Drilling control device

Abstract

To provide a drilling control device capable of preventing or suppressing interference between projecting parts such as a centralizer and shoring when retracting a guide shell.SOLUTION: A drilling control device 20 includes a drilling posture management unit 21 that controls the posture of a guide shell 13 during drilling. The drilling posture management unit 21 includes a position information acquisition unit 22 that acquires end information, which is the position of the end of a shoring T located closest to a face side, and a drilling start point setting unit 23 for setting a tunnel cross section including the coordinates of the end information as a virtual face on the basis of the end information, and setting the drilling start point of an outer peripheral hole on the virtual face.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a drilling control device. [Background technology]

[0002] Conventionally, drilling control devices such as drilling guidance navigation devices and fully automatic drilling guidance devices set one of the following two positions as the drilling start point, and then install a guide shell based on this drilling start point to perform the drilling operation. 1) The position where the rock was struck at the actual face (see, for example, Patent Document 1) 2) A plane passing through the actual face (see, for example, Patent Document 2) [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Jikko No. 55-24237 [Patent Document 2] Patent No. 6677567 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, during tunnel excavation, the tunnel cross section is stabilized by erecting supports on the wall near the face.The drilling process at the drilling start point, which is conventionally set as described above, is programmed so that drilling will not begin until the guide shell has landed on the rock, as shown in the schematic diagram in Figure 6. However, if drilling is performed while the rock is in contact with the rock, the bit 17 at the tip of the rod 16 is located further back (towards the face K) than the already installed support T, so although it is fine to install the guide shell 13 at the drilling start point and then drive the drifter 15 to complete the drilling work, when the guide shell 13 is retracted, there is a risk of interference, such as the protruding parts of the guide shell 13, such as the centralizer 18, getting caught on the support T, as shown in the interference state image in Figure 7. For this reason, conventional drilling control by setting the drilling start point may not be suitable for fully automatic drilling.

[0005] Therefore, the present invention has been made with an eye on such problems, and its object is to provide a drilling control device that can prevent or suppress interference between protruding parts such as centralizers and supporting structures when the guide shell is retracted. [Means for solving the problem]

[0006] In order to solve the above problems, a drilling control device according to one embodiment of the present invention is a drilling control device equipped with a drilling attitude management unit that manages the attitude of the guide shell at the start of drilling, and is characterized in that the drilling attitude management unit has a position information acquisition unit that acquires a coordinate at a position retreated from the actual face in the fore-and-aft direction of the tunnel as end information, and a drilling start point setting unit that sets a tunnel cross section including the coordinate of the end information as a virtual face surface based on the end information, and sets the drilling start point of the outer peripheral hole on the virtual face surface. In a drilling control device according to one aspect of the present invention, it is preferable that the end information is the position of the face-side end of the support structure located closest to the face.

[0007] Here, in a drilling control device according to one embodiment of the present invention, the drilling start point setting unit can be configured to acquire posture information of the guide shell and, based on the posture information, set the posture at the drilling start point so as to ensure a peripheral hole posture in which protruding portions such as centralizers equipped on the guide shell do not interfere with the support structure located closest to the face. In addition, in the drilling control device according to one aspect of the present invention, when the outer peripheral hole where the protruding portion may interfere with the support is called a specific outer peripheral hole, the drilling start point setting unit, when selection information for selecting one of a plurality of outer peripheral holes registered in the preset drilling position information is input, When the selected outer peripheral hole is registered as the specific outer peripheral hole by referring to the drilling position information, The outer peripheral hole for which the selection information has been input can be recognized as the specific outer peripheral hole, and the drilling start point can be set at the position of the virtual face. In addition, in a drilling control device according to one embodiment of the present invention, the drilling start point setting unit can be configured to set the drilling start point at the position of the virtual face only for the specific outer peripheral hole when selection information for the specific outer peripheral hole is acquired. [Effects of the Invention]

[0008] According to the drilling control device of the present invention, interference between protruding portions such as centralizers and supports can be prevented or suppressed when the guide shell is retracted. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view illustrating an embodiment of a drill jumbo equipped with a drilling control device according to one aspect of the present invention. FIG. [Figure 2] 2 is a flowchart of a drilling control process executed by the drilling control device of FIG. [Figure 3] 1 is a side view showing an example of tunnel construction using a drilling control device according to one embodiment of the present invention, showing the state in which a drilling start point is set. [Figure 4] 1 is a side view showing an example of tunnel construction using a drilling control device according to one embodiment of the present invention, showing the drilling state of a peripheral hole. FIG. [Figure 5] 1 is a side view showing an example of tunnel construction using a drilling control device according to one embodiment of the present invention, showing the state in which the guide shell is retracted after the drilling of a peripheral hole has been completed. FIG. [Figure 6] FIG. 1 is a side view showing the construction of a tunnel at a drilling start point using conventional drilling control, showing the setting of the drilling start point. [Figure 7] FIG. 1 is a side view showing the construction of a tunnel at the drilling start point using conventional drilling control, in which the guide shell is retracted after the drilling of the peripheral holes is completed. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that the drawings are schematic. Therefore, it should be noted that the relationship between thickness and planar dimensions, ratios, etc. differ from the actual ones, and the drawings also include portions where the relationship and ratio of dimensions differ from each other. Furthermore, the embodiments described below are intended to exemplify devices and methods for embodying the technical ideas of the present invention, and the technical ideas of the present invention do not limit the materials, shapes, structures, arrangements, etc. of the components to the embodiments described below.

[0011] As shown in Figure 1, the drilling control device 20 of this embodiment is equipment that constitutes a drilling navigation device or a fully automatic drilling guidance device, and is used in a work vehicle such as a fully automatic drill jumbo 10 for automatically drilling a charge hole in a working face K, thereby enabling automatic control of drilling. The drill jumbo 10 of this embodiment includes a traveling carriage 11, a boom 12 that is provided on the traveling carriage 11 and has multiple hydraulically driven movable parts, a guide shell 13 attached to the tip of the boom 12, and a charging cage 14. The boom 12 is configured to be able to change the position and attitude of the guide shell 13 in response to operation by the operator of the drill jumbo 10 or commands from the drilling control device 20.

[0012] The guide shell 13 is provided with a drifter 15 that can move forward and backward on the guide shell 13. The guide shell 13 is equipped with a feed mechanism that drives the drifter 15 forward and backward. The drifter 15 is equipped with a known impact mechanism and a rotation mechanism (neither of which are shown). A rod 16 with a bit 17 attached is provided at the tip of the drifter 15, and a centralizer 18 that can guide the rod 16 is protruded from the tip of the guide shell 13. The drill jumbo 10 of this embodiment is equipped with multiple attitude detection sensors 19 for each drive unit that can acquire information about the attitude and orientation. Furthermore, as part of the drilling control system, a comprehensive tunnel surveying system 40 is separately installed behind the drill jumbo 10 inside the tunnel.

[0013] The tunnel comprehensive surveying system 40 comprises a total station 41 installed inside the tunnel shaft and a calculation control unit 42. The total station 41 is capable of measuring the position and direction of the main body of the traveling carriage 11 of the drill jumbo 10, as well as the positions of the tunnel wall and face K. Note that the tunnel comprehensive surveying system 40 may be, for example, that disclosed in Japanese Patent No. 3418682.

[0014] Here, as shown in Figure 1, the drilling control device 20 of this embodiment has, as functional blocks, a drilling attitude management unit 21 that manages the attitude of the guide shell 13 at the start of drilling, and a drilling control unit 24 that controls the entire other automatic drilling process at the attitude managed by the drilling attitude management unit 21. In detail, the drilling control device 20 is an information processing device including a computer, and is equipped with a CPU, a storage device 32 that stores the CPU's control program, etc., and an interface that mediates the input and output of data to and from external devices including various drive units of the drill jumbo 10 and the above-mentioned multiple attitude detection sensors 19. In this embodiment, the "drilling position information" described below is registered in the storage device 32.

[0015] These are connected to each other via a bus, which is a signal line for transferring data, so that they can send and receive data, and the CPU can start a predetermined program and execute punching control processing in accordance with that program. The drilling control device 20 of this embodiment is installed, for example, in a control room that manages the automatic control of the drill jumbo 10. The drilling control device 20 is equipped with an operation panel 30 and a monitor 31 that are operated by an operator, allowing the operator to monitor and perform necessary operations in the control room. In this embodiment, the "end information" described below is input to the drilling control device 20 by the operator from the operation panel 30.

[0016] 1, the drilling control device 20 of this embodiment comprises, as functional blocks, a drilling attitude management unit 21 and a drilling control unit 24. The drilling attitude management unit 21 has a position information acquisition unit 22 that acquires, as end information, one coordinate at a position set back from the actual tunnel face K in the longitudinal direction of the tunnel, and a drilling start point setting unit 23 that sets a virtual tunnel face F1 based on the position information acquired by the position information acquisition unit 22. In particular, the drilling start point setting unit 23 of this embodiment is configured to be able to set a drilling start point P0 at the position of the virtual face F1, which ensures a peripheral hole posture that does not cause protruding parts such as the centralizer 18 equipped on the guide shell 13 to interfere with the support work T.

[0017] More specifically, when the drilling control process is executed by the drilling control device 20, as shown in Figure 2, the process proceeds to step S100, and in this embodiment, it is monitored whether end information, which is the position of the face-side end of the support T located closest to the face K, has been input as the above-mentioned position information. In this embodiment, if end information has been input from the operation panel 30, the process proceeds to step S110, otherwise the process waits in step S100. In step S110, based on the end information, the tunnel cross section including the coordinates of this end information is set as the virtual face F1, and the process proceeds to step S120. In this embodiment, the drilling control device 20 is capable of generating position information of the tip of the guide shell 13 and the tip of the bit 17 at any time from information about the attitude and direction obtained from a plurality of attitude detection sensors 19 equipped on the drill jumbo 10. Therefore, a tunnel cross section including the coordinates of the end information at the time of input can be easily set as the virtual face F1.

[0018] In step S120, it is monitored whether selection information for selecting one of the multiple outer peripheral holes registered in the pre-set drilling position information has been input as a drill plan, and if selection information has been input, the process proceeds to step S130, otherwise, the process proceeds to step S200. In step S200, the normal attitude is set as the attitude control data, for example, by setting the drilling start point at the actual face F0 as in the conventional case, and the process proceeds to step S160.

[0019] In contrast to this, in step S130, preset drilling position information is referenced. When a peripheral hole where a protruding portion such as a centralizer provided on the guide shell may interfere with the support T is called a specific peripheral hole, in this embodiment, the drilling position information list in the storage device 32 is Information on whether each outer hole is a specific outer hole is also included. It is registered and With reference to this information It is determined whether the currently selected drilling target is a specific outer peripheral hole. If it is registered in the drilling position information as a specific outer peripheral hole, If so, the process proceeds to step S140; otherwise, the process proceeds to step S200.

[0020] In step S140, a drilling start point P1 is set at the position of the virtual face F1, and in the following step S150, a peripheral hole posture that ensures that the above-mentioned protrusion does not interfere with the support T located closest to the face among the multiple supports erected at the closing section H of the peripheral wall surface of the face K is generated and set as posture control data (posture control information) at the drilling start point P1, and then the process proceeds to step S160.

[0021] Here, when generating the attitude control data, a transmission request signal is sent from the drilling attitude management unit 21 (drilling start point setting unit 23) of the drilling control device 20 to the calculation control unit 42 of the tunnel comprehensive surveying system 40. In this embodiment, when a transmission request signal is sent from the drilling posture management unit 21, the calculation control unit 42 instructs the total station 41 to measure the calculation information necessary for posture calculation, and transmits the calculation information measured by the total station 41 to the drilling posture management unit 21.

[0022] When the transmitted calculation information is acquired by the drilling attitude management unit 21, the drilling attitude management unit 21 acquires attitude information of the guide shell 13 at the virtual face F1 set based on the end information from the acquired calculation information and the relative information acquired by the relative information acquisition unit 19, and generates the above-mentioned attitude control information for each part such as the drill jumbo 10 and the boom 12 at the drilling start point P1 based on this acquired attitude information. Note that the calculation control unit 42 may store the calculation information measured by the total station 41 in advance in a storage device or the like and refer to the stored calculation information as needed.

[0023] In step S160, the drilling control unit 24 performs the necessary drilling process to drill the currently selected drilling target in the attitude based on the attitude control information generated above. In the following step S170, the drilling control unit 24 determines whether the necessary drilling work has been completed based on, for example, pressure information from a pressure sensor attached to the hydraulic motor of the feeder. If the necessary drilling work has been completed, the process proceeds to step S180, otherwise the process continues with step S 160. In step S180, the drilling control unit 24 executes a process of retracting the guide shell. In the next step S190, the next punching target is referenced from the list of pre-set punching position information. If there is a next punching target, the process returns to step S130 again. If there is no next punching target from the list, the punching control process ends and control returns to the main process.

[0024] Next, a procedure for drilling outer peripheral holes using the drilling control device 20 of this embodiment capable of automatic drilling work, and the effects of the drilling control device 20 of this embodiment will be described. When a drilling operation is performed by the drill jumbo 10 of this embodiment, the drilling control device 20 executes the above-described drilling control process.

[0025] In the drill jumbo 10 of this embodiment, as shown in Figure 3, the drilling control device 20 sets the position of a virtual face F1 at the position of the front end face of the support T that is closest to the actual face F0, rather than the actual face F0. In setting this virtual face F1, the operator first drives the boom 12 to position the bit 17 so that it faces the support T. When the operator determines that the position is appropriate as the position to be set as the virtual face F1, he / she inputs the position into the drilling control device 20 from the operation panel 30 as the end information of the end of the support T located closest to the face.

[0026] In the drilling posture management unit 21, the position information acquisition unit 22 acquires the input end information (step S100), and the drilling start point setting unit 23 sets a tunnel cross section including the coordinates of the end information to the virtual face F1 based on the acquired position information (step S110). Then, the drilling posture management unit 21 refers to the drilling position data (drill plan) previously input in the storage device 32 of the drilling control device 20, and if it is selected as a specific outer peripheral hole (steps S120-130), sets a drilling start point P1 at the virtual face F1 (step S140). The drilling start point P1 is set so that the position of the tip of the bit 17 coincides with the drilling start point P1, for example.

[0027] Furthermore, the peripheral hole attitude control at the drilling start point P1 is performed based on the attitude information of the guide shell 13 described above, and the attitudes of the boom 12 and the guide shell 13 are positioned to a peripheral hole attitude in which protruding parts such as the centralizer 18 do not interfere with the support T (step S150). Next, in that peripheral hole attitude, the drifter 15 is struck, rotated, and fed to perform the desired drilling (steps S160-170). Thus, in this embodiment, for a specific outer peripheral hole, the guide shell 13 is placed at the virtual working face F1, and drilling can be started even if the guide shell 13 is not in a rock-attached state. Then, after the outer peripheral holes are drilled, the guide shell 13 is retracted (step S180). Thereafter, the necessary holes are drilled sequentially based on the drilling position data (drill plan) previously input to the storage device or the like of the drilling control device 20 (YES in step S190).

[0028] Figure 4 shows the state after the outer holes have been drilled using the drill bit 15, and it can be seen that the guide shell 13 and the various components, including the protruding parts such as the centralizers attached to it, are not in contact with the support structure T. Furthermore, Figure 5 shows the state in which the guide shell 13 is retracted after the outer peripheral holes have been drilled, and it can also be seen in this figure that the various components of the guide shell 13 are not in contact with the support structure T.

[0029] In this way, in drilling operations using a drilling navigation device or a fully automatic drilling guidance device, the drilling control device 20 of this embodiment has a drilling start point setting unit 23 that sets the tunnel cross section including end information as a virtual face F1, and in drilling operations for a specific outer peripheral hole selected as an outer peripheral hole that may interfere with the support structure T, a drilling start point P1 is set at the position of the virtual face F1 to control the drilling of the specific outer peripheral hole. As a result, according to the drilling control device 20 of this embodiment, when setting the drilling start point, the drilling attitude management unit 21 can set the drilling start point P0 at the position of the end (face side) of the support so that the drilling attitude is an interference avoidance attitude (circumferential drilling attitude) in which protruding parts such as centralizers equipped on the guide shell 13 do not interfere with the support. Therefore, when the guide shell 13 is retracted, drilling can be performed so that protruding parts such as centralizers do not get caught on the support T (drilling function in interference avoidance attitude).

[0030] In addition, in the drilling control device 20 of this embodiment, during automatic drilling work, the drilling start point setting unit 23 controls the drilling of a specific outer peripheral hole by setting a drilling start point P0 at the position of the virtual face F1, limited to the drilling work of the specific outer peripheral hole selected as the outer peripheral hole that may interfere with the support structure. As a result, the drilling control device 20 of this embodiment can selectively exercise the interference avoidance posture drilling function only for drilling work on specific outer peripheral holes. Therefore, it is suitable for improving the drilling efficiency in other drilling work where there is no risk of interference while reliably avoiding interference in outer peripheral holes that may interfere with the support (selective drilling function for specific outer peripheral holes).

[0031] Furthermore, according to the drilling control device 20 of this embodiment, when outer peripheral hole selection information is input to select one of multiple outer peripheral holes registered in the pre-set drilling position information (drill plan), the drilling start point setting unit 23 can set the selected outer peripheral hole as a specific outer peripheral hole. As a result, according to the drilling control device 20 of this embodiment, only a specific outer peripheral hole from among a plurality of outer peripheral holes can be input in advance as a specific outer peripheral hole in the drill plan. This is advantageous in that it allows for easy setting of whether or not to apply the interference avoidance posture drilling function using the drill plan (specific outer peripheral hole setting function).

[0032] The above describes the drilling control device of the present invention using an embodiment as an example, but the drilling control device of the present invention is not limited to the above embodiment, and of course various modifications are possible without departing from the spirit of the present invention. For example, in the above embodiment, when inputting end information, an example is shown in which visible parts such as the tip of the guide shell or the tip of the bit are brought close to the support structure T to set (input) the end information so that the operator can easily understand it visually, but this is not limited to this.

[0033] In other words, to set the virtual face F1, it is sufficient to input only one coordinate in the longitudinal direction of the tunnel, including the position of the tunnel cross section where the virtual face F1 is set. Therefore, it does not matter if the position where the end information is input is far from the support T, as long as it is on the surface of the virtual face F1. The contour coordinates of the inside of the support are input in advance together with the drilling position information into the storage device 32. The contour coordinates of the inside of the support are not input by the operator by bringing the tip of the guide shell close to the support T.

[0034] The setting of the virtual face F1 itself can be input at any position as long as it is set back from the actual face in the longitudinal direction of the tunnel. The input can be performed by the operator inputting a numerical value from the operation panel 30, or, as in the above embodiment, the operator can position the tip of the guide shell or the tip of the bit at the position where the virtual face F1 should be set, and in that state press the input button on the operation panel 30 to input the value to the drilling control device 20. [Explanation of symbols]

[0035] 10 Drill Jumbo 11 Traveling cart 12. Boom 13 Guide Shell 14 Charging cage 15 Drifter 16 rods 17-bit 18 Centralizer 19 Attitude detection sensor (relative information acquisition unit) 20 Drilling control device 21 Drilling posture control department 22 Location information acquisition section 23 Drilling start point setting section 24 Perforation control section 30 Operation Panel 31 Monitor 32 Storage device 40 Comprehensive surveying system for tunnels 41 Total Station 42 Calculation control unit T shoring F0 Real Face F1 Virtual face P1 Drilling start point K Cutting edge

Claims

1. A drilling control device including a drilling attitude management unit that manages the attitude of the guide shell at the start of drilling, The drilling attitude management unit a position information acquisition unit that acquires, as end information, one coordinate at a position set back from the actual face in the tunnel front-rear direction; A drilling start point setting unit that sets a tunnel cross section including the coordinates of the end information as a virtual face based on the end information, and sets a drilling start point of an outer peripheral hole on the virtual face; and The end information is the position of the face-side end of the support located closest to the face, The drilling start point setting unit A drilling control device characterized by acquiring posture information of the guide shell and, based on the posture information, setting the posture at the drilling start point so as to ensure a peripheral hole posture in which protruding portions such as centralizers equipped on the guide shell do not interfere with the support structure located closest to the face.

2. When a peripheral hole where a protruding part such as a centralizer equipped on the guide shell may interfere with the support is called a specific peripheral hole, The drilling start point setting unit A drilling control device as described in claim 1, wherein when selection information is input to select one of multiple outer peripheral holes registered in pre-set drilling position information, the drilling position information is referenced, and if the selected outer peripheral hole is registered as the specific outer peripheral hole, the outer peripheral hole for which the selection information is input is recognized as the specific outer peripheral hole, and the drilling start point is set at the position of the virtual face.

3. A drilling control device including a drilling attitude management unit that manages the attitude of the guide shell at the start of drilling, The drilling attitude management unit a position information acquisition unit that acquires, as end information, one coordinate at a position set back from the actual face in the tunnel front-rear direction; A drilling start point setting unit that sets a tunnel cross section including the coordinates of the end information as a virtual face based on the end information, and sets a drilling start point of an outer peripheral hole on the virtual face; and The end information is the position of the face-side end of the support located closest to the face, When a peripheral hole where a protruding portion such as a centralizer provided on the guide shell may interfere with the support is called a specific peripheral hole, The drilling start point setting unit When selection information is input to select one of multiple outer peripheral holes registered in pre-set drilling position information, the drilling control device refers to the drilling position information, and if the selected outer peripheral hole is registered as the specific outer peripheral hole, it recognizes the outer peripheral hole for which the selection information has been input as the specific outer peripheral hole and sets the drilling start point at the position of the virtual face.

4. The drilling start point setting unit A drilling control device as described in claim 2 or claim 3, wherein when selection information for the specific outer peripheral hole is acquired, the drilling start point is set at the position of the virtual face only for that specific outer peripheral hole.

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