Drilling information detection device and method

Abstract

To accurately grasp drilling information such as an actual drilling position and angle, and to support an operation of an automatic explosive loading device.SOLUTION: A drilling information detection device 1 detects drilling information such as a position and angle of a drilled hole 3 formed by a drilling device 2. It comprises a guide cell 21 supported so as to be movable back and forth by an articulated boom 20, a base end rod 22 held by the guide cell 21, and a flexible drilling information detection probe 24 connected to a tip side of the base end rod 22 via a measurement attachment 23 with a built-in sensor, and inserted into the drilled hole 3 to detect drilling information.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to an apparatus and method for detecting drilling information such as the position and angle of a drilling hole into which explosives are to be loaded, in order to enable automatic loading of explosives used for tunnel blasting in mountain tunnels into a drilling hole formed in rock. [Background technology]

[0002] Traditionally, the construction procedure for mountain tunnels has generally been to drill holes in the rock at the face, load them with explosives, plug them, and connect the wires, then retreat to a safe location and excavate by blasting. After confirming safety, the process is carried out in stages: removal of debris → drilling → erection of supports → application of shotcrete → installation of rock bolts.

[0003] The work of charging and packing holes drilled at the tunnel face requires long periods of work while close to the tunnel face, and is therefore known to be one of the tasks with a high risk of skin-fall accidents. If this charging and packing work could be automated, the amount of time spent close to the tunnel face would be reduced, and the safety of mountain tunnel construction would be improved.

[0004] An example of a means for automatically loading explosives into drill holes in a drill face is Patent Document 1. Patent Document 1 describes a method in which, when blast holes are drilled using a rock drilling machine in a drill jumbo, hole numbers are associated with all of the blast holes, and three-dimensional coordinate values ​​of a first coordinate (X1, Y1, Z1) of the hole mouth corresponding to this hole number and a second coordinate (X2, Y2, Z2) of the innermost part are stored in a control mechanism as blast hole information, and when loading explosives, the control mechanism, under computer control, refers to this blast hole information and the three-dimensional coordinate values ​​of the first coordinate (X1, Y1, Z1) and second coordinate (X2, Y2, Z2) of the blast hole corresponding to the preset hole number, automatically moves the drill jumbo's platform, and positions the loading pipe so that it faces the blast hole mouth on the same axis. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-25972 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in order to safely load the main die, additional die, and filler material into the drill hole using an automatic loading device, it is necessary to accurately adjust not only the drill hole position data (X, Y coordinates on the face) but also the drill hole insertion angle (X, Y coordinates of the hole mouth + X, Y coordinates or Z axis data of the hole end).

[0007] In the method described in Patent Document 1 above, the position of the blasting hole is stored as blasting hole information, and this blasting hole information is referenced to control the movement of the platform so that the tip of the loading pipe faces the blasting hole on the same axis, but no specific method for aligning the loading pipe coaxially with the blasting hole is disclosed.

[0008] Some recent computer-equipped jumbos are designed to easily obtain data on the X and Y coordinates of the hole mouth, the X and Y coordinates of the hole tail, and the drilling length. However, deviations in the hole mouth coordinates can occur due to factors such as wear on the drill bit during drilling, the rock conditions (unevenness, rock grain, etc.), bending of the rod, and play in the rod guide. If the drill hole is formed at an angle to a vertical plane roughly parallel to the face, the deviation in the coordinates increases the closer it is to the hole tail, making it difficult to obtain accurate information over the entire length of the drill hole.

[0009] Furthermore, if the drilling hole is clogged with foreign objects such as soil, sand lumps, or pebbles, this will have a negative effect on the subsequent automatic explosive loading process, so such foreign objects must be removed in advance.

[0010] Therefore, the first object of the present invention is to accurately grasp drilling information such as the actual drilling position and angle, and to contribute to supporting the operation of automatic explosive loading devices. The second object is to remove foreign matter from the drilling hole in advance, so that explosives can be easily loaded into the drilling hole. [Means for solving the problem]

[0011] In order to solve the first problem, the present invention according to claim 1 provides a perforation information detection device that detects perforation information such as the position and angle of a perforation formed by a perforation device, A drilling information detection device is provided, which is characterized by comprising a guide cell supported by a multi-joint boom so that it can move back and forth, a base end rod held by the guide cell, and a flexible drilling information detection probe connected to the tip side of the base end rod via a measurement attachment that has a built-in sensor, and which detects drilling information by being inserted into the drilling hole.

[0012] In the invention described in claim 1 above, the drilling information detection device for detecting drilling information such as the position and angle of a drilling hole formed by a drilling device is composed of a guide cell supported by a multi-joint boom so that it can move back and forth, a base rod held by the guide cell, and a flexible drilling information detection probe connected to the tip side of the base rod via a measurement attachment with a built-in sensor and inserted into the drilling hole to detect drilling information.

[0013] In this way, the drilling information detection device according to the present invention obtains drilling information by directly inserting the drilling information detection probe into the drilled hole, so that accurate information on the drilled hole that has actually been formed can be obtained even if the hole mouth position or drilling hole insertion angle deviates from the set values ​​due to the wear condition of the drill bit, the rock condition, bending of the rod, play in the rod guide, etc. Therefore, drilling information such as the actual drilling position and angle can be accurately grasped, which can contribute to supporting the operation of automatic explosive loading devices.

[0014] As the present invention according to claim 2, the perforation information detection probe is made of a material having a constant electrical resistance value per unit length and elasticity in the axial direction, and comprises a plurality of elastic resistors arranged at intervals in the circumferential direction, a sheath tube in which a group of the elastic resistors is arranged in a hollow portion, and a filler material filled in the hollow portion of the sheath tube to hold the group of elastic resistors at a predetermined interval, A perforation information detection device as described in claim 1 is provided, in which, when the perforation information detection probe is bent in the middle, the radius of curvature of the elastic resistor arranged on the outer side of the bent portion becomes larger than the radius of curvature of the elastic resistor arranged on the inner side, and the resistance value of the elastic resistor arranged on the outer side becomes larger than the resistance value of the elastic resistor arranged on the inner side, thereby making it possible to detect the bending direction.

[0015] The invention described in claim 2 above is a first embodiment of the perforation information detection probe. In the perforation information detection probe according to the first embodiment, a plurality of expandable resistors are arranged at intervals in the circumferential direction in the hollow portion of the sheath tube. When the perforation information detection probe is inserted into the perforation and bent midway, the radius of curvature of the expandable resistor arranged on the outer periphery of the bent portion becomes larger than the radius of curvature of the expandable resistor arranged on the inner periphery, and therefore the resistance value of the expandable resistor arranged on the outer periphery becomes larger than the resistance value of the expandable resistor arranged on the inner periphery. By reading the change in the resistance value of each expandable resistor in this way, the bending direction of the perforation information detection probe can be detected.

[0016] As a third aspect of the present invention, the perforation information detection probe comprises a flexible resistor having a known electrical resistance per unit length and made of a flexible material, a sleeve tube in which the flexible resistor is disposed at an axial core portion within a hollow portion and on whose inner surface an electrically conductive conductor is attached, and a spiral insulator interposed between the flexible resistor and the sleeve tube and wound spirally around the outer circumferential surface of the flexible resistor, When the perforation information detection probe is in a straight state, a predetermined electrical resistance value of the flexible resistor is detected; A perforation information detection device as described in claim 1 is provided in which, when the perforation information detection probe is bent in the middle, the arrangement pitch of the spiral insulator expands on the outer side of the bent part, creating a gap, and the flexible resistor on the inside and the conductor on the outside come into contact through this gap, causing a change in the electrical resistance value of the flexible resistor, thereby making it possible to detect the bent position.

[0017] The invention described in claim 3 is a second embodiment of the above-mentioned hole-piercing information detection probe. The hole-piercing information detection probe according to the second embodiment has a structure in which a flexible resistor, with a spiral insulator wound helically around its outer surface, is housed in the hollow of a sheath tube with a conductor affixed to its inner surface. When the hole-piercing information detection probe is bent midway, the pitch of the spiral insulator expands around the bent portion, creating a gap. The inner flexible resistor and the outer conductor come into contact through this gap, causing a change in the electrical resistance of the flexible resistor. By reading this change in the electrical resistance of the flexible resistor, the bent position of the hole-piercing information detection probe can be detected.

[0018] As the present invention of claim 4, there is provided a perforation information detection device as described in claim 1, wherein the measurement attachment has a built-in sensor that measures the extension angle of the perforation information detection probe attached to the tip side and the axial stress acting on the perforation information detection probe.

[0019] The invention described in claim 4 specifies the measurement items of the sensor built into the measurement attachment installed between the base rod and the drilling information detection probe. By measuring the extension angle of the drilling information detection probe, it is possible to grasp the amount of deviation between the planned drilling position and the actual hole opening position, and by measuring the axial stress, it is possible to detect that the tip of the drilling information detection probe has reached the end of the hole.

[0020] Next, in order to solve the second problem, the present invention according to claim 5 provides a perforation information detection device as described in claim 1, in which a flexible hose for pressurizing water or air is connected to the rear end of the base end rod, the base end rod and the perforation information detection probe are provided with axial flow holes that communicate with the inner hollow portion of the flexible hose and allow the water or air to flow, and the perforation information detection probe is provided with an ejection hole through which the water or air pressurized through the flow hole is ejected.

[0021] In the invention described in claim 5 above, in order to avoid any problems when automatically loading explosives into a borehole, when the drilling information detection probe is inserted into the borehole, foreign objects such as soil, sand lumps, and pebbles in the borehole are removed in advance, making it possible to easily load explosives into the borehole.

[0022] The present invention according to claim 6 is a perforation information detection method using the perforation information detection device according to any one of claims 1 to 5, There is provided a perforation information detection method, characterized in that after a perforation is formed by the perforation device, the perforation information detection probe is inserted into the perforation and the perforation information is detected.

[0023] The invention described in claim 6 above prescribes a method for detecting perforation information by inserting the perforation information detection probe into the perforation. [Effects of the Invention]

[0024] As explained above, according to the present invention, drilling information such as the actual drilling position and angle can be accurately obtained, which contributes to supporting the operation of automatic explosive loading devices. Furthermore, foreign objects in the drilling hole can be removed in advance, making it easier to load explosives into the drilling hole. [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 10 is a diagram showing the system configuration during drilling. [Figure 2] 1 is a side view showing a drilling procedure (part 1) using a drill bit 9. FIG. [Figure 3] 10 is a side view showing a drilling procedure (part 2) using the drill bit 9. FIG. [Figure 4] FIG. 10 is a side view showing a drilling procedure (part 3) using the drill bit 9. [Figure 5] FIG. 10 is a side view showing a drilling procedure (part 4) using the drill bit 9. [Figure 6] FIG. 2 is a side view showing the perforation information detection device 1. [Figure 7] 1 is an enlarged side view of a main part of the drilling information detection device 1. FIG. [Figure 8] 1A and 1B show a first embodiment of a perforation information detection probe 24, in which (A) is a longitudinal cross-sectional view along the axial direction, and (B) is a view taken along the line BB in (A). [Figure 9] 10 is a longitudinal cross-sectional view taken along the axial direction showing a bent state of a first embodiment of a perforation information detection probe 24. FIG. [Figure 10] 10A and 10B show a second embodiment of the perforation information detection probe 24, in which (A) is a longitudinal cross-sectional view along the axial direction, and (B) is a view taken along the line BB in (A). [Figure 11] 10 is a longitudinal sectional view showing the measurement principle in a second embodiment of the perforation information detection probe 24. FIG. [Figure 12] 1 is a side view showing a detection procedure (part 1) by the perforation information detection device 1. FIG. [Figure 13] 10 is a side view showing a detection procedure (part 2) by the perforation information detection device 1. FIG. [Figure 14] 10 is a side view showing a detection procedure (part 3) by the perforation information detection device 1. FIG. [Figure 15] 10 is a side view showing a detection procedure (part 4) by the perforation information detection device 1. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0026] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0027] The drilling information detection device 1 of the present invention is a device that detects drilling information such as the position and angle of a drill hole 3 formed in a face S by a drilling device 2, as part of a system that automates most of the series of tasks associated with blasting, such as forming a drill hole in rock at a face or other location and then loading the hole with explosives and fill material, during excavation work by blasting a mountain tunnel, thereby minimizing the number of times workers have to get close to the face and increasing safety, while at the same time enabling blasting work to be carried out without relying on the personal know-how of skilled workers through high levels of automation.

[0028] Below, the drilling information detection device 1 will be explained using the example of mountain tunnel excavation work, but the uses of the drilling information detection device 1 are not limited to this and can be widely applied to any work that involves loading a drilling hole with explosives and then blasting it.

[0029] Before describing the drilling information detection device 1, the drilling device 2 for forming the drilling hole 3 in the working face S will be described in detail.

[0030] As shown in Figure 1, the drilling device 2 is a heavy drilling machine such as a typical drill jumbo, in which a rock drill 7 is mounted on a guide cell 6 via an articulated boom 5 on a mobile carriage 4. The rock drill 7 comprises a drifter 8 mounted on the guide cell 6 so as to be able to move forward and backward, and a drilling rod 10 connected to the drifter 8 via a shank rod and equipped with a drilling bit 9 at its tip. The drifter 8 strikes and rotates the drilling rod 10, while the drilling bit 9 at its tip forms a hole 3 in the ground. Multiple sets of the articulated boom 5, guide cell 6, and rock drill 7 are provided on the carriage 4, allowing multiple drilling operations to be performed simultaneously in the same position.

[0031] As shown in Fig. 1, the parking position of the drilling device 2 is measured by a total station 11 provided at the rear. One or more collimation targets are attached to the drilling device 2 at appropriate positions, and are sighted by the total station 11. The coordinates of the parking position of the drilling device 2 measured by the total station 11 are transmitted from the total station 11 to a control device.

[0032] The Computer Jumbo, which can perform boom positioning and drilling operations under computer control, is equipped with various sensors that can automatically obtain data such as the coordinates of the drilling start position (hole mouth 3a position) and drilling end position (hole tail 3b position), drilling length, angle (insertion angle), date and time, as well as parameters directly related to drilling, such as rotational speed, impact force, and delivery pressure during drilling.

[0033] However, the data on the coordinates of the hole mouth 3a position and the hole tail 3b position, the drilling length, and the insertion angle are calculated indirectly from data measured using the position coordinates of the guide cell 6 and the angle of the articulated boom 5, and in reality, deviations are likely to occur due to the wear condition of the drilling bit 9 when drilling, the rock condition (unevenness, rock grain, etc.), the degree of bending of the drilling rod 10, and play in the guide of the drilling rod 10, etc., and if the drilling hole 3 is formed at an angle to a vertical plane that is approximately parallel to the face S, the deviation in coordinates becomes larger as it approaches the hole tail 3b, making it difficult to obtain accurate information over the entire length of the drilling hole 3.

[0034] In particular, in the case of tunnel excavation, large irregularities exist on the surface of the working face S, which makes it easy for misalignment to occur. The process by which this misalignment occurs will be explained below in accordance with the procedure for forming the drill hole 3 by the drilling device 2.

[0035] The procedure for forming the drilling hole 3 begins by adjusting the angle and position of the articulated boom 5 so that the central axis of the drilling bit 9 of the drilling device 2 and the central axis of the intended drilling position P are coaxially opposed to each other, as shown in Figure 2.

[0036] Next, as shown in Figure 3(A), the drill rod 10 is advanced while being struck and rotated by the drifter 8, and the drill bit 9 at the tip is pressed against the face S. At this time, if the surface against which the drill bit 9 is pressed is inclined due to unevenness as in the illustrated example, the tip of the drill bit 9 will slide sideways across the inclined surface as shown in Figure 3(B) and move to a recess where the tip is stable. Then, drilling will begin at that position, and the drilling will proceed from that position (Figure 4).

[0037] In this way, as shown in Figure 5, a deviation occurs between the center coordinate Pc of the planned drilling position P and the center coordinate 3c of the actual drilling hole 3. However, this deviation is absorbed by the deflection of the articulated boom 5 of the drilling device 2, the bending of the drilling rod 10, and play in each part, and is not recognized by the drilling device 2. The computer of the drilling device 2 assumes that the drilling hole 3 has been formed at the planned drilling position P, and this is passed on to the next process. Due to its operating principle, the drilling device 2 is unable to obtain data such as the center coordinate 3c of the actual drilling hole 3 or the drilling angle, and therefore cannot pass this data on to the next process.

[0038] In the drilling information detection device 1 of the present invention, based on the assumption that there will be a deviation as described above between the planned drilling position P and the actual drilling 3, drilling information such as the position and insertion angle of the actual drilling 3 is detected by inserting a probe directly into the drilling 3 formed by the drilling device 2.

[0039] The perforation information detecting device 1 according to the present invention will be described in detail below.

[0040] 6 and 7, the drilling information detection device 1 comprises a guide cell 21 supported by an articulated boom 20 so as to be movable back and forth, a base rod 22 held by the guide cell 21, and a flexible drilling information detection probe 24 connected to the tip of the base rod 22 via a measurement attachment 23 with a built-in sensor and inserted into the drill hole 3 to detect drilling information such as the position and insertion angle of the drill hole 3. The drilling information detection device 1 has a structure similar to that of the drilling device 2 in which the articulated boom 20 is supported on a mobile carriage 25, and may be configured by replacing the guide cell 6 of the drilling device 2 with the guide cell 21, or by removing the drifter 8 and drilling rod 10 mounted on the guide cell 6 of the drilling device 2 and installing the base rod 22.

[0041] In the drilling information detection device 1, the guide cell 21 can be moved in the front-to-rear direction by extending and retracting the articulated boom 20. Here, the front-to-rear direction is a direction that is approximately the same as the axial direction in which the guide cell 21 and the base end rod 22 mounted thereon extend (i.e., the tunnel axis direction), and is a direction that is approximately perpendicular to the plane when the face S is smoothed and assumed to be a vertical plane.

[0042] The base end rod 22 is a rod that extends parallel to the axial direction of the guide cell 21, and its front and rear axial portions are fixedly supported to the guide cell 21 by rod support portions 26, respectively.

[0043] The measurement attachment 23 is disposed between the base rod 22 and the drilling information detection probe 24, and has built-in sensors that measure the pressure acting in the axial direction of the drilling information detection probe 24 and the tilt angle of the central axis of the drilling information detection probe 24 relative to the central axis of the base rod 22. A load cell or the like can be used to measure the axial pressure, and a method can be used to measure the tilt angle of the central axis by supporting the drilling rod 10 at three points in the circumferential direction with load cells and calculating the tilt angle of the central axis from the axial pressure acting on each load cell. The measurable range of the tilt angle of the central axis is 10° or less, preferably 5° or less, and more preferably 2° or less, as it is sufficient to be able to measure tilt due to bending of the drilling rod 10, etc.

[0044] In the drilling information detection device 1 according to the present invention, drilling information such as the position and angle of the actual drilling hole 3 formed by the drilling device 2 is detected by directly inserting the drilling information detection probe 24 into the drilling hole 3. The drilling information detection probe 24 used is flexible enough to be inserted directly into the drilling hole 3 and is capable of measuring the position, angle, etc. of the drilling hole 3. Below, an embodiment of the drilling information detection probe 24 will be described.

[0045] As shown in Figure 8, the perforation information detection probe 24A of the first embodiment is made of a material that has a constant electrical resistance per unit length and is elastic in the axial direction, and is composed of a plurality of elastic resistors 30 arranged at intervals in the circumferential direction, a hollow sheath tube 31 in which a plurality of elastic resistor groups (30, 30...) are arranged along the axial direction within the hollow portion, a filler 32 that fills the hollow portion of the sheath tube 31 and maintains the elastic resistor groups 30, 30... at a predetermined interval, and lead wires 33 extending to the outside from the rear end of each elastic resistor 30.

[0046] The expandable resistor 30 is a thin rod with a circular cross section that extends in the axial direction of the perforation information detection probe 24A, and is formed with a size (diameter) that allows multiple resistors to be placed at intervals in the circumferential direction within the hollow portion with a circular cross section of the sheath tube 31. Specifically, the diameter should be about 0.5 to 10 mm, and preferably about 1 to 3 mm.

[0047] The elastic resistor 30 can be made of a material such as urethane rubber, natural rubber, styrene butadiene rubber, or semiconductor rubber in which conductors such as carbon black or metal powder are dispersed in resin, and has elasticity in the axial direction, with the property that its resistance value changes (increases) when stretched.

[0048] The elastic resistors 30 are arranged in plurality at intervals in the circumferential direction within the hollow portion of the sleeve pipe 31. As shown in Fig. 8(B), the elastic resistors 30 are preferably arranged in at least four locations, top, bottom, left, and right, and may be arranged in eight locations with one elastic resistor arranged in each intermediate portion as in the illustrated example, or in twelve locations with two or more elastic resistors arranged in each intermediate portion.

[0049] The hollow portion of the sheath pipe 31 is filled with the filler 32, so that the expandable resistors 30 are maintained in a state of being arranged at predetermined intervals in the circumferential direction.

[0050] When the perforation information detection probe 24A is in a straight state, the expandable resistors 30 have approximately the same length, and the same electrical resistance value is measured.

[0051] On the other hand, as shown in Figure 9, when the perforation information detection probe 24A is bent in the middle, the radius of curvature of the perforation information detection probe 24A on the outer periphery side at this bent portion becomes larger than the radius of curvature of the perforation information detection probe 24A on the inner periphery side, so the elastic resistor 30B arranged on the outer periphery side stretches more than the elastic resistor 30A arranged on the inner periphery side, resulting in a larger electrical resistance value.

[0052] The sheath tube 31 is an elongated hollow sheath material with a circular cross section, made of reinforced rubber or reinforced plastic that is resistant to friction and flexible.

[0053] The filler 32 is filled into the hollow portion of the sheath tube 31 in a state in which a plurality of elastic resistors 30, 30... are arranged in the hollow portion of the sheath tube 31. The filler 32 is made of a material such as foamed rubber or foamed plastic that does not hinder the bending and deformation of the elastic resistors 30, 30...

[0054] The attachment direction of the perforation information detection probe 24A to the base-end rod 22 side relative to the arrangement of the expandable resistors 30 is strictly determined, and the arrangement position of each expandable resistor 30 can be accurately grasped when attached to the base-end rod 22. For example, a convex portion can be formed on either the base-end rod 22 side or the perforation information detection probe 24A side, and a concave portion into which this convex portion can fit can be formed on the other side, thereby enabling the probe to be positioned and fixed in the circumferential direction.

[0055] The tip of the perforation information detection probe 24A is covered with a tip cover 34 made of the same material as the sheath tube 32, such as reinforced rubber or reinforced plastic, which is resistant to friction and flexible. The shape of the tip of the tip cover 34 may be a curved surface as in the illustrated example, or may be a cone or a flat surface.

[0056] The measurement principle of the perforation information detection probe 24A according to the first embodiment configured as described above will be described in detail with reference to Fig. 9. As shown in Fig. 9, when the perforation information detection probe 24A is bent midway, the radius of curvature of the expandable resistor 30B arranged on the outer periphery of the bent portion becomes larger than the radius of curvature of the expandable resistor 30A arranged on the inner periphery, and therefore the resistance value of the expandable resistor 30B arranged on the outer periphery becomes larger than the resistance value of the expandable resistor 30A arranged on the inner periphery. Utilizing this, the direction of bending can be detected by measuring the change in the resistance value of each expandable resistor 30.

[0057] In addition, by measuring the timing at which a change in the resistance value of the elastic resistor 30 occurs in relation to the forward / backward movement of the guide cell 21 caused by the articulated boom 20, the actual position of the drill hole 3 can also be detected.

[0058] In this way, the actual drilling information of the position and angle of the drilling hole 3 can be accurately grasped, which can contribute to supporting the operation of an automatic explosive loading device.

[0059] Next, a second embodiment of the perforation information detection probe 24 will be described. As shown in Fig. 10, the perforation information detection probe 24B according to the second embodiment is composed of a flexible resistor 40 made of a flexible material with a known electrical resistance per unit length, a hollow sheath tube 43 in which the flexible resistor 40 is disposed at the axial core within a hollow portion and on whose inner surface an electrically conductive conductor 42 is attached, and a spiral insulator 41 interposed between the flexible resistor 40 and the sheath tube 43 and wound spirally around the outer periphery of the flexible resistor 40. As shown in Fig. 10(B), the perforation information detection probe 24B is a flexible, elongated rod-like body in which the spiral insulator 41 and the sheath tube 43 are concentrically disposed around the flexible resistor 40, thereby forming a multilayer structure in the radial direction.

[0060] The flexible resistor 40 has a relatively large electrical resistance per unit length, and is made of a material with a known electrical resistance per unit length, such as carbon-blended rubber. The flexible resistor 40 is a rod with a circular cross section, and is arranged axially along the axial core of the drilling information detection probe 24B. The flexible resistor 40 has the property of being flexibly bendable when subjected to an external force, and returning to its original straight rod shape when the external force is released.

[0061] The spiral insulator 41 is made of a highly electrically insulating material such as rubber or plastic, or is made by coating the surface of a conductive material such as metal with a highly electrically insulating material such as rubber or plastic, and is therefore made of a material having at least an electrically insulating surface. The spiral insulator 41 is wound in a sparse spiral around the outer surface of the flexible resistor 40, and when the hole-punching information detection probe 24B is straight, it is interposed between the flexible resistor 40 and the conductor 42 attached to the inner surface of the sleeve tube 43 to prevent them from contacting each other. When the hole-punching information detection probe 24B is bent, the arrangement pitch of the spiral insulator 41 expands around the outer periphery of the bent portion, forming a gap through which the conductor 42 attached to the inner surface of the sleeve tube 43 can come into contact with the flexible resistor 40 (see FIG. 11). In other words, the spiral insulator 41 is arranged so that a slight gap is formed between adjacent spiral insulators 41 in the axial direction that are wound circumferentially around the outer peripheral surface of the flexible resistor 40, and when the perforation information detection probe 24B is straight, the flexible resistor 40 and the conductor 42 cannot come into contact through the gap, but when the perforation information detection probe 24B is bent in the middle, the difference in circumferential length at the bent part causes the outer side of the bent part to stretch, so the gap becomes larger and the flexible resistor 40 and the conductor 42 can come into contact through this gap.

[0062] The conductor 42 is attached to almost the entire inner peripheral surface of the sleeve tube 43 and is a thin foil or sheet material made of a highly electrically conductive material such as copper foil.

[0063] The sheath tube 43 is a thin, hollow sheath material made of reinforced rubber or reinforced plastic that is resistant to friction and flexible.

[0064] A connecting plate 44 made of a conductive material is provided at the tip of the perforation information detection probe 24B in the diameter direction, electrically connecting the components that make up the perforation information detection probe 24B. Furthermore, a lead wire 45 extends from the rear end of the flexible resistor 40 to extract the electrical signal generated in the flexible resistor 40.

[0065] The diameter of the perforation information detection probe 24B is formed to be smaller than the diameter of the perforation 3, and is preferably 30 to 70% of the diameter of the perforation 3. Specifically, if the diameter of the perforation 3 is about 47 mm, the diameter of the perforation information detection probe 24B can be about 30 mm. This allows the perforation information detection probe 24B to be smoothly inserted into the perforation 3. In addition, the length of the perforation information detection probe 24B is formed to be longer than the length of the perforation 3.

[0066] The measurement principle of the perforation information detection probe 24B configured as described above will be described in detail with reference to Fig. 11. As shown in Fig. 11(A), when the perforation information detection probe 24B is in a straight state, the spiral insulator 41 is interposed between the flexible resistor 40 and the conductor 42 to prevent them from contacting each other, and therefore the specified resistance value x0 [Ω] of the flexible resistor 40 is detected.

[0067] 11(B), when the perforation information detection probe 24B is bent midway, the arrangement pitch of the spiral insulator 41 expands on the outer periphery of the bent portion, widening the gap, and the conductor 42 comes into contact with the flexible resistor 40 through this gap, reducing the resistance value of the flexible resistor 40. The reduction in resistance value at this time is related to the length of the bend position from the base end, and when the bend position is in the center of the length direction, the resistance value of the flexible resistor 40 is x0 / 2 [Ω].

[0068] To explain this by taking an actual example, if the length of the perforation information detection probe 24B is 2 m and the resistance value of the flexible resistor 40 is 1000 [Ω] per meter, the maximum resistance value of the flexible resistor 40 is 2000 [Ω]. If this perforation information detection probe 24B is bent at the center in the longitudinal direction and the conductor 42 comes into contact with the flexible resistor 40, the resistance value of the flexible resistor 40 will change to 1000 [Ω]. Furthermore, if the flexible resistor 40 is bent at a position 50 cm from the tip (if it is bent at a position 1.5 m from the base end), the resistance value of the flexible resistor 40 will be 1500 [Ω]. In this way, by measuring the resistance value of the flexible resistor 40, the bending position of the perforation information detection probe 24B can be detected.

[0069] Next, a method for detecting drilling information such as the position and insertion angle of the drilling hole 3 using the drilling information detection probe 24 described above will be described.

[0070] First, as shown in Fig. 12, in the same manner as in the procedure for forming the drill hole 3 by the drilling device 2, the tip of the drilling information detection probe 24 is pressed against the working face S in accordance with the central coordinate Pc of the planned drilling position P. Then, just as the tip of the drill bit 9 slides across the surface of the inclined working face S, the tip of the drilling information detection probe 24 also slides across the surface of the inclined working face S and moves to the central coordinate 3c of the drill hole 3.

[0071] 13, the guide cell 21 is advanced by operating the articulated boom 20 to insert the drilling information detection probe 24 into the drilling hole 3. Because the drilling information detection probe 24 is flexible, the drilling information detection probe 24 bends along the way, and as the guide cell 21 advances, the drilling information detection probe 24 continues to slide along the inner surface of the drilling hole 3 as it continues to be inserted.

[0072] As shown in Figure 14, when the tip of the drilling information detection probe 24 reaches the end of the drilling hole 3, the reaction force acting on the measurement attachment 23 at the base end increases suddenly, making it possible to detect that the end of the hole has been reached. If the portion anterior to the bending position of the drilling information detection probe 24 is designated 24a and the portion posterior is designated 24b, the length of the posterior portion 24b can be calculated from the resistance value of the drilling information detection probe 24, and from this the distance from the base end of the bending position can be determined. Furthermore, the tilt angle of the drilling information detection probe 24 measured by the measurement attachment 23 can be used to determine the amount of deviation between the center coordinate Pc of the planned drilling position P and the center coordinate 3c of the actual drilling hole 3.

[0073] Next, a means for removing foreign matter in advance from the borehole 3 by the borehole information detection probe 24 before loading explosives will be described.

[0074] 6 and 7, a flexible hose 27 for pumping water or air is connected to the rear end of the base end rod 22, and the base end rod 22, measurement attachment 23 and perforation information detection probe 24 are provided with axial flow holes (not shown) that communicate with the inner space of the flexible hose 27 and allow the water or air to circulate, and the perforation information detection probe 24 is provided with ejection holes from which the water or air pumped through the flow holes is ejected. One or more ejection holes are provided at the tip or outer peripheral surface of the perforation information detection probe 24.

[0075] Further, a control valve unit 28 for controlling the flow rate of water and air flowing inside is provided midway along the flexible hose 27, and a control unit 29 for controlling the valve opening / closing amount of the control valve unit 28 is provided. The tip of the flexible hose 27 is connected to a water and air storage tank (not shown).

[0076] 15, by spraying water and air from the spray holes while the drilling information detection probe 24 is inserted all the way into the bottom of the borehole 3, or while the drilling information detection probe 24 is being inserted or removed, sand and pebbles in the borehole 3 will flow out of the opening, and foreign matter can be removed from the borehole 3. In this way, foreign matter in the borehole 3 can be removed in advance before loading explosives into the borehole 3, and the work of loading explosives into the borehole 3 can be carried out smoothly. [Explanation of symbols]

[0077] 1...Drilling information detection device, 2...Drilling device, 3...Drilling, 4...Carriage, 5...Articulated boom, 6...Guide cell, 7...Rock drill, 8...Drifter, 9...Drilling bit, 10...Drilling rod, 11...Total station, 20...Articulated boom, 21...Guide cell, 22...Base rod, 23...Measuring attachment, 24, 24A, 24B...Drilling information detection probe, 25...Carriage, 26...Rod support part, 27...Flexible hose, 28...Control valve part, 29...Control part, 30...Expandable resistor, 31...Sheath tube, 32...Filling material, 40...Flexible resistor, 41...Spiral insulator, 42...Conductor, 43...Sheath tube

Claims

1. A perforation information detection device that detects perforation information such as the position and angle of a perforation formed by a perforation device, A drilling information detection device characterized by comprising a guide cell supported by a multi-joint boom so that it can move back and forth, a base end rod held by the guide cell, and a flexible drilling information detection probe connected to the tip side of the base end rod via a measurement attachment that incorporates a sensor and that detects drilling information by being inserted into the drilling hole.

2. The perforation information detection probe is made of a material having a constant electrical resistance value per unit length and elasticity in the axial direction, and comprises a plurality of elastic resistors arranged at intervals in the circumferential direction, a sheath tube in which a group of the elastic resistors is arranged within a hollow portion, and a filler material filled in the hollow portion of the sheath tube to maintain the group of elastic resistors at a predetermined interval; A perforation information detection device as described in claim 1, wherein when the perforation information detection probe is bent in the middle, the radius of curvature of the elastic resistor arranged on the outer side of the bent portion becomes larger than the radius of curvature of the elastic resistor arranged on the inner side, and the resistance value of the elastic resistor arranged on the outer side becomes larger than the resistance value of the elastic resistor arranged on the inner side, thereby making it possible to detect the direction of the bend.

3. The perforation information detection probe comprises a flexible resistor made of a flexible material having a known electrical resistance value per unit length, a sheath tube in which the flexible resistor is disposed at an axial core portion within a hollow portion and on whose inner surface an electrically conductive conductor is attached, and a spiral insulator interposed between the flexible resistor and the sheath tube and wound spirally around the outer circumferential surface of the flexible resistor, When the perforation information detection probe is in a straight state, a predetermined electrical resistance value of the flexible resistor is detected; A perforation information detection device as described in claim 1, wherein when the perforation information detection probe is bent in the middle, the arrangement pitch of the spiral insulator expands on the outer periphery of the bent portion, creating a gap, and the inner flexible resistor and the outer conductor come into contact through this gap, causing a change in the electrical resistance value of the flexible resistor, thereby enabling the bend position to be detected.

4. 2. The drilling information detection device according to claim 1, wherein the measurement attachment has a built-in sensor that measures the extension angle of the drilling information detection probe attached to the tip side and the axial stress acting on the drilling information detection probe.

5. A perforation information detection device as described in claim 1, wherein a flexible hose for pressurizing water or air is connected to the rear end of the base end rod, the base end rod and the perforation information detection probe are provided with axial flow holes that communicate with the inner hollow portion of the flexible hose and allow the water or air to flow, and the perforation information detection probe is provided with an ejection hole through which the water or air pressurized through the flow hole is ejected.

6. A perforation information detection method using the perforation information detection device according to any one of claims 1 to 5, A perforation information detection method, comprising the steps of: forming a perforation by the perforation device; inserting the perforation information detection probe into the perforation; and detecting the perforation information.

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