sensor 40, a rotary angle sensor 41, and a feed length sensor 42. If the controller 26 calculates the position and attitude of the drilling machine 7 based on the detection signals supplied from these various sensors 34 to 42, it becomes possible to obtain a more accurate position and attitude.

[0039] (An excellent example of drilling navigation) In the drilling navigation device 1, the control computer unit 50 mounted on the drilling device 4 (work vehicle) controls, for example, detecting the actual drilling position and posture and guiding the subsequent drilling position, calculating (computing) the drilling energy value, calculating (computing) the rock strength, and displaying and recording the drilling position, the drilling energy value, and the rock strength based on the drilling energy, as will be described in detail later.

[0040] In addition to the navigation operation screen display including an image of the rock face that is currently being drilled, a contour diagram of the rock strength of the target to be drilled (see Figure 5), which will be described later, based on the drilling energy value is displayed superimposed on the navigation operation screen display of the rock face, so to speak, in real time or at appropriate time intervals.

[0041] Then, the operator sitting in the driver's seat of the drilling device 4 determines the drilling position and the amount of charge based on information including "guiding indicators" such as one or preferably multiple drilling positions that have already been drilled, the drilling energy values ​​at each position, the rock strength at each position, the drilling position to be drilled (tentative planned drilling position), and a contour diagram of rock strength based on drilling energy (see Figure 5) ("contour diagram indicator"), taking into account his own experience, and drills at the determined drilling position. After these drilling operations are completed, the operator or charger charges the charge hole.

[0042] If necessary, the operator's work on the face can be divided into a number of time steps or face zones. The latter embodiment in which the tunnel face is divided into zones is, for example, the left side, right side, and center of the tunnel face.

[0043] (Calculation processing means for drilling energy value) The calculation of the drilling energy value is performed by a computer, which is a control device 50 mounted on the drilling device. The control device 50 also controls the guidance mechanism for the planned drilling position. That is, the position and attitude of the drilling machine 7 are calculated. The arithmetic processing means of the control device 50 acquires information on hydraulic data (impact pressure, feed pressure, drilling speed, number of impacts, etc.) from the drilling device 4, and calculates the drilling energy Ed (J / cm) from the following [Equation 1] and [Equation 2] or [Equation 3], etc., as examples of calculation formulas. 3 ) is calculated.

number

number

number

[0044] (Recording of actual drilling positions and drilling energy values) The control device 50 calculates and records the position of the drilled hole based on the position and attitude of the drilling machine 7. In this case, the drilling position can be the contact point between the bit 14a and the virtual face. At the same time, the control device 50 records the drilling energy value obtained by the drilling energy calculation processing means and the rock strength, which will be described later, corresponding to the drilling position.

[0045] (Real-time display of contour diagram of drilling target strength and overlay on navigation operation screen) The control device 50 calculates the rock strength (uniaxial compressive strength (kgf / cm)) at the drilling position based on the recorded drilling position and drilling energy. 2 ) is calculated as follows: Since a correlation between drilling energy and rock strength is recognized, drilling energy is used as a measure of rock strength. (1) Several examples of drilling energy (J) are obtained through preliminary rock drilling tests. (2) The unconfined compressive strength (kN / cm 2) to obtain several examples. (3) Drilling energy (J) and unconfined compressive strength (kN / cm 2 ) is calculated in advance to obtain a correlation equation. (4) From the drilling data obtained during actual drilling, the control device 50 calculates the drilling energy, and further calculates the unconfined compressive strength from the correlation equation obtained in (3). (5) In actual tunnels, the support patterns are divided into stages (for example, five stages) based on the uniaxial compressive strength obtained from geological survey results.

[0046] Next, the control device 50 creates a contour map based on one or more drilling positions where drilling has been completed and the rock strength of these positions. Specifically, the rock strength is interpolated on a set grid from the data on the drilling position and the rock strength at the same location. A contour map is then created by performing another interpolation between the grids. The contour map is then displayed superimposed on the navigation operation screen 60 as shown in FIG. 5.

[0047] The contour diagram can be used to divide support patterns into stages (for example, five stages) based on the uniaxial compressive strength determined by the results of geological surveys of actual tunnels, with each stage displayed in a different color. Conventionally, as shown in Figure 4, the actual drilling position on the face was displayed, but no information on the rock strength at the face where the holes were actually drilled was displayed.

[0048] In the example of Figure 5, the drawing is displayed in black and white, but in an actual screen it will be displayed in color. For example, area H with high rock strength can be displayed in green, area L with low rock strength in red, and the rest in yellow, etc., depending on the strength.

[0049] Here, in accordance with this embodiment, calculation of drilling energy, contour plotting, and displaying on the navigation screen 60 in essentially real time while calculating the position of the drilling machine 7 was previously difficult in conventional processing due to the processing capacity of the control device.

[0050] That is, as seen in Patent Document 1, it is known that the drilling position is guided and recorded, and rock strength based on drilling energy values ​​is recorded, etc. However, the record of rock strength was only a record of the rock strength at the face, and moreover, the data was not recorded in a control computer device mounted on the drilling rig 4 (work vehicle) and installed in the operator's seat, but in a separate PC dedicated to data processing. The control computer device installed in the operator's seat cannot be equipped with a CPU with high capacity or high calculation processing power in order to ensure durability, and there is a large burden on calculation processing such as obtaining mechanical data from the drilling device and processing the noise, and it is necessary to focus on processing operation data related to the operator. For these reasons, the rock strength was recorded on a separate PC dedicated to data processing.

[0051] Therefore, even if it is not impossible to obtain the drilling energy value and obtain the rock strength during the drilling process at the rock face, in reality, the above conditions remain, and it is not possible to display the rock strength at the rock face as a contour diagram.

[0052] In other words, to explain in more detail, although it is not impossible to obtain the rock strength itself from the drilling energy value at the face in question, in order to create a contour diagram of rock strength, it was necessary to extract rock strength data at multiple positions from the recorded data in a PC dedicated to data processing, and then perform calculations to create the contour diagram; this was something that could not be placed on the control computer device installed in the operator's seat, which does not have a high processing speed.

[0053] The present inventors have solved the above problems by a method including the following steps. In other words, the first pillar is the programming of distributed processing routines in order to speed up calculation (operation) and display processing.

[0054] The specific details are explained below. Because the acquired rock strength data has a complex structure, data for creating contour maps was extracted from it and entered into an index file, speeding up file searches and data loading.

[0055] In addition, the four processes required for calculating the drilling energy - reading the data, calculation, creating the contour map, and displaying on the screen - can be carried out within the time it takes to read the sensor to obtain the position information of the drilling machine 7, thereby enabling efficient use of CPU resources. Furthermore, in the overlaid display of contour diagrams, the display of the contour diagram, the display of the drilling performance at the relevant face, and the display of the current position of the drilling machine 7 are each divided into three layers. By distributing processing by layer, it is possible to allocate processing to the limited CPU resources that are available for each sensor reading cycle.

[0056] By combining the above means, it is now possible to superimpose on the navigation operation screen 60 a real-time display of a contour map of the rock strength of the drilling target based on the drilling energy value. Preferably, the contour diagram can be displayed by dividing the support pattern into stages (for example, five stages) based on the uniaxial compressive strength determined by the results of a geological survey in an actual tunnel, with each stage being color-coded.

[0057] (Determining planned drilling position and charge amount) As shown in Figure 5, the navigation screen displays a contour diagram obtained from the rock strength at the point where drilling was completed, as well as the actual drilling position on the face and the planned drilling position. Here, the planned drilling position, which is the next drilling position, and the amount of charge can be determined as follows. In other words, the installed software reconstructs the blasting pattern based on the hole spacing determined based on the Langefors theoretical formula (see Journal of the Japan Society of Civil Engineers, No. 700 / vol54 95-109) using data from actual drilling, and can display the planned drilling positions on the navigation screen 60. In addition, the operator alone can determine the hole spacing based on the number of drill holes while looking at the navigation screen 60, referring to the contour diagram and the actual drilling positions, and referring to Langefors' theory, and can determine the next drilling position (planned drilling position) based on the determined hole spacing, and display the planned drilling position on the navigation screen 60. In addition, charging is carried out at the planned drilling position according to the amount of charging for each support pattern determined in (5) above.

[0058] The navigation operation screen 60 displays the planned drilling position, which is the next drilling position at the face, the position and attitude of the drilling machine 7, and the drilling position predicted from the position and attitude of the drilling machine 7, and based on this, the operator can drill accurately at the planned drilling position. The planned drilling position is determined based on rock strength data of the face where work is actually being carried out, making it possible to perform efficient drilling according to the rock strength.

[0059] (Monitoring weak rock areas) To construct a tunnel safely, it is important to observe the condition of the tunnel face in real time and predict rock collapses and other problems in advance. By displaying a contour map of the rock strength above the drilling face during drilling on the navigation operation screen 60 while the drilling work is proceeding, it becomes possible to detect weak parts of the rock above the drilling face early in real time. By continuously and automatically measuring the wall displacement of discovered weak parts using a total station, or by photographing the face with a video camera and tracking it using image recognition technology, it is possible to predict rock collapses in advance, thereby contributing to ensuring the safety of workers and others.

[0060] This enables flexible and accurate construction according to rock strength, and improves the efficiency of drilling and calculation of the amount of powder to be charged during blasting excavation. It also makes it possible to reflect rock strength data in the control of automatic loading machines for automating powder charging work, enabling efficient blasting.

[0061] In addition, by detecting weak parts in the rock mass at an early stage, it is possible to monitor the weak parts without contact and, by capturing any changes in the weak parts, to monitor for collapse, thereby ensuring the safety of workers during the loading work carried out after drilling.

[0062] FIG. 6 shows a process flow diagram for creating a contour map of rock strength. When navigation is started, the drilling energy element acquisition means and the drilling energy value calculation processing means acquire drilling energy data (S101). Next, previously acquired drilling energy data is also analyzed (S102). To speed up processing, an index file and a data list file for contour maps are created (S103, S104). The contour map creation processing means creates a contour map based on the acquired data and displays it on the navigation operation screen (S105, S106, S107). If there are multiple booms, a slave PC and a monitor can be installed for each boom, and the image of the navigation operation screen created on the master PC is copied and displayed on the monitor (S108). The above steps are repeated at a specified interval of several seconds. [Explanation of symbols]

[0063] 1...drilling navigation device, 4...drilling device, 25...monitor, 26...controller, 7...drilling machine, 50...controller, 60...navigation operation screen, TS...total station

Claims

1. A drilling charge navigation device that supports a drilling operation on a face performed using a drilling machine and a drilling device that can change the position and attitude of the drilling machine, A punching energy element acquisition means for acquiring a punching energy value required for punching, the punching device being provided with the punching energy element acquisition means; a drilling energy value calculation processing means for calculating a drilling energy value based on the element information acquired from the drilling energy element acquisition means; A rock strength calculation means for calculating the rock strength based on the drilling energy value from the drilling energy value calculation means at the drilling position; A navigation operation screen for the face is provided, A contour map creation processing means is provided for the rock strength of the drilling target based on the drilling energy value; For one or more drilling targets based on the drilling energy value at the face, the contour map information of the rock strength of the face from the contour map creation processing means of the rock strength, A display means for displaying the face on the navigation operation screen is provided. A drilling charge navigation device characterized by:

2. The drilling charge navigation device according to claim 1, wherein the calculation processing means for the drilling energy value calculates and processes information including impact energy, number of impacts, drilling speed, hole cross-sectional area, bit impact surface transmission efficiency, and rod transmission efficiency.

3. The drilling charge navigation device according to claim 1, wherein the navigation operation screen displays an appropriate charge amount based on the drilling energy value at the face.

4. The drilling charge navigation device according to claim 1, wherein the navigation operation screen displays a planned drilling position on the navigation operation screen based on a drilling energy value at the face.

5. A method for performing drilling using a drilling machine and a drilling device capable of changing a position and attitude of the drilling machine, and using a drilling navigation device that supports a drilling operation on a face, comprising: The drilling navigation device includes: A punching energy element acquisition means for acquiring a punching energy value required for punching, the punching device being provided with the punching energy element acquisition means; a drilling energy value calculation processing means for calculating a drilling energy value based on the element information acquired from the drilling energy element acquisition means; A rock strength calculation means for calculating the rock strength based on the drilling energy value from the drilling energy value calculation means at the drilling position; A navigation operation screen for the face; A contour diagram creation processing means for the rock strength of the drilling target based on the drilling energy value, For a plurality of drilling targets based on the drilling energy value at the face, the contour map information of rock strength at the face from the contour map creation processing means of rock strength is superimposed on the navigation operation screen of the face, and The operator performs drilling work by referring to the contour map information when drilling a plurality of drilling positions in at least a part of the remaining drilling area at the face. A perforation charge navigation method comprising:

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