Autonomous work system, autonomous work method, and program

Abstract

To perform at least a part of work in loading work without manual aid.SOLUTION: An autonomous work system 1 includes a stereo camera SC, an image data analysis part, a loading device 20, and an autonomous control part 312. The stereo camera SC measures the working face F inside the tunnel. The image data analysis unit analyzes the data measured by the stereo camera SC to detect the positions and the directions of the blast holes H provided in the working face F. The loading apparatus 20 executes at least a part of the blasting operation by inserting the insertion mechanism 26 into the charge hole H. The autonomous control unit 312 autonomously controls the position and the direction of the insertion mechanism 26 to be a position and a direction suitable for inserting the insertion mechanism 26 into the blast hole H, based on the position and the direction of the blast hole H detected by the image data analyzing unit.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an autonomous operation system, an autonomous operation method, and a program. [Background technology]

[0002] Traditionally, blasting methods using explosives have been widely used in tunnel excavation work. In blasting methods, explosives such as water-containing explosives (slurry explosives) and ammonium nitrate oil explosives (ammonium nitrate oil explosives) and filler materials for blocking the openings of the charge holes are generally loaded manually using a tool called a loading rod. When loading materials manually, it is necessary to work close to the tunnel face. However, there is a risk of soil and rocks peeling off or falling off at the face due to natural or human factors, which is known as "skin fall." Therefore, the loading work in the blasting method can be dangerous for workers.

[0003] Considering such a situation, attempts have been made to realize the loading work by remote control. For example, in the technology disclosed in Patent Document 1, a camera is installed in a position where it can photograph the face, and the image taken by this camera is shown to the worker. Then, the worker performs remote control while visually observing the camera image, thereby aligning the loading unit with the charge hole. This is said to enable workers to carry out loading work without approaching the face. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-167705 Summary of the Invention [Problem to be solved by the invention]

[0005] However, even if remote control can be realized using conventional technology such as that disclosed in the cited document 1, the following problems are likely to exist. In the conventional technology, it is necessary to first check the camera image and move the loading unit to the position of the charge hole. Furthermore, since the direction of the charge hole is not uniform, the direction of the loading unit must be adjusted. In this way, multiple steps must be completed before the actual loading can be performed. In addition, because there are many (for example, about 100) charging holes in the tunnel face, workers must repeat this series of tasks many times while visually checking the camera images.

[0006] For these reasons, remotely operated loading work may take longer than if it were carried out directly below the face, and may also increase the workload of workers. In other words, in conventional technology, since an operator must be involved in the entire loading process, there is still room for improvement in terms of reducing the work time and the burden on the operator.

[0007] The present invention has been made in view of the above circumstances, and an object of the present invention is to perform at least a part of the loading work without manual intervention. [Means for solving the problem]

[0008] In order to solve the above problem, an autonomous operation system according to one embodiment of the present invention comprises: a measuring means for measuring the tunnel face inside the tunnel; An analysis means for analyzing data measured by the measurement means to detect the position and orientation of a charge hole provided in the face; a loading device that performs at least a part of a blasting operation by inserting a rod-shaped member into the charge hole; An autonomous control means that autonomously controls the position and orientation of the rod-shaped member based on the position and orientation of the charging hole detected by the analysis means so that the position and orientation of the rod-shaped member become suitable for inserting the rod-shaped member into the charging hole; The present invention is characterized by comprising: [Effects of the Invention]

[0009] According to the present invention, at least a part of the loading operation can be performed without human intervention. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing the overall configuration of an autonomous working system 1 according to the present embodiment. [Figure 2] 1 is a schematic diagram showing a state in which a loading operation is performed by a loading device 20 near a working face F, which is a work site. [Figure 3] 1 is a block diagram showing the hardware configuration of an operation device 10 and a loading device 20. FIG. [Figure 4] 1 is a perspective view showing an example of the configuration of a loading device 20. FIG. [Figure 5] FIG. 2 is a block diagram showing the hardware configuration of a control device 30. [Figure 6] FIG. 2 is a block diagram showing the functional configuration of a control device 30. [Figure 7] FIG. 10 is a block diagram showing a control algorithm of an operation control unit 315. [Figure 8] The image data analysis unit 311 analyzes the image captured by the stereo camera SC. [Figure 9] 10 is a diagram showing an analysis procedure of the image data analysis unit 311. FIG. [Figure 10] 10 is a schematic diagram showing the relationship between the orientation of the charging hole H and the insertion mechanism 26. FIG. [Figure 11] FIG. 1 shows a side view (cross-sectional view) and a front view of a charging hole for a demonstration experiment. [Figure 12] 1 is a first graph showing the results of a demonstration experiment. [Figure 13] 2 is a second graph showing the results of the demonstration experiment. [Figure 14] 3 is a third graph showing the results of the demonstration experiment. [Figure 15] 4 is a fourth graph showing the results of the demonstration experiment. [Figure 16] 5 is a fifth graph showing the results of the demonstration experiment. [Figure 17] 6 is a sixth graph showing the results of the demonstration experiment. [Figure 18] 10 is a schematic diagram showing alignment by the alignment mechanism 25. FIG. [Figure 19] 10 is a schematic diagram showing the insertion of a parent die 51 and the like into a charging hole H by an insertion mechanism 26. FIG. [Figure 20] 10 is a schematic diagram showing the insertion of a parent die 51 and the like into a charging hole H by an insertion mechanism 26. FIG. [Figure 21] 10 is a schematic diagram showing the structure of a parent die 51 and the operation of a leg wire mechanism 28. FIG. [Figure 22] 1 is a flowchart illustrating the flow of the operation control process executed by the autonomous operation system 1. [Figure 23] 10 is a flowchart illustrating the flow of a remote loading process executed by the autonomous operation system 1. [Figure 24] 10 is a flowchart illustrating the flow of a remote loading process executed by the autonomous operating system 1 to which this modified example is applied. DETAILED DESCRIPTION OF THE INVENTION

[0011] An example of an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0012] [System Configuration] Figure 1 is a schematic diagram showing the overall configuration of an autonomous operation system 1 according to this embodiment. As shown in Figure 1, the autonomous operation system 1 includes an operating device 10, a loading device 20, and a control device 30. The autonomous operation system 1 also includes a user U who operates the autonomous operation system 1, a network camera NW that captures images to assist the user U's operation, a stereo camera SC that captures images to measure the position and orientation of the powder loading hole H, and a display D that displays images captured by the network camera NW and the stereo camera SC to the user.

[0013] Furthermore, Figure 1 also illustrates an aerial work platform A that moves the loading device 20, the network camera NW, and the stereo camera SC, a tunnel T, a face F within the tunnel T, and multiple charging holes H provided at the face F. Of these, the operation device 10, the control device 30, and the display D are placed near the user U. The user U and these devices are placed outside the tunnel T. On the other hand, the loading device 20, the network camera NW, and the stereo camera SC are carried by the aerial work vehicle A and placed near the powder charging hole H. Note that instead of the aerial work vehicle A, other mobile machines such as a drill jumbo, a gantry jumbo, or a mobile crane may be used.

[0014] The control device 30 is also connected to be able to communicate with each of the operating device 10, the loading device 20, the network camera NW, the stereo camera SC, and the display D. This communication may be wired or wireless, and the communication method is not limited. This communication may be performed directly between the devices, or may be performed via a network such as the Internet.

[0015] In such an autonomous operation system 1, when the loading device 20 performs loading work, the control device 30 analyzes data (here, captured images) measured by the stereo camera SC to detect the position and orientation of the charge hole H provided in the working face F. Then, based on the detected position and orientation, the control device 30 autonomously controls the position and orientation of the insertion mechanism 26 provided in the loading device 20 so that the position and orientation are suitable for inserting the insertion mechanism 26 into the charge hole H. Therefore, the autonomous operation system 1 makes it possible to carry out at least a part of the loading operation without human intervention.

[0016] As a result, in at least some of the loading work, the user U, who is the worker, does not need to work close to the face where there is a risk of skin falling, etc. Therefore, even if skin falling, etc. occurs, the safety of the user U can be ensured. Furthermore, compared to when the user U is involved in the entire series of loading operations, the operation time can be shortened and the burden on the user U can be reduced. The above is an outline of this embodiment.

[0017] [Working Status] FIG. 2 is a schematic diagram showing a state in which loading work is performed by the loading device 20 near the face F, which is the work site. In FIG. 2, the "operation side" is illustrated at the top of the page, and the "work side" is illustrated at the bottom of the page. The operation side shows a state in which a user U performs remote operation using the operation device 10 outside the tunnel T. On the other hand, the work side shows a state in which the loading device 20 performs loading work in accordance with remote operation by the user U near the face F inside the tunnel T. The control device 30 may be located on either the operation side or the work side, but in the drawing it is assumed to be located on the operation side as an example.

[0018] First, on the operating side, a user U performs remote operation using the operating device 10. Here, the shape of the operating device 10 may be, for example, a shape that imitates the shape of the loading device 20. For example, similar to the loading device 20, the mechanism that performs the loading operation may be shaped so that it is supported by a robot arm ("arm portion" in the drawing). In this case, images of the work site captured by the network camera NW or stereo camera SC on the work side are displayed in real time on the display D on the operation side via the control device 30. Here, the image captured by the network camera NW should be a video of the face F captured at a wide angle so that the entire face F or a fairly wide range can be observed. On the other hand, the image captured by the stereo camera SC should be a video of the vicinity of the charge hole H provided in the face F so that the condition of the charge hole H provided in the face F can be measured. Furthermore, the videos captured by these two cameras may be switched and displayed on the display D by an operation of the user U, or may be displayed simultaneously by dividing the display area of ​​the display D. Alternatively, two displays D may be provided corresponding to the two cameras, and the two displays D may each display the video from the corresponding camera.

[0019] Here, as shown in the figure as "(A) Mutually transmitting the haptic force associated with the operation on the operating side and the haptic force associated with the work on the working side," the operating device 10 operates as a leader device (sometimes referred to as a master device, etc.) to drive a mechanism that accepts operations from the user U. On the other hand, the loading device 20 operates as a follower device (sometimes referred to as a slave device, etc.) to drive a mechanism that performs the loading work that involves contact with objects (here, the charge hole H and the working face F). In this case, the control device 30 performs control (bilateral control) to transmit haptic sensations between the mechanism driven by the operating device 10 and the mechanism driven by the loading device 20. As a result, the user's operation (position and force input) on the operating device 10 is transmitted to the mechanism driven by the loading device 20, and the reaction force (position and force response) from the loading device 20 is transmitted to the mechanism driven by the operating device 10. In addition, the operating device 10 has a shape that imitates the shape of the loading device 20 that actually performs the work.

[0020] With these configurations, the user U can not only perform operations while checking the video of the work site in real time, but also feel the force from the loading device 20 (here, the reaction force from the object) in real time. Therefore, even though the user U is remotely controlled, the user U can perform the work with greater precision, as if he or she were performing the work in close proximity to the working face F, which is the work site.

[0021] Furthermore, as shown in the figure as "(B) Reproducing an action based on data from a past action," it is also possible to remotely operate the loading device 20 by reproducing an action based on data from a past action, instead of the remote operation by the user U that involves the transmission of the haptic sensation described above. Details of this method of reproducing an action will be described later as Modification 1.

[0022] On the other hand, on the work side, the loading device 20 is shown positioned near the work site, which is the face F. The loading device 20, the network camera NW, and the stereo camera SC are transported by the aerial work vehicle A and positioned near the charging hole H. As described above, the network camera NW needs to capture wide-angle images of the tunnel face F. Therefore, although this depends on the performance of the network camera NW, it is desirable that the network camera NW be placed at a certain distance from the tunnel face F. For this reason, the network camera NW is placed, for example, on the body of the aerial work vehicle A. Alternatively, the network camera NW is placed as a stationary device on the wall, ceiling, or bottom of the tunnel T, at a certain distance from the tunnel face F.

[0023] Furthermore, a flat area is provided on the aerial work vehicle A for the purpose of allowing a worker to board the vehicle. The loading device 20 and the stereo camera SC are installed on such a flat area so as to be able to maintain a stable state. This platform can be moved horizontally or vertically by the occupant of the aerial work platform A as desired, allowing the position of the loading device 20 to be adjusted. This effectively widens the operating range of the loading device 20. For example, even if the robot arm ("arm unit" in the drawing) that supports the mechanism that performs the loading work cannot reach the platform, the occupant of the aerial work platform A can adjust the position of the loading device 20 to perform the loading work. The operation for moving the platform to adjust the position of the loading device 20 may be performed by, for example, a user U remotely operating the platform instead of by the occupant of the aerial work vehicle A.

[0024] The stereo camera SC is installed directly on the loading device 20 so as to be able to capture images of the work site (here, a video of the vicinity of the charge hole H provided in the working face F). This allows the stereo camera SC to capture images of the work site by following the movement of the robot arm ("arm section" in the drawing) of the loading device 20 in real time. This stereo camera SC is a camera (stereo vision) that can acquire images having depth information (information in the depth direction) by simultaneously photographing an object from a plurality of different directions in order to measure the object. By analyzing the images captured by the stereo camera SC, the control device 30 can autonomously control the position and orientation of the insertion mechanism 26 so that it is in a position and orientation suitable for inserting the insertion mechanism 26 into the charging hole H.

[0025] In the autonomous operation system 1, by configuring the operating side and the operation side in this manner, at least a part of the loading operation can be carried out without human intervention.

[0026] [Device configuration] Next, the configuration of each device included in the autonomous operation system 1 will be described. FIG. 3 is a block diagram showing the hardware configuration of the operation device 10 and the loading device 20. As shown in FIG. 3, the operating device 10 includes two systems of drivers, actuators, and position sensors. Specifically, the operating device 10 includes, as a first system, an actuator 12a for driving the first operating mechanism 15, a driver 11a for driving the actuator 12a, and a position sensor 13a for detecting the position of a movable part of the first operating mechanism 15 that is moved by being driven by the actuator 12a. The operating device 10 also includes, as a second system, an actuator 12b for driving the second operating mechanism 16, a driver 11b for driving the actuator 12b, and a position sensor 13b for detecting the position of a movable part of the second operating mechanism 16 that is moved by being driven by the actuator 12b. The operating device 10 also includes a communication unit 14 for communicating between the two systems of drivers 11a, 11b and position sensors 13a, 13b and the control device 30, a first operating mechanism 15, and a second operating mechanism 16.

[0027] On the other hand, the loading device 20 also has two systems of drivers, actuators, and position sensors. Specifically, the loading device 20 has, as a first system, an actuator 22a for driving the alignment mechanism 25, a driver 21a for driving the actuator 22a, and a position sensor 23a for detecting the position of a movable part of the alignment mechanism 25 that is moved by being driven by the actuator 22a. The loading device 20 also has, as a second system, an actuator 22b for driving the insertion mechanism 26, a driver 21b for driving the actuator 22b, and a position sensor 23b for detecting the position of a movable part of the insertion mechanism 26 that is moved by being driven by the actuator 22b. The loading device 20 also includes a communication unit 24 for communicating between the two systems of drivers 21a, 21b and position sensors 23a, 23b and the control device 30, an alignment mechanism 25, and an insertion mechanism .

[0028] In this case, the positions of the movable parts of the first operation mechanism 15 and the second operation mechanism 16 detected by the position sensors 13a and 13b are, for example, the positions of predetermined parts of the movable parts (which may include the arm parts shown in FIG. 2) of the first operation mechanism 15 and the second operation mechanism 16. However, instead of the positions of the movable parts of the first operation mechanism 15 and the second operation mechanism 16, the positions of predetermined parts of the user operating the first operation mechanism 15 and the second operation mechanism 16 may be used. Furthermore, the positions of the movable parts of the alignment mechanism 25 and the insertion mechanism 26 detected by the position sensors 23a and 23b are, for example, the positions of predetermined parts of the movable parts (which may include the arm parts shown in FIG. 2) of the alignment mechanism 25 and the insertion mechanism 26. However, instead of the positions of the movable parts of the alignment mechanism 25 and the insertion mechanism 26, the positions of predetermined parts where the alignment mechanism 25 and the insertion mechanism 26 indirectly come into contact with an object (for example, the position of the tip of a guide member 27 described later) may be used.

[0029] Furthermore, in this embodiment, instead of detecting the positions of the movable parts of the first operating mechanism 15 and the second operating mechanism 16, or the positions of the movable parts of the alignment mechanism 25 and the insertion mechanism 26, the rotation angle of the output shaft of each actuator may be detected by a rotary encoder built into each actuator. That is, in this embodiment, the concept of position includes angle (e.g., the rotation angle of the output shaft of the actuator), and information related to position includes position, angle, velocity, angular velocity, acceleration, and angular acceleration. Furthermore, since position and velocity (or acceleration) or angle and angular velocity (or angular acceleration) are parameters that can be replaced by differential and integral calculations, when processing position or angle, it is possible to replace them with velocity, angular velocity, etc. as appropriate before processing.

[0030] First operation mechanism 15 and second operation mechanism 16 are mechanisms for receiving user operations, and their shapes and structures are not particularly limited. For example, first operation mechanism 15 and second operation mechanism 16 may be realized by a controller with a movable part that receives user operations, or a device shaped like a finger worn by the user. More specifically, first operation mechanism 15 and second operation mechanism 16 may be realized by an operation mechanism that mimics the shapes of alignment mechanism 25 and insertion mechanism 26. For example, second operation mechanism 16 may be realized by an operation mechanism with a rod-shaped movable part that can advance and retreat in a predetermined direction (for example, the forward and backward directions relative to user U), mimicking the movement of a thrust rod when inserting it.

[0031] Alternatively, it can be realized by an operation mechanism widely used in industrial machinery, such as a joystick (control stick) that allows directional input by tilting a rod-shaped operating tool. Note that by switching the use of the operation mechanism with a switch or the like, a single operation mechanism may be configured to realize the functions of both the first operation mechanism 15 and the second operation mechanism 16.

[0032] On the other hand, alignment mechanism 25 and insertion mechanism 26 are mechanisms that move an object by coming into contact with it, and there are also no particular limitations on their shape or structure. For example, alignment mechanism 25 and insertion mechanism 26 can be realized by a robot arm equipped with (or having a tool attached to) a tool such as a rod that moves an object, a robot manipulator that moves an object by coming into contact with it, or a tool such as a rod connected to actuator 22b.

[0033] In this configuration, the control device 30 outputs control commands to the drivers 11a, 11b and the drivers 21a, 21b based on the positions detected by the position sensors 13a, 13b and the position sensors 23a, 23b, thereby realizing bilateral control for transmitting haptic sensations between the operation device 10, which is the leader device, and the loading device 20, which is the follower device. More specifically, the control device 30 performs control (bilateral control) for transmitting haptic sensations between the first operation mechanism 15 corresponding to the first system of the operation device 10 and the alignment mechanism 25 corresponding to the first system of the loading device 20. The control device 30 also performs control (bilateral control) for transmitting haptic sensations between the second operation mechanism 16 corresponding to the second system of the operation device 10 and the insertion mechanism 26 corresponding to the second system of the loading device 20. A specific algorithm for realizing control (bilateral control) for transmitting this haptic sensation will be described later with reference to FIG.

[0034] Fig. 4 is a perspective view showing an example of the configuration of the loading device 20. Note that Fig. 4 omits the hardware configuration shown in Fig. 2 (here, the arm unit, the stereo camera SC, and the network camera NW) and some of the hardware configuration shown in Fig. 3 (here, the drivers 21a and 21b, the actuators 22a and 22b, the position sensors 23a and 23b, and the communication unit 24). As shown in FIG. 4, the loading device 20 further includes an alignment mechanism 25, an insertion mechanism 26, a guide member 27, a leg wire mechanism 28, and a placement mechanism 29 in addition to the hardware not shown. Here, for convenience of explanation, these hardware are shown in an exposed state, but it is possible to use some or all of these hardware, including the hardware shown in Figures 2 and 3, housed in a housing of any shape. Figure 4 also shows the main die 51, the additional die 52, the filling 53, the face F, and the charging hole H.

[0035] 4, the longitudinal direction of the guide member 27 is defined as the x-direction (front-rear direction). The direction perpendicular to the x-direction in the horizontal plane is defined as the y-direction (left-right direction). The direction perpendicular to both the x-direction and the y-direction is defined as the z-direction (up-down direction). In addition, in the x direction (front-rear direction), the direction in which the parent die 51 and the like are inserted via the guide member 27 is further defined as the insertion direction. Furthermore, in the x direction (front-rear direction), the direction opposite to the insertion direction is further defined as the withdrawal direction.

[0036] The loading device 20 is used so that the tip end of the guide member 27 on the insertion direction side maintains a position directly facing the opening of the charge hole H, and so that the xy plane maintains an approximately horizontal position (i.e., so that the z direction maintains an approximately vertical position).

[0037] The alignment mechanism 25 moves the entire loading device 20 (or at least the guide member 27) in response to remote control of the alignment mechanism 25 from the user U or autonomous remote control of the alignment mechanism 25 from the control device 30, thereby aligning the position of the tip end of the guide member 27 on the insertion direction side (i.e., the discharge portion of the parent die 51, etc.) with the opening of the charging hole H. The alignment mechanism 25 is realized, for example, by the arm unit of the loading device 20 shown in FIG. 3. In this case, it is preferable to realize the arm unit by, for example, a robot arm with six degrees of freedom so that alignment can be achieved by movement in various directions.

[0038] The insertion mechanism 26 inserts the parent die 51 and the like into the charging hole H by moving back and forth in the x direction (front-back direction) on the guide member 27 in response to remote control of the insertion mechanism 26 from the user U or autonomous remote control of the insertion mechanism 26 from the control device 30. The insertion mechanism 26 is realized by, for example, a rod-shaped member like a loading rod used in manual loading work. In this way, by using a member with the same shape as a loading rod used in manual loading work, the user U can perform the loading work more appropriately, even though it is remotely operated, as if he or she were performing the work in close proximity to the charging hole H.

[0039] As will be described later as Modification 2, this embodiment can also be applied to a method of applying air pressure to an ammonium nitrate oil explosive (an ammonium nitrate explosive) or a granular explosive as an insertion object. In this case, the insertion mechanism 26 is realized by a cylindrical member such as a hollow pipe of a loading machine for loading the insertion object or a hollow hose. It is also possible to provide both an insertion mechanism 26 realized by a rod-shaped member such as the above-mentioned loading rod and an insertion mechanism 26 realized by a cylindrical member such as a hollow pipe, and use these together. Alternatively, two such insertion mechanisms 26 may be provided and used depending on the operating situation (e.g., depending on the site where excavation work is being performed).

[0040] The guide member 27 guides the insertion mechanism 26, the parent die 51, etc. toward the charging hole H. The guide member 27 is realized by a member that is open at both ends in the longitudinal direction and has a circular or arc-shaped cross section (i.e., yz plane), which is a cross section perpendicular to the longitudinal direction, so as to easily guide the cylindrical shape of the parent die 51, etc.

[0041] The shapes of the insertion mechanism 26 and the guide member 27 are merely examples, and any shape can be used. For example, the insertion mechanism 26 may be realized by a spring-shaped member. However, when an electric detonator is used to explode the parent die 51, it is desirable to form the insertion mechanism 26 and the guide member 27 from wood, FRP (Fiber Reinforced Plastics), or the like, which do not generate static electricity, so that the electric detonator does not explode accidentally due to static electricity.

[0042] The leg wire mechanism 28 holds, in a bound state, the leg wire for detonating the electric detonator enclosed in the parent die 51. Then, as the insertion mechanism 26 inserts the parent die 51 into the charging hole H, the leg wire mechanism 28 releases the binding of the leg wire and feeds out the leg wire. As a result, at least a portion of the leg wire that has been released from the binding is exposed to the outside of the charging hole H.

[0043] After the insertion mechanism 26 has performed the operation of inserting an object to be inserted (for example, the parent die 51) into the charging hole H, the placement mechanism 29 places a new object to be inserted (for example, the additional die 52) in the guide member 27. This allows various objects to be inserted, such as the parent die 51, the additional die 52, and the bean paste 53, to be inserted successively while keeping the guide member 27 aligned.

[0044] The positioning mechanism 29 is realized by a mechanism that can rotate by a predetermined angle in the y direction (left and right direction), for example. In this case, a plurality of rows of positioning mechanisms 29 that store the main die 51, the additional die 52, and the bean paste 53, respectively, are provided in parallel with the guide member 27. The shape of the positioning mechanism 29 is, for example, such that the cross section (i.e., the yz plane), which is a cross section perpendicular to the longitudinal direction, is an arc shape.

[0045] Then, the placement mechanism 29 rotates by a predetermined angle in the y direction (left-right direction) around the portion where the placement mechanism 29 and the guide member 27 (or another placement mechanism 29) are adjacent in the x direction (front-back direction) as the rotation axis. This allows the parent die 51 and the like stored in the rotated placement mechanism 29 to be moved to the adjacent guide member 27 (or another placement mechanism 29). When the parent die 51 and the like are moved to another placement mechanism 29, they can be further moved from this other placement mechanism 29 to the guide member 27, and finally moved to the guide member 27. In this way, the placement mechanism 29 can place any parent die 51 or the like on the guide member 27 .

[0046] The configuration of the placement mechanism 29 is not limited to this, and for example, a robot manipulator capable of grasping and transporting may be placed near the loading device 20, and this robot manipulator may grasp the parent die 51, etc. and transport it to the guide member 27, thereby realizing the function of the placement mechanism 29. Alternatively, for example, a mechanism may be provided that combines a mechanism that can open and close a portion of the portion where the placement mechanism 29 and the guide member 27 (or another placement mechanism 29) are adjacent in the x direction (front-back direction) with a mechanism that pushes the parent die 51, etc. in the y direction (left-right direction). In this case, the placement mechanism 29 closes this adjacent portion when insertion, etc. is performed, and opens this adjacent portion when the parent die 51, etc. is moved. Furthermore, the parent die 51, etc. is pushed in the y direction (left-right direction) from the adjacent portion in the open state. In this manner, the placement mechanism 29 can place any parent die 51, etc. on the guide member 27.

[0047] The main die 51 is a pouch-shaped explosive containing a water-containing explosive and a detonator, such as a general electric detonator, an electronic delay electric detonator, or a fuse-equipped detonator, for detonating the water-containing explosive. It is also possible to use a wireless detonator, which can detonate the water-containing explosive based on a remote wireless command without using a leg wire. In this case, the leg wire mechanism 28 can be omitted. The supplementary die 52 is a pouch-shaped explosive that does not contain an electric detonator and explodes upon detonation of the main die 51. It contains only explosives, such as a cylindrical or granular water-containing explosive sealed in a paper tube, a granular amphoteric explosive, or a liquid or gel explosive (e.g., a bulk emulsion explosive). The filling 53 is a filling made of clay or the like to seal the opening of the charging hole H. The main die 51, the supplementary die 52, and the filling 53 are loaded into the charging hole H in this order. In this case, the number of inserting dies 52 can be increased or decreased from zero to any number depending on the geological quality (hardness, etc.) of the working face F, the distance to be excavated at one time, etc. Note that the terms "parent die," "additional die," "anko," etc. are commonly used by those skilled in the art, and therefore these terms will be used as they are in this specification.

[0048] FIG. 5 is a block diagram showing the hardware configuration of the control device 30. As shown in FIG. As shown in FIG. 5, the control device 30 includes a processor 31, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, a bus 34, an input unit 35, an output unit 36, a memory unit 37, a communication unit 38, and a drive 39.

[0049] The processor 31 executes various processes according to a program recorded in the ROM 32 or a program loaded from the storage unit 37 into the RAM 33 . The RAM 33 also stores data and the like necessary for the processor 31 to execute various processes.

[0050] The processor 31, the ROM 32, and the RAM 33 are connected to one another via a bus 34. To the bus 34, an input unit 35, an output unit 36, a storage unit 37, a communication unit 38, and a drive 39 are connected.

[0051] The input unit 35 includes input devices such as a mouse and a keyboard, and receives input of various information to the control device 30. The input unit 35 may also include a microphone, and receive input of various information by voice input from the worker. The output unit 36 ​​is composed of a display, a speaker, etc., and outputs images and sounds. The storage unit 37 is configured with a hard disk or a DRAM (Dynamic Random Access Memory), etc., and stores various data managed by each server. The communication unit 38 controls communication with other devices via the network.

[0052] Removable media 100, such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, is appropriately loaded into drive 39. A program read from removable media 100 by drive 39 is installed in storage unit 37 as needed. The above hardware configuration is the basic configuration of the control device 30, and it is possible to configure the control device 30 without some of the hardware, to include additional hardware, or to change the implementation form of the hardware.

[0053] The control device 30 having such a hardware configuration performs "operation control processing" and "remote loading processing." Here, the operation control process is a series of processes that control the operation of each mechanism by performing control (bilateral control) that transmits haptic sensations between each mechanism driven by the operating device 10 and each mechanism driven by the loading device 20. The operation control process is realized as a subroutine of the remote loading process. The remote loading process is a series of processes that utilizes the operation control process to assist the user U in remotely operating the remote loading work, and to perform at least a part of the loading work without human intervention.

[0054] FIG. 6 is a block diagram showing the functional configuration of the control device 30. As shown in FIG. When the above-mentioned operation control process or remote loading process is performed, as shown in FIG. 6, an image data analysis unit 311, an autonomous control unit 312, an image presentation unit 313, a physical quantity data acquisition unit 314, an operation control unit 315, and a placement instruction unit 316 function in the processor 31. The storage unit 37 also includes a physical quantity data storage unit 371 and an image data storage unit 372 . Including cases not specifically mentioned below, data required to realize processing is transmitted and received between these functional blocks at appropriate times.

[0055] The image data analysis unit 311 acquires images of the tunnel face F and the charging holes photographed by the stereo camera SC. Then, the image data analysis unit 311 detects the position and orientation of the charging holes H provided in the tunnel face F by analyzing the images photographed by the stereo camera SC.

[0056] The autonomous control unit 312 autonomously controls the position and orientation of the insertion mechanism 26 based on the position and orientation of the loading hole H detected by the image data analysis unit so that the position and orientation of the insertion mechanism 26 are suitable for inserting the insertion mechanism 26 into the loading hole H. The details of the alignment operations performed by the image data analysis unit 311 and the autonomous control unit 312 will be described later.

[0057] The image presentation unit 313 acquires images captured by the network camera NW and the stereo camera SC acquired by the image data analysis unit 311. Then, the image presentation unit 313 presents these acquired images to the user U in real time. The presentation can be realized, for example, by displaying on a display included in the output unit 36 ​​or a display D as shown in FIG. 2. In this case, it is desirable to place this display in a position where the user U can refer to it while operating each operating mechanism.

[0058] The physical quantity data acquisition unit 314 acquires physical quantity data for realizing the operation control process. For example, the physical quantity data acquisition unit 314 acquires the positions (specifically, positions or angles) of the movable parts of each mechanism that is moved by being driven by the actuators 12a, 12b, 22a, and 22b from the position sensors 13a, 13b, 23a, and 23b. The physical quantity data such as positions acquired by the physical quantity data acquisition unit 314 is used as reference values ​​for the operation of each mechanism driven by the operating device 10 and the loading device 20 in a haptic transmission algorithm described later.

[0059] The operation control unit 315 controls the transmission of haptic sensations between each mechanism driven by the operating device 10 and each mechanism driven by the loading device 20, thereby controlling the operation of each mechanism. FIG. 7 is a block diagram showing the control algorithm of the operation control unit 315. As shown in FIG. 7, the algorithm implemented in the operation control unit 315 is expressed as a control law including a functional force-velocity allocation conversion block FT, an ideal force source block FC, an ideal velocity (position) source block PC, and an inverse conversion block IFT. The control algorithm shown in FIG. 7 is described in a patent publication (Japanese Patent No. 6382203) owned by Keio University, the applicant of the present application. Various control algorithms described in this patent publication can also be used in this embodiment as appropriate. In this embodiment, the leader device in the controlled system CS is configured by the operating device 10, and the follower device is configured by the loading device 20.

[0060] 6, the placement instruction unit 316 transmits a placement instruction to the placement mechanism 29 of the loading device 20, thereby placing the parent die 51 to be inserted on the guide member 27. The operation of the placement mechanism 29 and the order of insertion of the parent dies 51, etc. are as described above.

[0061] The image data analysis unit 311 acquires the images captured by the stereo camera SC in real time via communication. For example, the stereo camera SC captures an image of the vicinity of the tip end of the guide member 27 on the insertion direction side during alignment by the alignment mechanism 25. Furthermore, the stereo camera SC captures an image of the vicinity of the charge hole H that is the insertion target during insertion by the insertion mechanism 26.

[0062] The physical quantity data storage unit 371 stores the physical quantity data acquired by the physical quantity data acquisition unit 314, various parameters calculated by the operation control unit 315 based on the physical quantity data, and the like. The image data storage unit 372 stores the image data captured by the stereo camera SC and acquired by the image data analysis unit 311. The various data stored in these storage units can be used as a log associated with the loading operation. For example, it can be used to analyze the success or failure of the loading operation and the time required for the loading operation. Alternatively, it can be used as teaching material for teaching the remote operation procedure to a user U who has little experience with remote loading operations.

[0063] [Alignment behavior] Next, the details of the alignment operation performed by the image data analysis unit 311 and the autonomous control unit 312 will be described. As a prerequisite for this alignment operation, first, photographing by the stereo camera SC is started. Next, the loading device 20 and the stereo camera SC are moved by the user U remotely controlling the alignment mechanism 25. Then, when the stereo camera SC moves to a position where it can photograph the cartridge hole H, the image data analysis unit 311 and the autonomous control unit 312 autonomously execute the alignment operation.

[0064] 8 shows an image captured by the stereo camera SC, which is the analysis target of the image data analysis unit 311. The stereo camera SC is a camera (stereo vision) that can acquire images with depth information (information in the depth direction) by simultaneously capturing images of an object from multiple different directions in order to measure the object. Here, the stereo camera SC captures images of the working face F and the charging hole H.

[0065] The x-direction, y-direction, and z-direction in the figure are the same as those defined in Figure 4. That is, X_depth in the figure corresponds to the depth direction of the charging hole H. Therefore, it can be seen that the value of X_depth is clearly smaller in the region where the charging hole H actually exists than in other regions.

[0066] FIG. 9 is a diagram showing the analysis procedure of the image data analysis unit 311. First, as shown in FIG. 9(a), the image data analysis unit 311 binarizes the image captured by the stereo camera SC as shown in FIG. 8. This can be achieved, for example, by setting a threshold value for the X_depth value, and displaying areas where the X_depth value is clearly small as white and other areas as black. In this case, the threshold value may be set in advance as an absolute value, or may be a relative value with respect to adjacent areas. Naturally, the threshold value can be set appropriately so that the charge hole H can be detected with high accuracy. By performing binarization in this manner, an image showing the edge of the charge hole H can be generated.

[0067] Next, as shown in Fig. 9(b), the image data analysis unit 311 performs edge detection on the binarized image to detect the center position of the charge hole H and the circumscribing rectangle. For example, these detections are performed using a Canny Edge Detector. Next, as shown in FIG. 9(c), the image data analysis unit 311 further detects the circumscribing circle (ellipse) of the charge hole H. The image data analysis unit 311 performs such an analysis on each of a plurality of images captured by the stereo camera SC at different image capturing positions. Then, the image data analysis unit 311 outputs the analysis results to the autonomous control unit 312.

[0068] Based on the analysis results input from the image data analysis unit 311, the autonomous control unit 312 autonomously controls the position and orientation of the insertion mechanism 26 so that they are suitable for inserting the insertion mechanism 26 into the charging hole H.

[0069] First, regarding the position of the charging hole H, the center position of the charging hole H can be detected by image analysis. Then, the positioning mechanism 25 is controlled via the operation control unit 315 so that the loading device 20 moves toward this center position. Specifically, the positioning mechanism 25 is controlled so that the longitudinal tips of the guide member 27 and the insertion mechanism 26 move toward the center position of the charging hole H.

[0070] It should be noted that even while control is being performed by the autonomous control unit 312, the stereo camera SC continues to take images and the image data analysis unit 311 continues to analyze the images. Therefore, although it depends on the performance of the stereo camera SC, it is preferable that the distance from the charging hole H is about 30 cm to 80 cm. This distance from the charging hole H can be calculated by the image data analysis unit 311 analyzing the depth information photographed by the stereo camera SC.

[0071] After moving the position of the insertion mechanism 26 in this way, the autonomous control unit 312 then adjusts the orientation of the insertion mechanism 26. This is because the orientations of the charge holes H are not uniform but differ from one another. Specifically, the autonomous control unit 312 controls the alignment mechanism 25 via the operation control unit 315 as follows. 10 is a schematic diagram showing the relationship between the orientation of the charge hole H and the insertion mechanism 26. In FIG. 10, the loading device 20 including the insertion mechanism 26, the stereo camera SC, and the charge hole H are shown as viewed from vertically above. The x direction (front-back direction) and the y direction (left-right direction) in the figure are the same as those defined in FIG. 4.

[0072] First, Figure 10(A) shows the state where the relative angle is 0 degrees. The relative angle here is the relative angle on the horizontal plane between the front direction of the charge hole H and the shooting direction of the stereo camera SC. Here, in Figure 10(A), the front direction of the charge hole H and the shooting direction of the stereo camera SC are parallel. In other words, the shooting direction of the stereo camera SC is directly in front of the charge hole H, and the two are facing each other directly. Here, the photographing direction of the stereo camera SC is the same as the longitudinal direction of the guide member 27 and the insertion mechanism 26. In other words, the longitudinal direction of the guide member 27 and the insertion mechanism 26 is also directly in front of the charge hole H, and they are facing each other directly.

[0073] In contrast, Figure 10(B) shows a state where the relative angle is 15 degrees. Here, in Figure 10(B), the front direction of the charge hole H and the shooting direction of the stereo camera SC intersect at about 15 degrees. In other words, the shooting direction of the stereo camera SC is not directly in front of the charge hole H, and the two are not facing each other directly. In other words, the longitudinal directions of the guide member 27 and the insertion mechanism 26 are not directly in front of the charge hole H, and are not facing it directly.

[0074] Here, when performing the loading operation, there is a high possibility of failure in loading unless the longitudinal direction of the guide member 27 and the insertion mechanism 26 is directly facing the charging hole H. If they are not directly facing, the insertion mechanism 26 will be inserted into the charging hole H from an oblique direction, and will get caught on the wall of the charging hole H, preventing the insertion object (for example, the parent die) from being inserted all the way in. Therefore, for example, when the relative angle is 15 degrees as shown in FIG. 10(B), the autonomous control unit 312 needs to adjust the orientation of the insertion mechanism 26 so that the relative angle becomes 0 degrees as shown in FIG. 10(A). To do this, it is necessary to detect the state when the relative angle is 0 degrees. Therefore, the autonomous control unit 312 detects the state when the relative angle is 0 degrees by one of the following two methods. In either method, the circumscribing circle (ellipse) of the charge hole H detected by the image data analysis unit 311 through analysis is used.

[0075] <Area detection> The area of ​​the circumscribing circle (ellipse) of the charge hole H is largest when it is directly facing the charge hole and the relative angle is 0 degrees, because the entire area can be photographed. On the other hand, the area becomes smaller as the relative angle becomes farther from 0 degrees, because the charge hole is photographed from an oblique direction and the entire area cannot be photographed. Therefore, the autonomous control unit 312 adjusts the orientation by moving the loading device 20 while maintaining the position of the tip of the guide member 27 and the insertion mechanism 26 after moving them. Then, the autonomous control unit 312 continues to calculate the area of ​​the circumscribed circle (ellipse) of the charging hole H, and when the area becomes the largest, it determines that the relative angle has become 0 degrees and ends the adjustment of the orientation. As a result, the relative angle becomes 0 degrees, and the longitudinal directions of the guide member 27 and the insertion mechanism 26 can be made to face the charging hole H directly.

[0076] <Detection by length ratio> The ratio of the length to the width of the circumscribed circle (ellipse) of the charge hole H is smallest when the relative angle is 0 degrees and the image is taken directly facing the charge hole, since the image is closer to a perfect circle. On the other hand, the farther the relative angle is from 0 degrees, the greater the ratio becomes as the image of the charge hole is taken from an oblique direction, resulting in a more distorted ellipse. Therefore, the autonomous control unit 312 adjusts the orientation by moving the loading device 20 while maintaining the position of the tip of the guide member 27 and the insertion mechanism 26 after moving them. Then, the autonomous control unit 312 continues to calculate the ratio of the length to the width of the circumscribed circle (ellipse) of the charging hole H, and when the ratio becomes smallest, it determines that the relative angle has become 0 degrees and ends the adjustment of the orientation. As a result, the relative angle becomes 0 degrees, and the longitudinal directions of the guide member 27 and the insertion mechanism 26 can be made to face the charging hole H directly. In this way, the autonomous control unit 312 can detect the orientation of the charging hole H with high accuracy based on clear indicators such as the area of ​​the circumscribing circle (ellipse) of the charging hole H and the length ratio.

[0077] <Demonstration experiment> A demonstration experiment was conducted using a charging hole H to examine the relationship between the area and length ratio of the circumscribed circle (ellipse) of the charging hole H and the relative angle. 11 is a diagram showing a side view (cross-sectional view) and a front view of a charging hole for a demonstration experiment. As shown in the figure, the analysis by the image data analysis unit 311 and the detection of the position and orientation by the autonomous control unit 312 were performed on three types of charging holes: (A) a charging hole with a flat periphery of the charging hole H, (B) a charging hole with a protruding periphery of the charging hole H, and (C) a charging hole with a recessed periphery of the charging hole H. Figures 12 to 17 are graphs showing the results. Figure 12 shows the results of the above-mentioned area detection performed on (A) the charging hole H, which has a flat periphery. It was demonstrated that the area is maximum when the relative angle is 0 degrees. Figure 13 shows the results of the above-mentioned length ratio detection performed on (A) the charging hole H, which has a flat periphery. Here too, it was demonstrated that the area is maximum when the relative angle is 0 degrees.

[0078] Similarly, when the above-mentioned area-based detection was performed on a charge hole with a protruding periphery (B) of charge hole H as shown in Figure 14, or on a charge hole with a recessed periphery (C) of charge hole H as shown in Figure 16, it was demonstrated that the area was maximum when the relative angle was 0 degrees. Furthermore, similarly, when the detection using the above-mentioned length ratio was performed on a charge hole with a protruding periphery (B) of charge hole H as shown in Figure 15, or on a charge hole with a recessed periphery (C) of charge hole H as shown in Figure 17, it was demonstrated that the area was maximum when the relative angle was 0 degrees. In particular, when performing this test on a charging hole in which the periphery of the charging hole H in Figure 14 or Figure 15 (B) protrudes, it is difficult for humans to see the change in the circumscribed circle (ellipse) with the naked eye, but it has been demonstrated that this embodiment can accurately detect the difference in relative angle.

[0079] In this way, in the autonomous operation system 1, when the loading device 20 performs loading work, the control device 30 analyzes the images captured by the stereo camera SC to detect the position and orientation of the charge hole H provided in the working face F. Then, based on the detected position and orientation, the control device 30 can autonomously control the position and orientation of the insertion mechanism 26 so that it becomes a position and orientation suitable for inserting the insertion mechanism 26 into the charge hole H.

[0080] In addition, in the above explanation, we have used the example of adjusting the orientation in the y direction (left and right direction) to make it easier to understand the content, but the orientation in the z direction (up and down direction) can also be adjusted in the same way. In addition, by adjusting each direction in turn, it is also possible to adjust a direction that combines the y direction (left-right direction) and the z direction (up-down direction) (i.e., a diagonal direction that combines left-right and up-down).

[0081] [Insert behavior] Fig. 18 is a schematic diagram showing alignment by the alignment mechanism 25. Fig. 18 and Figs. 19, 20 and 21(b) described later are cross-sectional views of the charge hole H in the xz plane.

[0082] As shown in Figure 18(A), the alignment mechanism 25 aligns the position and orientation of the insertion mechanism 26 based on the control of the alignment operation performed by the image data analysis unit 311 and the autonomous control unit 312 described above so that the position and orientation of the insertion mechanism 26 are suitable for inserting the insertion mechanism 26 into the loading hole H. Next, as shown in Figure 18 (B), the alignment mechanism 25 inserts a part of the tip of the guide member 27 on the insertion direction side into the charging hole H in response to remote operation of the alignment mechanism 25 by the user U. As a result, the guide member 27 is positioned in the charging hole H, and in the following insertion work, the insertion mechanism 26, the parent die 51, etc. can be guided toward the charging hole H.

[0083] 19 and 20 are schematic diagrams showing the insertion of the parent die 51 and other components into the charging hole H by the insertion mechanism 26. Note that while FIGS. 19 and 20 illustrate the insertion of the parent die 51 as an example, the additional die 52 and the bean paste 53 are also inserted into the charging hole H using a similar procedure. In addition, in FIGS. 19 and 20, the guide member 27 is shown with a dashed line to clarify the movements of the insertion mechanism 26 and the parent die 51.

[0084] 19(C), in response to remote control of the insertion mechanism 26 from the user U, the insertion mechanism 26 inserts the parent die 51, which has been placed in the guide member 27 by the placement mechanism 29, into the charging hole H. That is, the insertion mechanism 26 pushes the parent die 51 in the insertion direction. As shown in FIG. 19(D), the parent die 51 is inserted into the charging hole H by the insertion mechanism 26 continuing the pushing operation in the insertion direction side.

[0085] As shown in Figure 20(E), as a result of continued insertion, the parent die 51 finally comes into contact with the wall surface at the back side (the side opposite to the side where the parent die 51 is inserted) of the charging hole H. This completes the insertion of the parent die 51 in the loading operation. As shown in Figure 20(F), the insertion mechanism 26 moves in the pull-out direction in response to remote control of the insertion mechanism 26 from the user U. Then, the state returns to that of Figure 19(C), and the additional die 52 and the bean paste 53 are inserted in the same procedure.

[0086] During this insertion process, the reaction force generated by contact between the parent die 51, etc. or the insertion mechanism 26 and the charging hole H is transmitted to the user U via the first operating mechanism 15. Based on this transmitted reaction force, the user U can grasp whether or not there is contact between the parent die 51, etc. or the insertion mechanism 26 and the charging hole H, and the degree of friction caused by the contact. Therefore, even though the operation is remote, the user U can perform the loading work more appropriately, as if he or she were performing the work in close proximity to the charging hole H.

[0087] In this case, the user U can, for example, determine based on the transmitted reaction force whether the parent die 51, etc. or the insertion mechanism 26 is caught in the charging hole H. Therefore, the user U can, for example, repeatedly try to return the insertion mechanism 26 to the withdrawal direction and then push it back in the insertion direction. In this case, the reaction force transmitted to the user U is not only a reaction force from the insertion direction, but also a reaction force from each direction, including the left-right and up-down directions. Therefore, the user U can, for example, determine not only that the parent die 51, etc. or the insertion mechanism 26 cannot proceed in the insertion direction, but also that the parent die 51, etc. or the insertion mechanism 26 is in contact with the inner wall surface of the charging hole H and cannot proceed.

[0088] Furthermore, the user U can determine, for example, based on the transmitted reaction force, whether the parent die 51 has contacted the back wall surface of the charging hole H. Therefore, the user U can accurately determine that the insertion is complete, without mistakenly assuming that the insertion is complete because, for example, the insertion is still in progress. Similarly, when inserting the additional die 52 or the bean paste 53, the user U can determine whether the additional die 52 or the bean paste 53 has been inserted until it is in close contact with the parent die 51 or the additional die 52 inserted previously. In this way, the user U can determine that the insertion of the parent die 51, etc. has been completed. Therefore, after the parent die 51, etc. has been properly inserted into the charging hole H, the user U can immediately start remote operation to return the insertion mechanism 26 to the withdrawal direction. This allows the loading device 20 to quickly and easily retrieve the insertion mechanism 26. Therefore, the additional die 52 and the bean paste 53 can be inserted sequentially by the insertion mechanism 26. Thus, according to this embodiment, by transmitting the force applied to the insertion mechanism 26 (for example, the reaction force from the environment such as the charge hole H and the face F) to the user U, it is possible to assist the user U in remotely operating the alignment mechanism 25 and the insertion mechanism 26, thereby enabling more appropriate loading work to be performed.

[0089] Figure 21 is a schematic diagram showing the structure of the parent die 51 and the operation of the leg wire mechanism 28. As shown in Figure 21(a), the parent die 51 includes a water-containing explosive 511, an electric detonator 512 for detonating the water-containing explosive 511, and a leg wire 513 for detonating the electric detonator 512. Figure 21(a) also shows a cable tie 514 for binding the leg wire 513. The electric detonator 512 is enclosed in the water-containing explosive 511 before the loading operation in this embodiment. The leg wire 513 is made up of a pair of positive and negative wires for conducting electricity. However, depending on the electric detonator 512, the pair of positive and negative wires may be twisted into one wire, and the positive and negative wires may be tied together with a cable tie 514 without being distinguished from each other.

[0090] Therefore, the leg wires 513 extending from the parent die 51 are distinguished into positive and negative wires in advance and held separately by the leg wire mechanism 28. The side of the parent die 51 where the electric detonator 512 is enclosed (the side from which the leg wires 513 extend) is positioned on the insertion direction side. As shown in FIG. 21( b), as the insertion mechanism 26 inserts the parent die 51 into the charge hole H, the leg wires 513 are released from their binding and fed out by an internal actuator (not shown). As a result, even if the leg wires 513 are bound by a binding band 514 without distinguishing between the positive and negative wires upstream of the leg wire mechanism 28, the positive and negative wires will be fed out separately downstream of the leg wire mechanism 28. Furthermore, the binding band 514 is caught on the leg wire mechanism 28 and therefore remains upstream of the leg wire mechanism 28. As a result, after the insertion by the parent die 51 is completed, at least a part of the leg wires released from the bundling is exposed to the outside of the charging hole H in a state where the positive and negative wires are distinguished. In this way, the leg wire mechanism 28 can be used to easily perform the wiring work after the loading work. Next, the details of the processing content of each process performed by the autonomous operation system 1 will be explained.

[0091] [Motion control processing] 22 is a flowchart illustrating the flow of the operation control processing executed by the autonomous operation system 1. The operation control processing is executed as a subroutine in the remote loading processing.

[0092] In step S1, the physical quantity data acquisition unit 314 acquires the positions (angles) of the movable parts of the mechanisms that are to be moved by the actuators 12a, 12b, 22a, and 22b. For example, during alignment by the alignment mechanism 25, the mechanisms that are to be moved are the first operation mechanism 15 and the alignment mechanism 25. In this case, the operation control unit 315 acquires the positions corresponding to these mechanisms from the position sensors 13a and 23a. On the other hand, during insertion by the insertion mechanism 26, the mechanisms that are to be moved are the second operation mechanism 16 and the insertion mechanism 26. In this case, the operation control unit 315 acquires the positions corresponding to these mechanisms from the position sensors 13b and 23b.

[0093] In step S2, the motion control section 315 converts an input vector in the real space into a vector in the virtual space. In step S3, the motion control unit 315 performs calculations in the velocity (position) domain and calculations in the force domain.

[0094] In step S4, the operation control unit 315 inversely converts the values ​​in the domains of velocity (position) and force into values ​​in the domain of input to the controlled system CS (vectors in real space). In step S5, the operation control section 315 outputs command values ​​for the actuators 12 and 22.

[0095] In step S6, the actuators 12a, 12b, 22a, and 22b are driven in accordance with the command values, thereby moving the mechanism to be moved. For example, when performing alignment by the alignment mechanism 25, the mechanisms to be moved are the first operation mechanism 15 and the alignment mechanism 25. As a result, the alignment mechanism 25 performs alignment in response to the remote operation received by the first operation mechanism 15, and a reaction force acting on the alignment mechanism 25 is transmitted to the first operation mechanism 15, thereby realizing control that transmits haptic sensations (bilateral control). On the other hand, during insertion by the insertion mechanism 26, the mechanisms to be moved are the second operation mechanism 16 and the insertion mechanism 26. As a result, the insertion mechanism 26 performs insertion in response to the remote operation received by the second operation mechanism 16, and the reaction force acting on the insertion mechanism 26 is transmitted to the second operation mechanism 16, thereby realizing control that transmits haptic sensations (bilateral control). This completes the process as a subroutine, and the process returns to the remote loading process. After that, the process is repeated from step S1 until it is determined that the alignment and insertion are complete in the remote loading process.

[0096] According to the operation control process described above, the operation of each mechanism can be controlled by performing control (bilateral control) to transmit haptic sensations between each mechanism driven by the operating device 10 and each mechanism driven by the loading device 20.

[0097] [Remote Loading Process] 23 is a flowchart illustrating the flow of the remote loading process executed by the autonomous operating system 1. The remote loading process is executed when the operation device 10 or the control device 30 receives an instruction from the user to start the remote loading process.

[0098] In step S11, the image presentation unit 313 starts acquiring images captured by the network camera NW and the stereo camera SC. Also, the image data analysis unit 311 starts acquiring images captured by the stereo camera SC. In step S12, the image presenting unit 313 starts presenting to the user U the images captured by the network camera NW and the stereo camera SC. The acquisition of images captured by the network camera NW and the stereo camera SC in step S11 and the presentation of the acquired images to the user U in step S12 are performed in parallel while the processing of the subsequent steps is being performed. In other words, the acquisition of images and the presentation of the acquired images to the user U are continued until this processing is completed.

[0099] In step S13, the operation control unit 315 executes the above-described operation control process as a subroutine in response to remote control from the user U. In this case, the user U performs remote control so that the stereo camera SC moves to a position where it can photograph the powder loading hole H. As a result, the first operation mechanism 15 and the alignment mechanism 25 become targets of the operation control process.

[0100] In step S14, the image data analysis unit 311 determines whether the stereo camera SC has moved to a position where it can photograph the cartridge hole H. If it has moved to a position where it can photograph, it is determined as Yes in step S14, and the process proceeds to step S15. On the other hand, if it has not moved to a position where it can photograph, it is determined as No in step S14, and the process returns to step S13, and the operation control process is repeated.

[0101] In step S15, the autonomous control unit 312 analyzes the images captured by the stereo camera SC. In step S16, the operation control unit 315 executes the above-described operation control processing as a subroutine in response to remote control from the autonomous control unit 312. In this case, based on the analysis result in step S15, the autonomous control unit 312 performs remote control so that the position and orientation of the insertion mechanism 26 become suitable for inserting the insertion mechanism 26 into the powder loading hole H. As a result, the first operation mechanism 15 and the alignment mechanism 25 become targets of the operation control processing.

[0102] In step S17, the autonomous control unit 312 determines whether the position and orientation of the insertion mechanism 26 are suitable for inserting the insertion mechanism 26 into the charging hole H. If the position and orientation are suitable, step S15 determines Yes, and the process proceeds to step S18. On the other hand, if the position and orientation are not suitable, step S17 determines No, the process returns to step S15, and the image analysis and the operation control process based on the analysis results are repeated. As shown in the figure, steps S15 to S17 are performed autonomously without manual intervention by the user U.

[0103] In step S18, the operation control unit 315 executes the above-described operation control process as a subroutine in response to remote control from the user U. In this case, the user U performs remote control to insert an insertion object into the charging hole H. As a result, the objects subject to the operation control process are the second operation mechanism 16 and the insertion mechanism 26. Here, the insertion object is the object currently placed in the guide member 27 by the placement mechanism 29, and specifically, is any one of the parent die 51, the additional die 52, and the bean paste 53.

[0104] In step S19, the autonomous control unit 312 determines whether or not the insertion of the insertion object into the charging hole H has been completed. This determination is made, for example, by receiving an operation by the user U indicating completion. If the insertion of the insertion object has been completed, the determination in step S19 is Yes, and the process proceeds to step S20. On the other hand, if the insertion object is not in a suitable position and orientation, the determination in step S19 is No, the process returns to step S18, and the operation control process is repeated.

[0105] In step S20, the operation control unit 315 determines whether or not to further insert the additional dies 52 or the bean paste 53. This determination can be made by setting a preset number of additional dies 52 or bean paste 53 to be inserted, or based on whether or not an instruction operation has been given by the user U. If further insertion is to be made, the determination in step S20 is Yes, and the process proceeds to step S23. On the other hand, if no further insertion is to be made, the determination in step S20 is No, and the process proceeds to step S21.

[0106] In step S23, the placement instruction unit 316 issues an instruction to the placement mechanism 29 to place the additional die 52 and bean paste 53 to be inserted next on the guide member 27. Then, the process is repeated from step S18.

[0107] In step S21, the operation control unit 315 determines whether or not to continue the remote loading process for other charging holes H. The determination can be made by setting a preset number of charging holes H to be loaded, or based on whether or not an instruction operation has been received from the user U. If the remote loading process is to be continued, the determination in step S21 is Yes, and the process proceeds to step S24. On the other hand, if no more insertions are to be made, the determination in step S21 is No, and the process ends.

[0108] In step S24, the placement instruction unit 316 places the parent die 51 to be inserted into the next charging hole H on the guide member 27. Then, after moving the aerial work platform A as necessary, the processing is repeated from step S13.

[0109] According to the remote loading process described above, at least a part of the loading work can be performed without human intervention.

[0110] [Variations] While the embodiments of the present invention have been described above, these embodiments are merely examples and do not limit the technical scope of the present invention. The present invention can take on various other embodiments and can be modified in various ways, such as omissions and substitutions, without departing from the spirit of the present invention.

[0111] [Variation 1] In the above-described embodiment, the loading device 20 performs the loading operation by remotely operating the user U in real time using the operation device 10. However, the present invention is not limited to this, and the loading device 20 may autonomously perform the loading operation without requiring remote operation by the user U. In other words, not only the alignment but also the subsequent loading operation may be performed autonomously without manual intervention by the user U.

[0112] To achieve this, for example, a loading operation performed in the past is reproduced so that the loading device 20 automatically performs the loading operation. Here, as described above, the physical quantity data storage unit 371 of the control device 30 stores the physical quantity data acquired by the physical quantity data acquisition unit 314 and various parameters calculated by the operation control unit 315 based on the physical quantity data. That is, the physical quantity data and various parameters representing the content of the remote operation performed by the user U in the loading operation performed in the past are stored. By using this data as reproduction data, the loading operation performed in the past can be reproduced without the user U newly performing remote operation.

[0113] When performing reproduction, the operation control unit 315 receives input of time-series position (angle) detection values ​​detected by the position sensor 23. These time-series position (angle) detection values ​​represent the operation of the actuator 22. In addition, the operation control unit 315 receives input of time-series position (angle) values ​​in the reproduction data (data from a past loading operation). These position (angle) values ​​in the reproduction data represent the operation of the actuator 22 in the reproduction data. The operation control unit 315 applies coordinate transformation to transmit haptics to the input positions (angles) and forces derived from these positions (angles).

[0114] In this case, time-series data values ​​of position (angle) and force parameters may be input as reproduction data. In this case, the operation control unit 315 applies coordinate transformation to transmit the haptic sensation based on the time-series values ​​of the position (angle) and force parameters in the reproduction data, the position (angle) input from the position sensor 23, and the force derived from this position (angle). This allows the user U to reproduce the loading operation that was previously performed without newly performing a remote operation, thereby reducing the burden on the user U.

[0115] In this case, the reproduction data may be processed or newly generated by programming by the user U. For example, if the depth of the charge hole H is different at the work site, the reproduction data may be processed to adjust the loading depth. Furthermore, there may be multiple pieces of reproduction data. For example, there may be cases where the axial direction of the charge hole H is intentionally set at an angle from the surface of the face F. In such cases, it is desirable to insert the insertion mechanism 26 at an angle. Therefore, reproduction data for inserting the insertion mechanism 26 at an angle may be prepared.

[0116] <Remote Loading Process> Figure 24 is a flowchart illustrating the flow of the remote loading process executed by the autonomous operating system 1 to which this modified example is applied. Note that steps S11 to S17 and steps S20 to S24 in the figure are the same as those in the embodiment described above and shown in Figure 23. Therefore, redundant explanations of these steps will be omitted. When the alignment is completed in step S15, the operation control unit 315 reads the reproduction data from the physical quantity data storage unit 371 in step S31. In step S32, the operation control unit 315 executes the above-described operation control process as a subroutine. This operation control process is performed using the reproduction data, with the insertion mechanism 26 as the control target. In step S32, the operation control unit 315 executes the above-described operation control processing as a subroutine in response to remote control from the autonomous control unit 312. In this case, the autonomous control unit 312 performs remote control to insert the insertion object into the powder charging hole H using the reproduction data read in step S31. As a result, the second operation mechanism 16 and the insertion mechanism 26 become targets of the operation control processing. Then, as in the above-described embodiment, steps S31 and S32 are repeated until step S19 is determined to be YesS. This allows steps S15 to S17 as well as steps S31 and S32 to be executed autonomously. That is, not only the alignment but also the subsequent loading work can be performed autonomously without manual intervention by the user U.

[0117] [Variation 2] In the above-described embodiment, the guide member 27 as shown in Fig. 4 is aligned with the charging hole H by the alignment mechanism 25, and then the parent die 51 etc. is pushed out in the insertion direction by the insertion mechanism 26 as shown in Fig. 4, thereby inserting the parent die 51 etc. into the charging hole H. However, the present invention is not limited to this, and the parent die 51 etc. may be inserted into the charging hole H by other methods. For example, the parent die 51 and the like may be inserted into the charging hole H using a method that utilizes air pressure, water pressure, or the like. In this case, the alignment mechanism 25 aligns one end of the opening of a loading hose for loading the parent die 51 and the like with respect to the charging hole H. Furthermore, the insertion mechanism 26 inserts one end of the opening of this loading hose into the charging hole H by a required length. Thereafter, the parent die 51 and the like are supplied to the loading hose from the other end of the opening of this loading hose. Then, pressure such as air pressure or water pressure is applied from this other end to perform pressure feeding, and the parent die 51 and the like are inserted into the charging hole H. By adopting this modified example, the above-described embodiment can be realized by a method that utilizes air pressure, water pressure, or the like, other than pushing in with a member such as a loading rod.

[0118] It should be noted that the parent die 51 may have a cartridge-type shape, making it difficult to insert it using air or water pressure. In this case, the parent die 51 may be inserted into the charging hole H using the insertion mechanism 26, as in the above-described embodiment. The additional die 52 and the filling 53 are inserted into the charging hole H using air or water pressure. In this way, it is possible to adopt only a part of this modified example. In this case, it is preferable to provide a mechanism for storing empty cartridges of the parent die 51 inserted into the loading device 20. For example, it is preferable to arrange a mechanism for collecting empty cartridges by stacking them vertically near the insertion mechanism 26. This prevents empty cartridges from scattering.

[0119] [Variation 3] In the above-described embodiment, the stereo camera SC photographs the image having depth information (depth direction information) as shown in Fig. 8, and the position and direction of the charging hole H are detected by analyzing the image. Not limited to this, the position and direction of the charging hole H may be detected by other means. For example, the position and orientation of the charge hole H may be detected by analyzing point cloud data measured using laser light by a LiDAR (Light Detection And Ranging) instead of image data captured by a stereo camera SC. In this case, the data to be analyzed may be three-dimensional data obtained by measurements taken continuously over time. For example, the data may be a video captured by the stereo camera SC, rather than a still image captured by the stereo camera SC. In other words, the autonomous operation system 1 can detect the position and orientation of the charging hole H in the same manner as in the above-described embodiment by analyzing not only images taken by the stereo camera SC, but also three-dimensional data obtained by measuring the working face F using measuring equipment capable of measuring three-dimensional data.

[0120] [Variation 4] In the above-described embodiment, in step S13, the loading device 20 and the stereo camera SC are moved by remote control of the alignment mechanism 25 from the user U. Then, when the stereo camera SC moves to a position where it can photograph the powder loading hole H, in steps S15 to S17, the alignment operation is autonomously performed by the image data analysis unit 311 and the autonomous control unit 312. However, the remote control in step S13 may also be autonomously performed.

[0121] In this case, the autonomous control unit 312 controls the positioning mechanism 25 via the operation control unit 315 to realize the following photographing method. In response to this, the stereo camera SC successively photographs multiple images for all the charge holes H, varying the photographing positions. In this case, for example, two photographing methods can be considered. The first method involves sequentially scanning the entire wall surface of the working face F while shifting the shooting range vertically and horizontally. This makes it possible to take multiple images that include all of the charging holes in the working face F, even if the positions of the charging holes are not known in advance. The second method is to use the position coordinates of a computer jumbo. When drilling is performed using a computer jumbo, the position coordinates of each charge hole H are recorded. By identifying and photographing the vicinity of the charge hole location in advance based on the values ​​of these recorded position coordinates, multiple images can be taken more quickly. This allows the remote control in step S13 to be executed autonomously.

[0122] [Variation 5] In the above-described embodiment, the operation device 10 and the control device 30 are realized as separate devices. However, the present invention is not limited to this. For example, the operation device 10 and the control device 30 may be realized as an integrated device. That is, the operation device 10 and the control device 30 may be realized as an integrated device that can accept remote loading by the user U and control the transmission of haptic sensations between the operation device 10 and the loading device 20. In this case, a functional block for operation control that realizes functions equivalent to those of the control device 30 is inserted between the communication unit 14 and the driver 11 in the block diagram of FIG. 3 . Furthermore, the detection value of the position sensor 13 is input to this functional block for operation control, rather than the communication unit 14. This functional block for operation control then realizes the transmission of haptic sensations between the operation device 10 and the loading device 20 based on a control algorithm similar to that of the control device 30 described above.

[0123] Alternatively, the loading device 20 and the control device 30 may be realized as an integrated device. That is, the loading device 20 may be configured as a device that accepts remote loading by the user U via the operation device 10 and controls the transmission of haptic sensations between the operation device 10 and the loading device 20. In this case, a functional block for operation control that realizes a function equivalent to that of the control device 30 is inserted between the communication unit 24 and the driver 21 in the block diagram of FIG. 3. Furthermore, the detection value of the position sensor 23 is input to this functional block for operation control, rather than to the communication unit 24. Then, this functional block for operation control realizes the transmission of haptic sensations between the operation device 10 and the control device 30 based on a control algorithm similar to that of the control device 30 described above.

[0124] Alternatively, the control of the transmission of such haptic sensations may be distributed between the operating device 10 and the loading device 20. In this case, a functional block for operation control is added to each device. The functional block for operation control of each device acquires the detection values ​​of its own sensor and the detection values ​​of the sensors of the other device, and then outputs a command value to its own device's driver based on a control algorithm similar to that of the control device 30 described above. In this way, the transmission of haptic sensations between other devices may be realized.

[0125] It is also possible to combine some or all of the above-described embodiments and modifications as appropriate.

[0126] [Configuration example] As described above, the autonomous operation system 1 according to this embodiment comprises the stereo camera SC, the image data analysis unit, the loading device 20, and the autonomous control unit 312. The stereo camera SC measures the tunnel face F inside the tunnel. The image data analysis unit detects the position and orientation of the charge hole H provided at the face F by analyzing the data measured by the stereo camera SC. The loading device 20 performs at least a portion of the blasting operation by inserting the insertion mechanism 26 into the charge hole H. The autonomous control unit 312 autonomously controls the position and orientation of the insertion mechanism 26 based on the position and orientation of the loading hole H detected by the image data analysis unit so that the position and orientation of the insertion mechanism 26 are suitable for inserting the insertion mechanism 26 into the loading hole H.

[0127] Thus, in the autonomous operation system 1, when the loading device 20 performs loading work, the control device 30 analyzes the data measured by the stereo camera SC to detect the position and orientation of the charge hole H provided in the working face F. Then, based on the detected position and orientation, the control device 30 autonomously controls the position and orientation of the insertion mechanism 26 so that the position and orientation are suitable for inserting the insertion mechanism 26 into the charge hole H. Therefore, the autonomous operation system 1 makes it possible to carry out at least a part of the loading operation without human intervention. As a result, in at least some of the loading work, the user U, who is the worker, does not need to work close to the face where there is a risk of skin falling, etc. Therefore, even if skin falling, etc. occurs, the safety of the user U can be ensured. Furthermore, compared to when the user U is involved in the entire series of loading operations, the operation time can be shortened and the burden on the user U can be reduced.

[0128] The stereo camera SC measures multiple images of the face F while changing the measurement direction. The image data analysis unit detects the position of the charging hole H by identifying the shape corresponding to the charging hole H from each of the multiple measured data, and detects the orientation of the charging hole H based on the area of ​​the shape in each measured data. This allows the orientation of the charging hole H to be detected with high accuracy based on a clear indicator, namely the area of ​​the shape corresponding to the charging hole H.

[0129] The stereo camera SC measures multiple images of the face F while changing the measurement direction. The image data analysis unit detects the position of the charging hole H by identifying the shape corresponding to the charging hole H from each of the multiple measured data, and detects the orientation of the charging hole H based on the ratio between the length of the shape in a first direction and the length of the shape in a second direction that intersects with the first direction in each measured data. This allows the direction of the charge hole H to be detected with high accuracy based on a clear indicator, the ratio of the lengths in the two directions.

[0130] The image data analysis unit identifies the shape of a circle circumscribing the charging hole H as the shape corresponding to the charging hole H. This allows the ratios of area and length to be calculated based on the specific standard of the shape of the circumscribing circle, and the orientation of the charge hole H to be detected with high accuracy.

[0131] The stereo camera SC is disposed at a position where it can measure the same direction as the longitudinal direction of the insertion mechanism 26 and where it moves together with the insertion mechanism 26. This allows analysis to be performed while moving the stereo camera SC simultaneously with the insertion mechanism 26, and if it is detected based on the analysis results that the position and orientation are appropriate, the insertion mechanism 26 can be inserted as is and promptly.

[0132] The autonomous operating system 1 further comprises a second operating mechanism 16 and a motion control unit 315. The second operation mechanism 16 accepts operations on the loading device 20 from the user. After the autonomous control unit 312 controls the position and orientation of the insertion mechanism 26, the operation control unit 315 causes the loading device 20 to perform some of the work in accordance with the remote control received by the second operation mechanism 16, and also performs transmission control to transmit the force applied to the loading device 20 to the user via the second operation mechanism 16. This transmits the force applied to the loading device 20 to the user U. That is, control (bilateral control) is performed to transmit haptic sensations. Therefore, the user U can perform work with higher precision while feeling the force from the loading device 20 (for example, a reaction force from the environment), in the same way as if they were working close to a working face or the like at a work site, even though the work is remotely controlled.

[0133] The operation control unit 315 causes the loading device 20 to perform some of the work by reproducing the transmission control that was previously performed based on the physical quantities detected in the transmission control that was previously performed or the parameters used in the transmission control that was previously performed. This allows the loading device 20 to execute some of the work by reproducing transmission control that was previously performed without manual intervention by the user U.

[0134] The loading device 20 is a device that performs, as part of its work, an operation of inserting an insertion object, which is at least one of an explosive and a filler, into the charging hole H by using an insertion mechanism 26. This allows the task of loading at least one of explosives and charge material to be carried out without the manual intervention of the user U.

[0135] [Realization of functions through hardware and software] The function of executing the series of processes according to the above-described embodiment can be realized by hardware, software, or a combination of these. In other words, it is sufficient that the function of executing the series of processes described above is realized in any of the autonomous operating systems 1, and there are no particular limitations on how this function is realized.

[0136] For example, when the function of executing the above-mentioned series of processes is realized by a processor that executes arithmetic processing, the processor that executes this arithmetic processing includes processors that are composed of various processing devices alone, such as single processors, multiprocessors, and multicore processors, as well as processors that combine these various processing devices with processing circuits such as ASICs (Application Specific Integrated Circuits) or FPGAs (Field-Programmable Gate Arrays).

[0137] Furthermore, for example, when the function of executing the above-described series of processes is realized by software, the program constituting the software is installed on a computer via a network or a recording medium. In this case, the computer may be a computer incorporating dedicated hardware, or may be a general-purpose computer (e.g., a general electronic device such as a general-purpose personal computer) that can execute predetermined functions by installing a program. Furthermore, the steps of writing the program may include only processes that are executed chronologically according to the order, but may also include processes that are executed in parallel or individually. Furthermore, the steps of writing the program may be executed in any order within the scope of the present invention.

[0138] A recording medium on which such a program is recorded may be provided to a user by being distributed separately from the computer main body, or may be provided to a user in a state where it is pre-installed in the computer main body. In this case, the storage medium distributed separately from the computer main body is, for example, removable medium 100, which is composed of a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. An optical disk is, for example, a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), or a Blu-ray (registered trademark) Disc. An magneto-optical disk is, for example, an MD (Mini Disc). Furthermore, a recording medium provided to a user in a state where it is pre-installed in the computer main body is, for example, a storage unit 37 on which the program is recorded, which is composed of an HDD (hard disk drive) or an SSD (solid state drive). [Explanation of symbols]

[0139] 1 Autonomous work system, 10 Operation device, 11a, 11b, 21a, 21b Driver, 12a, 12b, 22a, 22b Actuator, 13a, 13b, 23a, 23b Position sensor, 14, 24, 38 Communication unit, 15 First operation mechanism, 16 Second operation mechanism, 20 Loading device, 25 Alignment mechanism, 26 Insertion mechanism, 27 Guide member, 28 Leg line mechanism, 29 Placement mechanism, 30 Control device, 31 Processor, 32 ROM, 33 RAM, 34 Bus, 35 Input unit, 36 Output unit, 37 Memory unit, 39 Drive, 51 Parent die, 52 Addition die, 53 Bean paste, 100 Removable media, 311 Image data analysis unit, 312 Autonomous control unit, 313 Image presentation unit, 314 Physical quantity data acquisition unit, 315 Operation control unit, 316 placement instruction unit, 371 physical quantity data storage unit, 372 image data storage unit, 511 water-containing explosive, 512 electric detonator, 513 landing wire, 514 cable tie, A aerial work vehicle, SC stereo camera, D display, F face, H charge hole, CS controlled system, FT force / speed allocation conversion block, FC ideal force source block, PC ideal speed (position) source block, IFT inverse conversion block

Claims

1. a measuring means for measuring the tunnel face inside the tunnel; An analysis means for analyzing data measured by the measurement means to detect the position and orientation of a charge hole provided in the face; a loading device that performs at least a part of a blasting operation by inserting a rod-shaped member into the charge hole; An autonomous control means that autonomously controls the position and orientation of the rod-shaped member based on the position and orientation of the charging hole detected by the analysis means so that the position and orientation of the rod-shaped member are suitable for inserting the rod-shaped member into the charging hole; An autonomous operation system comprising:

2. The measuring means measures the face a plurality of times while changing the measurement direction, The analysis means detects the position of the charging hole by identifying the shape corresponding to the charging hole from each of the plurality of measured data, and detects the orientation of the charging hole based on the area of ​​the shape in each measured data.

2. The autonomous operation system according to claim 1 .

3. The measuring means measures the face a plurality of times while changing the measurement direction, The analysis means detects the position of the charging hole by identifying a shape corresponding to the charging hole from each of the plurality of measured data, and detects the orientation of the charging hole based on the ratio of the length of the shape in a first direction to the length of the shape in a second direction intersecting with the first direction in each measured data.

2. The autonomous operation system according to claim 1 .

4. The analysis means identifies the shape of a circle circumscribing the charging hole as the shape corresponding to the charging hole.

4. The autonomous operation system according to claim 2 or 3.

5. The measuring means The measuring device is disposed at a position where it can measure the same direction as the longitudinal direction of the rod-shaped member and moves together with the rod-shaped member.

4. The autonomous operation system according to claim 1, wherein the autonomous operation system comprises: a first member;

6. an operation device that accepts an operation on the loading device from a user; an operation control means for causing the loading device to perform the part of the work in response to a remote operation received by the operation device after the autonomous control means has controlled the position and orientation of the rod-shaped member, and for performing a transmission control for transmitting a force applied to the loading device to the user via the operation device; 4. The autonomous operation system according to claim 1, further comprising:

7. the operation control means causes the loading device to perform the part of the work by reproducing the transmission control performed in the past based on a physical quantity detected in the transmission control performed in the past or a parameter used in the transmission control performed in the past; 7. The autonomous operation system according to claim 6.

8. The loading device is a device that performs, as the part of the work, an operation of inserting an insertion object, which is at least one of an explosive and a charge material, into the charge hole by the rod-shaped member.

4. The autonomous operation system according to claim 1, wherein the autonomous operation system comprises: a first member;

9. a measuring means for measuring the tunnel face inside the tunnel; An analysis means for analyzing data measured by the measurement means to detect the position and orientation of a charge hole provided in the face; a loading device that performs at least a part of a blasting operation by inserting a rod-shaped member into the charge hole; An autonomous operation method performed by an autonomous operation system comprising: an autonomous control step of autonomously controlling the position and orientation of the rod-shaped member based on the position and orientation of the charging hole detected by the analysis means so that the position and orientation of the rod-shaped member become suitable for inserting the rod-shaped member into the charging hole; An autonomous working method comprising:

10. a measuring means for measuring the tunnel face inside the tunnel; An analysis means for analyzing data measured by the measurement means to detect the position and orientation of a charge hole provided in the face; a loading device that performs at least a part of a blasting operation by inserting a rod-shaped member into the charge hole; A program for autonomously controlling an autonomous operating system comprising: an autonomous control function that autonomously controls the position and orientation of the rod-shaped member based on the position and orientation of the charging hole detected by the analysis means so that the position and orientation of the rod-shaped member become suitable for inserting the rod-shaped member into the charging hole; A program that makes the above happen on a computer.

Images