Drilling position acquisition system

Abstract

The objective is to provide a drilling position acquisition system that can acquire the drilling position of the propellant hole drilled in the tunnel face. [Solution] In a tunnel excavation method in which a tunnel face is drilled using an excavator and a propellant charge is loaded into the drilled hole, a drilling position acquisition system is provided to identify the position of the propellant charge hole drilled in the tunnel face, comprising: a tunnel face shape acquisition means for acquiring the actual three-dimensional shape of the tunnel face; a drilling work recording means for acquiring work image data that records the drilling work on the tunnel face by the excavator as video; a drilling start detection means for detecting when drilling of the propellant charge hole by the excavator has started; and a drilling information processing device that processes the surface shape of the tunnel face F acquired by the tunnel face shape acquisition means, the work image data acquired by the drilling work recording means, and the timing at which drilling of the propellant charge hole was started detected by the drilling start detection means, in order to acquire the position of the propellant charge hole drilled in the tunnel face by the excavator.

Description

Technical Field

[0001] The present invention relates to a drilling position acquisition system for acquiring the position of a charging hole drilled in a face.

Background Art

[0002] Conventionally, in mountain tunnel construction, after drilling a plurality of charging holes for loading explosives at the face, which is the excavation surface, using an excavator, a set amount of explosives is loaded according to the positions of the drilled charging holes, and excavation is carried out by detonating the explosives.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, operational errors such as misidentifying the position when loading explosives into the charging holes and loading an incorrect amount of explosives different from the intended amount have occurred. Therefore, it is necessary to enable workers to accurately grasp the positions of the charging holes when loading explosives. For example, Patent Document 1 discloses a detection device and a detection method for detecting the excavation position of an excavator that photographs the state of excavating a face with a camera, detects the tip of the excavator using image analysis technology, and specifies the excavation position on the face. However, it is difficult to accurately detect the tip of the excavator in millimeters using image analysis technology. Also, depending on the position where the charging hole is drilled, there may be cases where the tip is not photographed due to the shadow of the excavator. Therefore, in view of the above various problems, an object of the present invention is to provide a drilling position acquisition system capable of acquiring the drilling position of a charging hole drilled in a face.

Means for Solving the Problems

[0005] To solve the above problems, a drilling position acquisition system is configured for a tunnel excavation method in which a tunnel is excavated by drilling a tunnel face with an excavator and loading a propellant into the drilled hole, and the system identifies the position of the propellant hole drilled in the tunnel face, comprising: a tunnel face shape acquisition means for acquiring the actual three-dimensional shape of the tunnel face; a drilling work recording means for acquiring work image data that records the drilling work on the tunnel face by the excavator as video; a drilling start detection means for detecting when drilling of the propellant hole by the excavator has started; and a drilling information processing device that processes the surface shape of the tunnel face acquired by the tunnel face shape acquisition means, the work image data acquired by the drilling work recording means, and the timing at which drilling of the propellant hole started detected by the drilling start detection means to acquire the position of the propellant hole drilled in the tunnel face by the excavator, and the drilling information processing device models the tunnel based on the tunnel design drawings. The system comprises a tunnel model, an excavator model that models the excavator, and an excavator equipment model that models the excavator's excavating equipment, and includes a tunnel display means for displaying the tunnel model on a display means, an excavator position processing means for positioning the excavator model on the tunnel model displayed on the display means, a face display processing means for overlaying and displaying an actual face model that models the three-dimensional shape of the face acquired by a face shape acquisition means onto the tunnel model displayed on the display means, an excavator equipment position processing means for extracting the excavator's excavating equipment from the video recorded by a drilling work recording means when the start of drilling of the explosive hole by the excavator is detected by a drilling start detection means, and matching the extracted excavating equipment with a excavator equipment model, and a drilling position identification means for considering the point of contact between the excavator equipment model matched by the drilling equipment position processing means and the actual face model as a drilling position and setting it as a temporary drilling position. With this configuration, when the drilling operation recording means records the drilling operation as video, even if the tip of the drilling device is not filmed, the position of the tip of the drilling device relative to the working face can be determined by matching the drilling device included in the video with a drilling device model that models the drilling device, and the position of the drilled explosive hole can be reliably obtained while drilling the explosive hole in the working face. Furthermore, as another configuration of the drilling position acquisition system, the drilling information processing device has drilling information including a plurality of pre-set design drilling positions and quantities as charging holes to be drilled in the tunnel face, and is equipped with a drilling position linking means that links the design drilling position closest to the temporary drilling position set by the drilling position identification means among the plurality of design drilling positions included in the drilling information. This configuration allows for confirmation of which of the pre-set design drilling locations the explosive charge hole was drilled at. Furthermore, as another configuration of the drilling position acquisition system, the system is equipped with a drilling position determination means that determines whether the linking of the drilling position to the design drilling position by the drilling position linking means has been performed for all design drilling positions. This configuration allows for the drilling of explosive holes in the entire working face. [Brief explanation of the drawing]

[0006] [Figure 1] This is a schematic diagram of the drilling position acquisition system according to this embodiment. [Figure 2] This figure shows an example of the hardware configuration of a drilling information processing device. [Figure 3] This is a block diagram showing the configuration of a drilling information processing device. [Figure 4] This is an example of a tunnel model displayed on a display device. [Figure 5] This diagram shows a tunnel model with an excavator model overlaid on top. [Figure 6] This figure shows an example of image processing performed using a drilling operation recording device on video footage of the excavation process at the tunnel face using a drilling device. [Figure 7]This diagram illustrates the concept of linking the provisional drilling location with the designed drilling location. [Figure 8] This is a flowchart showing the processing in a drilling information processing device.

[0007] The present invention will be described in detail below through embodiments of the invention. However, the following embodiments are not intended to limit the invention as defined in the claims, and not all combinations of features described in the embodiments are essential to the solution of the invention; rather, they include configurations that can be selectively adopted. [Modes for carrying out the invention]

[0008] Figure 1 shows a schematic configuration diagram of the drilling position acquisition system 1 according to this embodiment. As shown in Figure 1, the drilling position acquisition system 1 is applied to the excavator 10 that drills a charging hole H for loading the explosive charge into the tunnel face F during the excavation of the tunnel T, and acquires the position of the charging hole H in the tunnel face F drilled by the excavator 10.

[0009] Here, the excavator 10 will be described. The excavator 10 is mounted on a vehicle body 11 that allows movement within the tunnel T, and is equipped with an excavation device 19 for drilling charging holes H for loading the explosive charge into the tunnel face F of the tunnel T to be excavated. The excavation device 19 is equipped with a guide cell 12 having a drilling mechanism and a boom 17 that moves the position of the guide cell 12 relative to the tunnel face F. In Figure 1, for the sake of explanation, one drilling device 19 is shown on the excavator 10, but the number is not particularly limited.

[0010] As shown in Figure 1, the guide cell 12 includes a rod 14 with a bit 13 attached to one end, a drifter 15 that supports the other end of the rod 14, and a guide arm 16 that guides the movement of the drifter 15. When the drifter 15 moves back and forth along the guide arm 16 by a drive mechanism (not shown), the rod 14 also moves back and forth along the guide arm 16.

[0011] The drifter 15 is driven by, for example, hydraulic pressure, configured to apply a striking force together with a rotational force to the rod 14, and drills the charging hole H by rotating and striking the bit 13 while pressing the bit 13 against the face F.

[0012] The vehicle body 11 supports the base end of the telescopic boom 17 so as to be swingable in the vertical and lateral directions, and the guide arm 16 of the guide cell 12 is supported at the tip of the boom 17 so as to be swingable in the vertical and lateral directions. The boom 17 swings and expands / contracts with respect to the vehicle body 11 by, for example, a driving mechanism using hydraulic pressure. Along with the swinging and expansion / contraction of the boom 17, the guide cell 12 is made movable vertically and horizontally. Further, the guide arm 16 is made swingable with respect to the boom 17 by a driving mechanism (not shown). Along with the swinging of the guide arm 16, the orientation of the guide cell 12 (the orientation of the rod 14) changes.

[0013] Note that during the drilling of the face F by the drilling device 19, the excavator 10 does not move, and there is no change in the positional relationship between the vehicle body 11 and the face F.

[0014] As shown in FIG. 1, the hole drilling position acquisition system 1 includes a face shape acquisition means 20 for acquiring the shape of the actual face F, a hole drilling work recording means 22 for recording the hole drilling work on the face F using the excavator 10, a hole drilling start detection means 24 for detecting that the excavator 10 has started drilling the charging hole H, and a hole drilling information processing device 100 that functions as a processing means for acquiring the position of the charging hole H drilled in the face F by the excavator 10 based on the surface shape of the face F acquired by the face shape acquisition means 20, the operation of the excavator 10 recorded by the hole drilling work recording means 22, the timing of starting the drilling of the charging hole H detected by the hole drilling start detection means 24, and the like.

[0015] The face shape acquisition means 20 is a means for acquiring information regarding the surface shape of the face F, such as the unevenness on the surface of the face F, the inclination of the entire face, and the charging holes H drilled in the face F. In this embodiment, a LiDAR that can measure the surface shape of the face F in three dimensions is used as the face shape acquisition means 20. Note that the face shape acquisition means 20 is not limited to LiDAR, and any means that can acquire the three-dimensional surface shape of the face F may be used. In the following description, it will be described assuming that LiDAR is used as the face shape acquisition means 20.

[0016] When the boring machine 10 is arranged at a predetermined position with respect to the face F to start the boring of the face F, the face shape acquisition means 20 is arranged, for example, on the vehicle body 11 of the boring machine 10 so as to face the face F. Preferably, when the face shape acquisition means 20 measures the surface shape of the face F, it is arranged on the vehicle body 11 so that the components of the boring machine 10 do not become obstacles.

[0017] The LiDAR can measure the distance to the face F by irradiating laser light toward the face F and receiving the reflected light reflected by the face F. While intermittently (in a pulsed manner) irradiating the laser light to be irradiated to the face F, the LiDAR changes its orientation up and down and left and right with respect to the face F and scans the entire face F, thereby measuring the surface shape of the face F. Needless to say, the range scanned by the LiDAR may extend beyond the face F.

[0018] The surface shape of the face F measured by the LiDAR is acquired as a set of a plurality of points (point cloud). Hereinafter, this point cloud is referred to as face shape data, which is a plurality of point clouds representing the surface shape of the face F. Each point constituting the face shape data is associated with its position as coordinates in a coordinate system having the measurement origin set in the LiDAR as the origin. That is, the coordinates of each point represent the distance and direction from the measurement origin to each point. The face shape data acquired by the face shape acquisition means 20 is output to the boring information processing device 100.

[0019] The drilling operation recording means 22 is a means for recording the drilling operation at the tunnel face F using the excavator 10. The drilling operation recording means 22 uses, for example, a camera that can continuously film the drilling operation and acquire it as video image data (digital image data). Hereinafter, the video acquired by the drilling operation recording means 22 will be referred to as work image data. The work image data acquired by the drilling work recording means 22 is output to the drilling information processing device 100.

[0020] The drilling operation recording means 22 is preferably installed on the vehicle body 11 so as to record as video the drilling process of the excavator 10 when it drills into the face F. Preferably, the drilling operation recording means 22 is installed so as to include the relationship between the excavator face F and the excavator 19 when the excavator 19 drills into the face F, for example, its position relative to the face F and the orientation of the excavator 19, and more preferably so as to include the tip of the excavator 19 in the video. However, the video recorded by the drilling operation recording means 22 may not include the tip of the excavator 19 depending on the drilling position.

[0021] The drilling operation recording means 22 can be installed, for example, in the cabin 18 where the drilling operation is performed. This allows the operating status of the drilling device 19 to be recorded from a position close to the viewpoint of the operator operating the excavator 10.

[0022] The drilling start detection means 24 is a means for detecting whether drilling work by the excavator 10 has started. The drilling start detection means 24 can utilize, for example, a pressure sensor that detects changes in the hydraulic pressure of the hydraulic fluid that drives the drifter 15. The hydraulic pressure detected by the drilling start detection means 24 is output to the drilling information processing device 100.

[0023] The face shape acquisition means 20, the drilling work recording means 22, and the drilling start detection means 24 are connected to the drilling information processing device 100 by communication means such as wired or wireless, and the face shape data acquired by the face shape acquisition means 20, the work image data acquired by the drilling work recording means 22, and the hydraulic pressure detected by the drilling start detection means 24 are output to the drilling information processing device 100.

[0024] Figure 2 shows an example of the hardware configuration of the drilling information processing device 100. The drilling information processing device 100 is a so-called computer and includes a arithmetic processing means 101 such as a CPU provided as hardware resources, a storage means 102 such as ROM and RAM, an external input / output means (external IF means) 103 that enables direct connection with external devices, a communication means 104 that enables communication with external devices wirelessly or via wired connection, a display means 105 such as a monitor, and an input means 106 that enables input of commands and other information regarding processing by the arithmetic processing means 101.

[0025] The drilling information processing device 100 may consist of a single computer, or it may be configured for distributed processing using multiple computers. Furthermore, the form of the drilling information processing device 100 may be any of the following: a mobile terminal such as a smartphone or tablet, or a computer such as a notebook computer.

[0026] The drilling information processing device 100 is mounted, for example, on the vehicle body 11 of the excavator 10 and is communicated via wired or wireless means with the face shape acquisition means 20, the drilling work recording means 22, and the drilling start detection means 24. The drilling information processing device 100 is not limited to being mounted on the vehicle body 11 and may be installed in a location other than the vehicle body 11. For example, the drilling information processing device 100 may consist of a server computer wirelessly connected via a network to the face shape acquisition means 20, the drilling work recording means 22, and the drilling start detection means 24.

[0027] The storage means 102 stores information including tunnel information, excavator information, drilling information, drilling location identification program, drilling operation display program, and the like. Furthermore, the storage means 102 stores face shape data input from the face shape acquisition means 20 as face shape information, and work image data input from the drilling work recording means 22 as work image information, etc.

[0028] The tunnel information includes 3D data of the tunnel model Tm, which is a 3D computer graphics model of the tunnel based on the tunnel's design drawings. The tunnel model Tm is linked to information about the coordinate system used when the tunnel was modeled (for example, a rectangular coordinate system where the depth of the tunnel is the X direction, the width of the tunnel is the Y direction, and the height of the tunnel is the Z direction (see Figure 4)), as well as information about the dimensions at actual size.

[0029] Furthermore, the tunnel model Tm may be a representation of the tunnel's inner wall surface using three-dimensional computer graphics, based at least on the tunnel's design drawings. Furthermore, the tunnel model Tm should ideally include 3D data that models temporary structures such as shoring erected during the tunnel excavation process, as well as rock bolts installed on the inner walls of the tunnel.

[0030] The drilling machine information includes 3D data such as the drilling machine model Mm, which is a 3D computer graphics model of drilling machine 10 at its actual size, and the drilling device model Bm, which is a 3D computer graphics model of drilling device 19 at its actual size. The drilling machine model and drilling device model Bm are linked to information about their actual size dimensions. Furthermore, the excavator model Mm and the drilling equipment model Bm are linked to the coordinate systems used when modeling the excavator 10 and the drilling equipment 19, respectively.

[0031] The excavator model Mm may be constructed, for example, by integrally modeling the external shape of the excavator 10, or by combining models of each element that constitutes the external appearance of the excavator 10. The drilling rig model Bm may be constructed by integrally modeling the external shape of the drilling rig 19, or by combining models of each element that constitutes the external shape of the drilling rig 19. Additionally, the drilling rig model Bm may be linked with information that constrains the movement between its movable elements.

[0032] Drilling information includes design information such as the location and number of explosive holes H required for excavating the tunnel face F.

[0033] The drilling location identification program performs a process to identify the location of the explosive hole H when the drilling machine 10 actually drills into the face F.

[0034] The drilling operation display program executes a process to display the drilling operation (an image including at least the tip of the drilling device 19) as computer graphics (CG) on the display means 105 when the drilling machine 10 actually drills the explosive hole H in the face F.

[0035] The drilling information processing device 100 operates as described below by the following means, through which the calculation processing means 101 executes programs such as a drilling position identification program and a drilling operation display program stored in the storage means 102. The following describes each of the means of the drilling information processing device 100.

[0036] As shown in Figure 3, the drilling information processing device 100 includes a tunnel display means 130, an excavator position processing means 140, a tunnel face display processing means 150, an excavator position processing means 160, an excavator model display means 170, a drilling position identification means 180, a drilling position linking means 190, and a drilling number determination means 200.

[0037] Figure 4 shows an example of a tunnel model Tm displayed on the display means 105. The tunnel display means 130 reads the tunnel information stored in the storage means 102 and processes the information to display the tunnel model Tm on the display means 105 based on the read tunnel information. In the following description, the space in which the tunnel model Tm is displayed may be referred to as the model space. The tunnel model Tm, the virtual face Fi (described later), the actual face model Fm, the excavator model Mm, the excavation equipment model Bm, etc., displayed in the model space can be enlarged, reduced, rotated, and their viewpoints changed based on the three-dimensional information contained in each model.

[0038] For example, as shown in Figure 4, the tunnel display means 130 displays the tunnel model Tm on the display means 105, with the current position of the tunnel face F as the reference point, and the front-to-back direction of the display means 105 being the depth direction (excavation direction) of the tunnel.

[0039] The current position of the tunnel face F can be obtained, for example, by measuring the distance from a reference point set outside the tunnel to the tunnel face F. When measuring the position of the tunnel face F, one can use the distinctive features of the tunnel face F. These distinctive features of the tunnel face F could be, for example, parts with joints or uneven shapes.

[0040] The position of the tunnel face F obtained by surveying can be input to the drilling information processing device 100 via the input means 106. The tunnel display means 130 can use the distance input via the input means 106 to display a virtual tunnel face Fi at this position, and also display the tunnel model Tm that is further back from this distance.

[0041] Figure 5 shows a tunnel model with an excavator model superimposed on it. The excavator position processing means 140 reads the excavator information stored in the storage means 102 and, based on the read excavator information, performs processing to place the excavator model Mm on the tunnel model Tm displayed on the display means 105.

[0042] The term "arrangement" here does not necessarily mean overlaying the excavator model Mm onto the tunnel model Tm displayed on the display means 105, but rather means arranging the excavator model Mm on the tunnel model Tm as information.

[0043] In other words, the process of positioning the excavator model Mm within the tunnel model Tm in the excavator position processing means 140 corresponds to the preprocessing for determining the position of the face shape acquisition means 20 mounted on the excavator 10 within the tunnel model Tm.

[0044] In the excavator position processing means 140, for example, the shape of the actual tunnel face F is measured by the tunnel face shape acquisition means 20, and based on the information obtained when the tunnel face shape data is acquired, the excavator model Mm can be positioned relative to the tunnel model Tm.

[0045] When the excavator 10 is positioned at a predetermined location relative to the tunnel face F, and the actual surface shape of the tunnel face F is measured by the tunnel face shape acquisition means 20 (acquisition of tunnel face shape data), the distance from the tunnel face shape acquisition means 20 to the tunnel face F is measured. At this time, the position (point) corresponding to the characteristic part of the actual tunnel face F used for displaying the virtual tunnel face Fi is extracted from the tunnel face shape data, and the X-axis component of the coordinates of this extracted position (point) becomes the distance to the measurement origin of the tunnel face shape acquisition means 20.

[0046] Furthermore, since the face shape acquisition means 20 is mounted on the excavator 10, the excavator model Mm can be positioned relative to the tunnel model Tm based on the dimensions of the excavator 10, by considering the relationship between the origin of the coordinate system of the excavator model Mm and the measurement origin of the face shape acquisition means 20 installed on the excavator 10. In other words, the placement of the excavator model Mm on the tunnel model Tm is processed based on the tunnel face F. Needless to say, as shown in Figure 5, the coordinate system of the excavator model Mm is aligned with the coordinate system of the tunnel model Tm (a plane rectangular coordinate system). This alignment means that the coordinate system of the excavator model Mm can be converted to the coordinate system of the tunnel model Tm.

[0047] The tunnel face display processing means 150 performs processing to overlay the actual tunnel face model Fm onto the tunnel model Tm displayed on the display means 105, based on the tunnel face shape data recorded in the storage means 102. The tunnel face display processing means 150 displays the actual tunnel face model Fm using the coordinate system of the excavator model Mm, so that the actual tunnel face model Fm is displayed aligned with the tunnel model Tm.

[0048] Furthermore, when displaying the tunnel face F on the display means 105, using all the point clouds included in the tunnel face shape data to display the tunnel face F may take a long time to process. In such cases, the point clouds representing the tunnel face F may be thinned out, and the remaining point clouds may be linearly interpolated to represent the slopes such as irregularities on the surface of the tunnel face F.

[0049] Furthermore, in the tunnel face display processing means 150, when acquiring tunnel face shape data, if the data includes the inner wall surface and deck slab of the tunnel T surrounding the tunnel face F, the point cloud other than the point cloud representing the tunnel face F (for example, the part corresponding to the inner wall surface and deck slab of the tunnel T) may be masked or removed to display the tunnel face F.

[0050] The drilling device position processing means 160 performs a process to match the drilling device 19, which is included in the video (work image data) acquired by the drilling work recording means 22, with the drilling device model Bm, which is a model of the drilling device 19. Matching the drilling equipment model Bm means identifying the drilling equipment 19 included in the video (work image data) acquired by the drilling work recording means 22, and adjusting the size (scale) and orientation of the drilling equipment model to match the drilling equipment 19.

[0051] In the drilling device position processing means 160, first, as a preprocessing step to match the drilling device model Bm with the drilling device 19 included in the video, the drilling device 19, which has been acquired as 2D information, is converted into 3D information. The information about the drilling device 19 obtained by the drilling operation recording means 22 is only obtained as information on the frames that make up the video, that is, as a two-dimensional coordinate system set in the frame. Therefore, it is necessary to convert it to three-dimensional information in order to match it with the drilling device model Bm which has three-dimensional information. For example, the drilling device position processing means 160 extracts the edges of the drilling device 19 in the frame as feature points. Then, by using the pixels that make up the frame to be processed to determine the distance and direction between feature points, it is considered to represent the actual orientation of the drilling device 19 when the frame to be processed was captured, and depth information can be assigned to each feature point based on the actual dimensions of the drilling device 19. This allows the drilling device model Bm to track the location of the drilling device 19 at that feature point. Furthermore, the drilling device 19, which has been converted into three-dimensional information, can be linked to the coordinate system of the tunnel model Tm by utilizing the position of the drilling operation recording means 22 on the drilling machine 10 and the orientation of the optical axis captured by the drilling operation recording means 22.

[0052] Figure 6 shows an example of image processing performed by the drilling operation recording means 22 on video footage of the excavation process at the tunnel face by the drilling equipment. Figure 6(a) shows the image before processing, and Figure 6(b) shows the image after processing. The matching of the drilling equipment model Bm by the drilling equipment position processing means 160 can be displayed by overlaying the drilling equipment model Bm onto the tunnel model Tm using so-called AR technology. The drilling device position processing means 160 performs image processing to match the drilling device model Bm, for example, by performing edge processing and noise reduction on the video (Figure 6(a)) (work image data) captured by the drilling work recording means 22, and emphasizing the external shape of the drilling device 19 in the video (see Figure 6(b)). Then, by applying a comparison model trained using a group of images of the drilling device 19 (mechanism model) with its external shape emphasized, which has been identified as the drilling device 19, as training data to the drilling device 19 in the video with its external shape emphasized, the drilling device model Bm can be matched to the drilling device 19 in the video.

[0053] The comparison model can be constructed by, for example, using the drilling operation recording means 22 to pre-record predetermined operations of the drilling device 19 (such as operations when drilling the face) and obtaining comparison images of the drilling device 19. Then, the drilling device 19 captured in each frame of these comparison images can be classified by part, such as the whole, tip, rear end, and middle part, and the classified image set can be used as training data to create a decision tree in which the relationships between the parts of the drilling device model Bm are linked, thereby constructing a comparison model. The constructed comparison model can then be stored in a storage means.

[0054] Furthermore, as another form of the drilling device position processing means 160, a so-called motion capture technique may be used, in which a target is placed at a characteristic location of the drilling device 19, the target is recognized from the work image data, and the position and orientation of the drilling device model Bm are estimated to follow the movement of this target.

[0055] In addition, the drilling device position processing means 160 described above detects the drilling device 19 from video (work image data) captured by the drilling work recording means 22, but is not limited to this. For example, the face shape acquisition means 20 can be used instead of the drilling work recording means 22. In this case, the face shape acquisition means 20 can be operated even during drilling, the drilling device 19 can be recognized from the point cloud image obtained by the face shape acquisition means 20, and the drilling device model Bm can be displayed on the display means 105 using the aforementioned machine learning or other techniques.

[0056] The drilling equipment model display means 170 performs processing to display the drilling equipment model Bm, which has been matched by the drilling equipment position processing means 160, on the display means 105. The processing by the drilling equipment position processing means 160 and the drilling equipment model display means 170 may be performed, for example, in accordance with the video captured by the drilling work recording means 22.

[0057] The drilling position identification means 180 determines that drilling by the drilling device 19 has started when the pressure value input from the drilling start detection means 24 reaches a predetermined threshold or higher. At this time, the drilling position at the tunnel face F is identified using the matched drilling device model Bm. The point of contact between the actual face model Fm and the drilling machine model Bm in the model space is considered the drilling location, and is plotted on the actual face model Fm as a provisional drilling location.

[0058] Figure 7 illustrates the concept of linking the provisional drilling location with the designed drilling location. The drilling position linking means 190 reads drilling information from the storage means 102 and links it to the position closest to the position identified as a provisional drilling position by the drilling position identification means 180 from among the multiple design drilling positions (design drilling positions) included in the drilling information.

[0059] The drilling count determination means 200 determines whether the drilling position linking means 190 has linked all design drilling positions to the design drilling positions.

[0060] Figure 8 is a flowchart showing the processing of the drilling information processing device 100 according to this embodiment. In the following explanation, it is assumed that the excavator 10 is positioned in a location where it can begin drilling relative to the tunnel face F. Furthermore, the drilling operation recording means 22 will be described as continuously recording drilling operations.

[0061] The drilling information processing device 100 first reads tunnel data from the storage means 102, and then displays the tunnel model Tm on the display means 105 based on the read tunnel data (S100). Next, the drilling information processing device 100 reads the excavator information from the storage means 102 and displays the excavator model Mm included in the read excavator information overlaid on the tunnel model Tm displayed on the display means 105 (S102). At this time, before displaying it overlaid on the tunnel model Tm, the drilling information processing device 100 operates the face shape acquisition means 20 to measure the shape of the face F and estimates the position of the excavator 10 relative to the face F. Based on this estimation, the coordinate system of the excavator model Mm is aligned with the coordinate system of the tunnel model Tm that is previously displayed on the display means 105 and displayed. Next, before displaying the excavator model Mm, the drilling information processing device 100 displays the actual face model Fm, which is a model of the tunnel face F, on the display means 105 where the tunnel model Tm and the excavator model Mm are displayed, based on the face shape data obtained by measuring the shape of the tunnel face F (S104). Next, the drilling information processing device 100 performs a process to match the drilling device 19, which is included in the video (work image data) acquired by the drilling work recording means 22, with the drilling device model Bm, which is a model of the drilling device 19 (S106). Furthermore, the drilling information processing device 100 makes the drilling device model Bm follow the drilling device 19 as it moves during the drilling operation of the explosive hole H by the drilling machine 10, and displays the drilling device model Bm superimposed on the tunnel model Tm, the actual face model Fm, and the drilling machine model Mm displayed on the display means 105. Next, the drilling information processing device 100 determines that drilling by the bit 13 has started when the pressure value input from the drilling start detection means 24 reaches a predetermined threshold or higher. At this time, the tip of the drilling device model Bm, which is matched to the drilling device 19, intersects with the actual face model Fm displayed on the display means 105, and this intersection point is identified as the drilling position in the actual face model Fm (S108). Next, the drilling information processing device 100 reads the drilling information from the storage means 102, associates it with the design drilling position that is closest to the coordinate position identified as the drilling position among the design drilling positions included in the drilling information, and outputs the relationship to the storage means 102 for storage (S110). Next, the drilling information processing device 100 proceeds to S108 if the number of drilling holes is less than the total number of drilling holes designed, and terminates processing when the total number is reached.

[0062] As described above, according to this embodiment, when the drilling work recording means records the drilling work as video, even if the tip of the drilling device is not filmed, the position of the tip of the drilling device relative to the working face can be determined by matching the drilling device included in the video with a drilling device model that models the drilling device, and the position of the drilled explosive hole can be reliably obtained while drilling the explosive hole in the working face. Furthermore, the drilling information processing device has drilling information that includes a plurality of pre-set design drilling locations and quantities for the explosive holes to be drilled in the tunnel face, and is equipped with a drilling location linking means that links the design drilling location closest to the temporary drilling location set by the drilling location identification means among the plurality of design drilling locations included in the drilling information, so that it is possible to confirm which of the plurality of pre-set design drilling locations the explosive holes were drilled at. Furthermore, since the drilling information processing device is equipped with a drilling number determination means that determines whether the linking of the drilling position to the design drilling position by the drilling position linking means has been performed for all design drilling positions, this configuration makes it possible to drill all propellant holes in the tunnel face without fail.

[0063] In the above embodiment, the position of each propellant hole H in the tunnel face F was described as being determined when drilling into the tunnel face F. However, according to the drilling position acquisition system 1 of this embodiment, even if the propellant holes H are already provided in the tunnel face F, the position of the propellant holes H provided in the tunnel face F can be detected with high accuracy. [Explanation of Symbols]

[0064] 1 Drilling position acquisition system, 10 Drilling machine, 11 Vehicle body, 12 guide cells, 13 bits, 14 rods, 15 drifters, 16 Guide arm, 17 Boom, 18 Cabin, 19 Excavation equipment, 20 Means for acquiring face shape, 22 Means for recording drilling work, 24 Means for detecting drilling start, 100 Drilling information processing device, 105 Display means, 130 Tunnel display means, 140 Excavator position processing means, 150 Face display processing means, 160 Drilling device position processing means, 170 Drilling device model display means, 180 Drilling position identification means, 190 Drilling position linking means 190, 200 Drilling Count Determination Means F: Face, Fi: Virtual face, Fm: Actual face model, H: Charge hole T: Tunnel, Tm: Tunnel model, Mm: Excavator model, Bm: Excavation equipment model.

Claims

1. In a tunnel excavation method that involves drilling holes in the tunnel face using an excavator and loading explosives into the drilled holes, a drilling position acquisition system is provided to identify the location of the explosive holes drilled in the tunnel face. A means for acquiring the shape of the actual tunnel face, A drilling operation recording means for acquiring work image data that records the drilling operation at the tunnel face by an excavator as video, A drilling start detection means for detecting when drilling of the explosive hole has started by the drilling machine, The system includes a drilling information processing device that processes data to obtain the position of a propellant hole drilled in the tunnel face by an excavator, based on the surface shape of the tunnel face obtained by a tunnel face shape acquisition means, work image data obtained by a drilling work recording means, and the timing at which drilling of the propellant hole was started detected by a drilling start detection means. The drilling information processing device is A tunnel model that models the tunnel based on the tunnel's design drawings, A model of an excavator, It has a drilling equipment model that models the drilling equipment of the drilling machine, A tunnel display means for displaying a tunnel model, An excavator position processing means for placing an excavator model on a tunnel model displayed on a display means, A tunnel face display processing means overlays and displays an actual tunnel face model, which is a model of the three-dimensional shape of the tunnel face acquired by a tunnel face shape acquisition means, onto a tunnel model displayed on a display means. When the drilling start detection means detects the start of drilling of the explosive hole by the drilling machine, the drilling work recording means extracts the drilling equipment of the drilling machine from the video recorded, and the drilling equipment position processing means matches the extracted drilling equipment with a drilling equipment model. A drilling position acquisition system characterized by comprising a drilling position identification means that considers the point of contact between a drilling device model matched by a drilling device position processing means and an actual face model as a drilling position and sets it as a provisional drilling position.

2. The drilling information processing device is The system includes drilling information, which includes a number of pre-set design drilling locations and quantities for the explosive holes to be drilled in the tunnel face. The drilling position acquisition system according to claim 1, characterized in that it includes a drilling position linking means that links a design drilling position to the position closest to a provisional drilling position set by a drilling position identification means, among a plurality of design drilling positions included in the drilling information.

3. The drilling position acquisition system according to claim 2, further comprising a drilling position linking means for determining whether the linking to the design drilling positions has been performed for all design drilling positions.

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