Drilling control device

Abstract

To prevent a boom from interfering with an obstacle during drilling positioning for starting drilling.SOLUTION: A drilling control device 20 has a drilling position management unit 21 that manages a drilling start position by a guide shell 13. The drilling position management unit 21 executes drilling start position management processing including a step S100 of acquiring a position information of an actual face and a position information of an obstacle near the actual face, a step S110 of setting a virtual face to start actual drilling facing the actual face, a step S120 of setting a movement plane for retracting the guide shell so as to avoid the obstacle from the virtual face, and a step S130 of determining the drilling start position by moving the tip of the guide shell by using boom control based on inverse kinematics calculation using the Jacobian matrix within the movement plane.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] In tunnel construction, the drilling work involves first driving the boom and guide shell to position the drilling device so that it faces the face in accordance with pre-planned drilling position data (drill plan) (hereinafter also referred to as "drilling positioning"), and then driving the drilling device to drill the blast hole (hereinafter also referred to as "actual drilling"). In previous control using drilling control devices such as drilling guidance navigation and fully automatic drilling guidance devices, a plane passing through the actual face, including unevenness, was set as a virtual face surface, and actual drilling was started from this virtual face surface toward the actual face (see, for example, Patent Document 1).

[0003] The drilling positioning operation is performed at a position retracted a predetermined distance from the virtual face so that the drilling device does not interfere with the actual face. The plane that serves as the reference for this drilling positioning is called the moving plane. The amount of retraction from the virtual face to the moving plane is set with a margin in anticipation of the path difference that occurs on the moving plane due to boom operation in a general polar coordinate system. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6677567 [Patent Document 2] Japanese Patent Application Publication No. 2019-94665 [Patent Document 3] Patent No. 3418682 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, drilling work consists of drilling positioning work and actual drilling work, and the reality is that improving the efficiency of the actual drilling work is difficult because the drilling conditions are affected by the properties of the rock mass. Therefore, in order to further improve the efficiency of the drilling work, it is essential to shorten the work time for drilling positioning. In response to this, the present applicant has proposed boom control using inverse kinematics calculations with Jacobian matrices so that the trajectory traced by the boom tip during drilling positioning operations follows the shortest path on the moving plane, thereby significantly improving the efficiency of drilling operations (see Patent Document 2).

[0006] However, depending on the construction conditions, near the tunnel face, the tunnel bottom may slope down to the bottom of the face, or relatively large debris may remain at the bottom of the face. Also, with the full-section construction method with auxiliary benches (also known as the micro-bench cut method), the lower bench may protrude significantly. Therefore, when positioning drilling holes using conventional boom control, even if the tip of the guide shell (i.e., the tip of the bit) does not directly interfere with obstacles such as inclined surfaces, debris, and lower benches, when positioning drilling holes close to these obstacles, there is a risk that the boom body, hydraulic hoses, and other equipment (hereinafter also referred to as "drilling equipment") may interfere with these obstacles and be damaged.

[0007] Therefore, the present invention has been made with an eye on such problems, and its objective is to provide a drilling control device that can prevent or suppress drilling equipment such as the boom body from interfering with obstacles when positioning the drilling. [Means for solving the problem]

[0008] In order to solve the above problem, a drilling control device according to one embodiment of the present invention is a drilling control device that includes a drilling position management unit that manages the drilling start position using a guide shell, and the drilling position management unit includes a position information acquisition unit that acquires position information of the actual face and position information of obstacles near the actual face, a virtual face setting unit that sets a virtual face that is arranged opposite the actual face and parallel to the tunnel cross section for starting actual drilling based on the position information of the actual face, a movement plane setting unit that sets a movement plane that is arranged behind and parallel to the position of the virtual face based on the position information of the obstacle and within a range that allows the guide shell to move to avoid the obstacle, and a drilling start position determination unit that determines the drilling start position by moving the tip of the guide shell within the movement plane using boom control based on inverse kinematics calculation using a Jacobian matrix.

[0009] Here, in a drilling control device according to one embodiment of the present invention, the drilling position management unit can use a guide slide mechanism that slides the guide shell in the process of moving the tip of the guide shell toward the virtual face after determining the drilling start position. In addition, in the drilling control device according to one aspect of the present invention, the obstacle may be an auxiliary bench or a lower bench in a full cross-section construction method with an auxiliary bench. [Effects of the Invention]

[0010] According to the present invention, it is possible to prevent or suppress the drilling equipment such as the boom body from interfering with an obstacle when positioning the drilling. [Brief explanation of the drawings]

[0011] [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] An explanatory diagram showing the driving points and operating directions of the boom and guide shell by a drilling control device according to one embodiment of the present invention, where (a) is a plan view, (b) is a side view, and (c) is a front view. [Figure 3] 10 is a flowchart of a drilling start position management process executed by a drilling control device according to one embodiment of the present invention. [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. [Figure 5] This is an explanatory diagram showing (a) the case where boom control is performed using inverse kinematics calculation with Jacobian matrices by a drilling control device according to one embodiment of the present invention in drilling positioning, and (b) the case where boom control is performed using a polar coordinate system. DETAILED DESCRIPTION OF THE INVENTION

[0012] 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.

[0013] 1, 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 an operator of the drill jumbo 10 or commands from a drilling control device 20. 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.

[0014] Furthermore, the drill jumbo 10 of this embodiment is configured with a 3D scanner (not shown) and a comprehensive tunnel surveying system 40 as equipment that constitutes the drilling control system. The comprehensive tunnel surveying system 40 is separately provided behind the drill jumbo 10 inside the tunnel shaft. As shown in FIG. 1 , the comprehensive tunnel surveying system 40 has a total station 41 installed inside the tunnel shaft and an arithmetic and control unit 42. The total station 41 is capable of measuring the position and direction of the traveling carriage 11 of the drill jumbo 10, as well as the positions of the tunnel wall and face K, and the measured information is output to the drilling control device 20. Note that the comprehensive tunnel surveying system 40 may be, for example, that disclosed in Patent Document 3.

[0015] The three-dimensional scanner is a scanning type light-wave distance meter, and is mounted at an appropriate position on the drill jumbo 10 so as to be able to measure the position of the actual face and the positions of obstacles near the actual face, and information on the measured actual face and information on obstacles near the actual face is output to the drilling control device 20. The drilling control device 20 is then able to acquire, as position information, the absolute coordinates of the actual face and obstacles near the actual face, which are the targets, from the information measured by the total station 41 and the position information measured by the three-dimensional scanner.

[0016] Furthermore, the drill jumbo 10 of this embodiment is provided with a plurality of attitude detection sensors 19 capable of acquiring information about attitude and orientation for each drive unit shown in Fig. 2. Fig. 2 shows the drive locations and movement directions of the boom 12 and guide shell 13 of this embodiment. This enables the drilling control device 20 to generate position information for the tip of the guide shell 13 at any time from the information about attitude and orientation acquired from the plurality of attitude detection sensors 19 equipped on the drill jumbo 10.

[0017] Regarding the boom 12, the rotational movement BW around the vertical axis is called "boom swing," the rotational movement BL around the horizontal axis is called "boom lift," and the extension / contraction movement BS in the axial direction is called "boom slide." Regarding the guide shell 13, the rotational movement GW around the vertical axis is called "guide swing," the rotational movement GC around the horizontal axis is called "guide tilt," the rotational movement GD is called "guide dump," the rotational movement GR around the axial direction is called "guide rotary," and the extension / contraction movement GS in the axial direction is called "guide slide."

[0018] Here, 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 work vehicles such as a fully automatic drill jumbo 10 for automatically drilling a charge hole in the face K, thereby enabling automatic control of drilling. In particular, the drilling control device 20 of this embodiment, as shown in Figure 1, has as functional blocks a drilling position management unit 21 that manages the drilling start position by the guide shell 13, and a drilling control unit 24 that controls the entire other automatic drilling process in the attitude managed by the drilling position management unit 21.

[0019] In detail, the drilling control device 20 is an information processing device including a computer, and is equipped with a CPU, a memory device 32 that stores the CPU's control program, etc., various driving parts of the drill jumbo 10, an interface that mediates the input and output of data to external devices including the above-mentioned 3D scanner, multiple attitude detection sensors 19, etc. 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.

[0020] 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, a monitor 31, etc. that are operated by an operator, allowing the operator to monitor and perform necessary operations in the control room. More specifically, when the drilling start position management process is executed by the drilling position management unit 21 of the drilling control device 20, as shown in Figure 3, the process proceeds to step S100, and the drilling position management unit 21 acquires position information of the actual face F0 and position information of an obstacle B1 near the actual face F0 (step S100 corresponds to the ``position information acquisition unit'').

[0021] Proceeding to the next step S110, the drilling position management unit 21 sets a virtual face F1, where actual drilling will begin, parallel to the tunnel cross section by aligning the guide shell 13 with the actual face F0 based on the position information of the actual face F0 (step S110 corresponds to the "virtual face setting unit"). Then, proceeding to the next step S120, the drilling position management unit 21 sets a movement plane F2, which is located rearward of the position of the virtual face F1 and which is within the range of the avoidance operation plane on the guide shell 13 to avoid the obstacle B1, parallel to the tunnel cross section based on the position information of the obstacle B1 (step S120 corresponds to the "movement plane setting unit").

[0022] Next, proceeding to the next step S130, the drilling position management unit 21 determines the drilling start position for starting the next drilling by moving the tip of the guide shell 13 using boom control based on inverse kinematics calculation using the Jacobian matrix within the movement plane F2, as shown in the movement image of the avoidance operation in Figure 5(a) (step S130 corresponds to the drilling start position determination unit), and returns the processing to the actual drilling control processing in the drilling control unit 24.

[0023] Here, in the drilling control device 20 of this embodiment, in boom control by inverse kinematics calculation using Jacobian matrices, when the boom 12 is rotated by the boom swing (BW), the guide swing (GW) is rotated in synchronization with this, and control is performed so that the axis of the guide shell 13 is basically kept parallel to the axis of the tunnel, which is called parallel synchronization control. The drilling control device 20 also controls the guide tilt (GC) in parallel synchronization with the boom lift (BL), thereby controlling the axis of the guide shell 13 to maintain a basically horizontal state.

[0024] In this embodiment, the drilling control unit 24 determines the next drilling start position within the movement plane F2, and then returns to the drilling control process. In the drilling control process, the process of moving the tip of the guide shell 13 toward the virtual working face F1 is followed by the process of moving the guide shell 13 using a guide slide mechanism (symbol Gs in FIG. 2) that slides the guide shell 13, and then proceeds to the next actual drilling. However, if the drilling range becomes small when moving only the guide slide (Gs), the boom slide (BS) is also moved toward the virtual working face F1.

[0025] Next, a procedure for positioning a drilling hole using the drilling control device 20 of this embodiment will be described. In this embodiment, when the operator inputs a command to execute the drilling control process from the operation panel 30, the drilling control device 20 first executes the drilling start position management process. When the drilling start position management process is executed, the above-mentioned 3D scanner and comprehensive tunnel surveying system 40 measure the actual face F0 and the obstacle B1 near the actual face F0, as shown in Figure 4. Then, in the drilling control device 20, the drilling position management unit 21 acquires position information of the actual face F0 and position information of the obstacle B1 near the actual face F0 (step S100). In addition, in the drilling control device 20 of this embodiment, an example of measurement using the above-mentioned 3D scanner is shown, but the unevenness of the actual face and the protrusion amount of obstacles can also be measured, for example, using information obtained by abutting the tip of the guide shell 13 against the target object and the comprehensive tunnel surveying system 40.

[0026] Next, the drilling position management unit 21 sets a virtual face F1 that faces the actual face F0 and starts actual drilling based on the position information of the actual face F0 (step S110). At this time, in the drilling control device 20 of this embodiment, the drilling position management unit 21 determines the state of unevenness from the measured position information of the actual face F0. Then, based on the determined state of unevenness, the drilling position management unit 21 sets the position of the virtual face F1 based not on the actual face F0 itself, but on the most protruding part B2 of the unevenness of the actual face F0 shown in Figure 4. It is common to set the virtual face F1 a predetermined distance back from the most protruding part B2 of the actual face F0 (symbol R0 to the right in Figure 4), but it may also be a plane including the most protruding part B2.

[0027] Next, the drilling control device 20 of this embodiment sets a movement plane F2 based on the virtual working face F1. At this time, the drilling position management unit 21 sets the movement plane F2, which is a position where the obstacle B1 is retracted from the virtual working face F1 by an avoidable retraction amount R based on the position information of the obstacle B1 so as not to interfere with the obstacle B1 near the actual working face F0, and which defines the range within which the guide shell 13 is allowed to move to avoid the obstacle B1 (step S120).

[0028] In the example shown in Figure 4, the setback amount R is set so as to avoid interference between the lower bench B1 and the drilling equipment including the guide shell 13. In other words, the obstacle in the figure is the lower bench B1 portion of the auxiliary bench B in the full cross-section construction method with auxiliary bench. Next, the drilling position management unit 21 performs the next drilling positioning by moving the tip of the guide shell 13 using boom control based on inverse kinematics calculation using the Jacobian matrix within the movement plane F2, as shown in Figure 5(a) (step S130).

[0029] 5 is an explanatory diagram showing (a) the case where boom control by inverse kinematics calculation using Jacobian matrices is used in drilling positioning, and (b) the case where boom control in a polar coordinate system is used. Details of boom control by inverse kinematics calculation using Jacobian matrices are described in detail in Patent Document 2, so a detailed explanation will be omitted here, but this control is called planar synchronization control in contrast to the above-mentioned parallel synchronization control. In the same figure, when the tip of the guide shell 13 is moved horizontally from P0 to P1 on the movement plane F2, the control shown in Figure 1(a) performs planar synchronization control, resulting in a linear movement trajectory from P0 to P1, whereas the movement trajectory in the boom control in the polar coordinate system shown in Figure 1(b) is an arc P0P1 with a radius L, which is wasteful.

[0030] Furthermore, in boom control using the polar coordinate system shown in Figure 1(b), the position G1 of the guide shell tip at the center of the swing operation will protrude by δ1 from the line segment P0P1. Therefore, the movement plane F2 must be set at a position that is at least δ1 further away from the obstacle. Furthermore, when the tip of the guide shell 13 is moved vertically from P1 to P2 on the movement plane F2, the control shown in Fig. 1(a) performs planar synchronization control, resulting in a linear movement trajectory from P1 to P2. In contrast, the movement trajectory under the control shown in Fig. 1(b) is an arc of radius L from P1 to G2, and a distance δ2 remains between the guide shell tip positions G2 and P2, requiring a correction operation for this amount.

[0031] In contrast, according to the drilling control device 20 of this embodiment, the tip of the guide shell 13, i.e., the bit 17, is moved along the moving plane F2 using planar synchronization control, so that the bit 17 does not interfere with obstacles such as the lower bench B1 of the auxiliary bench B, and there is also no risk of drilling equipment such as the boom 12 or hose interfering with obstacles. After the drilling positioning operation is performed on the moving plane F2, the guide slide (GS) is driven to move the guide shell 13 until the bit 17 reaches the virtual face F1, and actual drilling work begins toward the actual face F0.

[0032] In this way, according to the drilling control device 20 of this embodiment, the virtual face F1 and moving plane F2 are set taking into account the optimal amount of retraction depending on the state of obstacles (B, B1, B2) near the face K, and further, the drilling positioning operation on the moving plane F2 is performed by moving the tip of the guide shell 13 within the moving plane F2 by planar synchronization control, so that there is no risk of the drilling equipment, including not only the guide shell 13 but also the boom 12 and hoses attached thereto, coming into contact with obstacles, and it is possible to perform drilling positioning efficiently.

[0033] The above describes the drilling control device 20 of this embodiment, 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, the virtual face F1 may be set to a flat surface with a concave center to form a mortar shape. Also, the movement plane F2 does not necessarily have to be set at a position completely removed from obstacles, but may be set to position the drilling hole using a movement trajectory that avoids obstacles. [Explanation of symbols]

[0034] 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 position management section 24 Perforation control section 30 Operation Panel 31 Monitor 32 Storage device 40 Comprehensive tunnel surveying system 41 Total Station 42 Calculation control unit T shoring F0 Real Face F1 Virtual face F2 moving plane B. Auxiliary bench (obstacle) B1 Lower bench (obstacle) B2 Most protruding part R Retraction amount K Cutting edge

Claims

1. A drilling control device comprising a drilling position management unit that manages the drilling start position by a guide shell, and a drilling control unit that controls an actual drilling operation, The drilling position management unit a position information acquisition unit that acquires position information of the actual face and position information of obstacles near the actual face; A virtual face setting unit that sets a virtual face for starting actual drilling, the virtual face being provided parallel to the tunnel cross section opposite the actual face, based on the position information of the actual face; a movement plane setting unit that is provided rearward of and parallel to the position of the virtual working face and that sets a movement plane within a range in which the guide shell moves to avoid the obstacle, based on the position information of the obstacle; a drilling start position determination unit that determines a drilling start position by moving the tip of the guide shell using boom control based on inverse kinematics calculations using a Jacobian matrix within the movement plane, The drilling control device is characterized in that when performing a drilling positioning operation to determine the drilling start position, the drilling control unit retracts the tip of the guide shell to a position on the moving plane, and when starting the actual drilling operation, the drilling control unit advances the tip of the guide shell to a position on the virtual face.

2. A drilling control device as described in claim 1, which uses a guide slide mechanism to slide the guide shell in the process of moving the tip of the guide shell toward the virtual face after determining the drilling start position.

3. 3. The drilling control device according to claim 1, wherein the obstacle is an auxiliary bench or a lower bench in a full cross-section drilling method with an auxiliary bench.

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