Boring machine system

Abstract

To provide a boring machine system that unmannedly automates a series of boring processes for core extraction from drilling operation to core cutting operation for extracting cores for geological surveys.SOLUTION: A control unit section 72 individually performs constant speed control such that a rotation speed R of a swivel head 40, an elevation speed V of a lifting device 30, and a water supply amount Q of a water pump 50 are equal to a target rotation speed RT, a target elevation speed VT, and a target water supply amount QT, respectively, a core is collected while drilling with a core barrel 2 at a predetermined stroke distance ST. Further, when the rotation speed R of the swivel head 40 fluctuates from within a predetermined range of the target rotation speed RT, other target elevation speed VT and target water supply amount QT are changed according to the amount of variation from the target rotation speed RT, and constant speed control is individually performed so that they become equal to the target rotation speed RT, the target elevation speed VT' and target water supply amount QT'.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a boring machine system, and more particularly to a boring machine system that automates a series of boring processes for core sampling, from drilling to core cutting, for geological surveys. [Background technology]

[0002] One of the problems facing the geological survey industry is the declining workforce. Specifically, there are fewer young engineers in their teens and twenties compared to the number of experienced engineers in their 60s and 70s who will soon retire. If this trend continues, it may become difficult to pass on boring techniques from experienced engineers to younger engineers. Furthermore, in the long term, there is a concern that the number of geological surveys will decrease due to the decline in the number of boring engineers. As countermeasures, measures such as providing education and training for young engineers, standardizing techniques, and introducing engineer certification systems are being implemented.

[0003] On the other hand, the demand for geological surveys is increasing from the perspectives of disaster prevention and mitigation, national resilience, and geological risk management. To address this imbalance, it is necessary to supplement the transmission of technical skills with machinery.

[0004] Figure 22 is an explanatory diagram showing the drilling process for core sampling in conventional geological surveys. First, the field engineer sets up the boring machine (Figure 22(a)). Next, a core barrel is attached to the tip of a rod (for example, Φ40.5 mm), and the rod is rotated and driven in to a predetermined depth while drilling water is sprayed from the tip of the core barrel (Figure 22(b)(c)). Next, the rod is pulled up (Figure 22(d)). Next, a sampler is attached to the tip of the rod, and the rod is rotated and driven in to a predetermined depth to collect a core (soil sample) (Figure 22(e)(f)). Next, the rod is pulled up to obtain the sampler with the core sampled at the predetermined depth (Figure 22(g)). Next, the core barrel is attached to the tip of the rod again, the rod is inserted into the hole again, and the rod is rotated and driven in to a predetermined depth, and the process from Figure 22(b) to Figure 22(g) is repeated thereafter.

[0005] In particular, in the drilling process shown in Figures 22(f) and (g), in many cases, field engineers have to lift the sampler to the ground every 1 meter to collect a core, then reinsert the core barrel into the investigation hole and continue drilling, which is a very demanding task. Furthermore, field engineers use the viscosity or specific gravity of the water in the borehole to protect the borehole wall and discharge soil while adjusting the flow rate of the drilling water (muddy water). However, managing the mud for soil discharge and borehole wall protection requires advanced skills acquired through long-term experience.

[0006] On the other hand, a drilling method is also sometimes used in which a drilling tool consisting of a Φ40.5 mm rod with a core barrel attached to its tip is placed inside the casing and drilling is performed (the drilling method combining a core barrel with a casing, as shown in Figure 22). Since the borehole wall is protected by the casing, advanced skills are not required for borehole wall protection. However, for automation, two separate rotary drive systems are required to rotate the casing and the rod, making the boring equipment more complex. Also, the number of work items increases, and work efficiency decreases. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2006-132118 [Patent Document 2] Japanese Patent Publication No. 2017-89363 [Patent Document 3] Japanese Patent Application Publication No. 3-194017 [Overview of the project] [Problems that the invention aims to solve]

[0008] Generally, the three elements of rotary boring are (1) rotation, (2) feed, and (3) water supply. Rotation (1) can be controlled by indicators such as the rotational speed and torque of the swivel head. Feed (2) can be controlled by indicators such as the lifting speed (feed rate) and feed pressure of the lifting device. Water supply (3) can be controlled by indicators such as the water volume and water pressure of the water supply pump.

[0009] Furthermore, generally speaking, good boring is characterized by low noise and energy efficiency, a high core extraction rate, and minimal disturbance at the bottom of the borehole.

[0010] When a field engineer begins drilling for core sampling, they need to set three parameters: the rotation speed of the swivel head (min-1), the penetration speed of the lifting device (min / m), and the water flow rate of the water pump (L / min). With the recent advancements in electronic control of boring machines, the control device (controller) controls the actuators (drive units) corresponding to each speed, ensuring that these speeds are equal to the set values ​​(target speed values) set by the field engineer.

[0011] However, finding the optimal combination of the three parameters mentioned above for successful boring was not easy and relied heavily on the skills and experience of experienced technicians. Furthermore, when abnormalities occurred during drilling that caused load (such as increased rotational torque, supply pressure, or water pressure) and prevented the rod from descending, the means of eliminating such abnormalities still largely depended on the skills and experience of experienced technicians.

[0012] Furthermore, in the core cutting process, which involves cutting the collected core (soil sample) from the ground, the ability to collect soil while increasing the collection rate still largely depended on the skills of experienced technicians.

[0013] Therefore, the present invention has been made in view of the above problems of the prior art, and an object thereof is to provide a boring machine system that unmannedly automates a series of boring processes for core sampling from a drilling operation related to core sampling for geological surveys to a core cutting operation.

Means for Solving the Problems

[0014] In order to achieve the above object, the boring machine system according to the present invention includes a rod (1) for drilling the ground, a core barrel (2) composed of an upper part (2a) that locks to the inner peripheral surface of the rod (1) and a hollow cylindrical lower part (2b) that is rotatable relative to the upper part (2a) and has an open end, a feeding device (30) for feeding the rod (1) in a predetermined direction, a rotational drive device (40) for rotating the rod (1), a water supply device (50) for supplying drilling water to the rod (1), a lifting device (35) for lifting the core barrel (2) to the ground, a vehicle body (20) for supporting the feeding device (30), a traveling device (10) for moving the vehicle body (20) forward, backward, and turning, a machine control unit (72) for controlling the feeding device (30), the rotational drive device (40), and the water supply device (50), a data input unit (71) for inputting respective speed target values (VT, RT, QT) for the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotational drive device (40), and the water supply amount (Q) of the water supply device (50), a remote operation device (74) for transmitting respective operation signals for the feeding device (30), the rotational drive device (40), and The aforementioned the water supply device (50) related to the drilling operation of core sampling to the machine control unit (72), which is a wireline type boring device. When the machine control unit (72) receives a start signal for core sampling, it takes the target speed values ​​(VT, RT, QT) from the data input unit (71) and individually controls the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply amount (Q) of the water supply device (50) to be equal to the target speed values ​​(VT, RT, QT), thereby automatically sampling soil samples from a predetermined section using the core barrel (2). Occasionally, The machine control unit (72) is characterized in that, after drilling is completed in one of a predetermined number of sections leading to the target drilling depth, it performs a core cutting operation in which it raises the rod (1) by a predetermined distance only once while maintaining the constant speed control for the rotation speed (R) and the water supply amount (Q).

[0015] In the above configuration, core sampling is performed using a wireline method. The rotational speed (R) of the rotary drive device (40) related to the drilling operation, the lifting speed (V) of the feeder device (30), and the water supply volume (Q) of the water supply device (50) are individually controlled at a constant speed by the machine control unit (72). Furthermore, the target speed values ​​(VT, RT, QT) for each speed in the constant speed control are pre-set based on the test results obtained in prior drilling tests to determine the optimal operating conditions for maximizing the core sampling rate, for example, the rotational speed, lifting speed, and water supply volume when the variation in torque values ​​is small relative to the magnitude of the rotational torque (T) during the drilling operation.

[0016] As a result, the operator only needs to drop or suspend the core barrel (2) into the rod (1) and send a signal to start drilling to the machine control unit (72). The machine control unit (72) then controls the rotary drive unit (40), the feeding unit (30), and the water supply unit (50), respectively, to automatically collect soil samples into the core barrel (2) at a predetermined stroke distance.

[0017] Furthermore, since the core barrel (2) containing the soil sample is lifted to the ground by a lifting device (35), the workload associated with core sampling is significantly reduced. The first part of the boring machine system according to the present invention 1 A key feature of this system is that, after drilling one of a predetermined set of sections leading to the target drilling depth, the machine control unit (72) performs a core cutting operation in which it raises the rod (1) by a predetermined distance only once while maintaining the constant speed control for the rotational speed (R) and the water supply volume (Q). With the above configuration, the core cutting operation can be performed automatically and reliably.

[0018] A second feature of the boring machine system according to the present invention is that, when the measured value of one reference speed (R) selected from the lifting speed (V), the rotational speed (R), or the water supply rate (Q) fluctuates from a predetermined range of its speed target value (RT), the machine control unit (72) changes the other speed target values ​​(VT, QT) according to the range of fluctuation of the reference speed (R) from the speed target value (RT), and individually performs constant speed control for the lifting speed (V) of the feeder (30), the rotational speed (R) of the rotary drive unit (40), and the water supply rate (Q) of the water supply unit (50) so that they become equal to the changed speed target values ​​(VT', RT, QT').

[0019] In the above configuration, if the measured value of the selected reference speed (R) deviates from a predetermined range of its speed target value (RT), the machine control unit (72) then individually performs constant speed control under optimal operating conditions (with small torque variation). In this way, while maintaining constant speed control for the reference speed (R), the machine control unit (72) changes the other speed target values ​​(VT, QT) according to the range of variation of the reference speed (R) from the speed target value (RT), and individually performs constant speed control for each speed (R, V, Q) so that they become equal to the changed speed target values ​​(RT, VT', QT').

[0020] A third feature of the boring machine system according to the present invention is that, when the rotational torque (T) related to the rotational speed (R), the supply pressure (F) related to the lifting speed (V), or the water supply pressure (P) related to the water supply amount (Q) exceeds a preset abnormality determination value (Tth, Fth, Pth), the machine control unit (72) performs a slight vertical lifting operation in which it lifts and lowers the rod (1) once or more times by a predetermined distance, a predetermined number of times, a predetermined lifting speed (V), and a predetermined rotational speed (R), while maintaining constant speed control for at least the water supply amount (Q).

[0021] In the above configuration, the machine control unit (72) sets abnormality detection values ​​(Tth, Fth, Pth) for either the rotational torque (T), supply pressure (F), or water supply pressure (P) to detect abnormalities in which a load is applied to the rod (1) during drilling. When the machine control unit (72) detects an abnormality, it resolves the abnormality by raising or lowering or stopping the rod (1) once or multiple times under predetermined operating conditions, and then performs constant speed control for each speed (R, V, Q).

[0022] A fourth feature of the boring machine system according to the present invention is that when the rod (1) has drilled to a predetermined depth required for core sampling, the machine control unit (72) performs a core cutting operation in which it raises and lowers the rod (1) once by a predetermined distance and a predetermined lifting speed (V) while maintaining the constant speed control for the rotation speed (R) and the water supply volume (Q).

[0023] In the above configuration, the mechanical control unit (72) raises and lowers the rod (1) under predetermined operating conditions while maintaining constant speed control of the rotation speed (R) and water flow rate (Q) for the soil sample collected in the core barrel (2), thereby suppressing disturbance at the bottom of the hole and collecting soil samples with a high collection rate.

[0024] A fifth feature of the boring machine system according to the present invention is that the machine control unit (72) has a communication interface unit (72d) that is compatible with predetermined wireless data communication, wired data communication, or both.

[0025] In the above configuration, the operator can remotely control the drilling, posture control, and travel operations of the boring device (100) via the machine control unit (72).

[0026] A sixth feature of the boring machine system according to the present invention is that the rotary drive device (40), the feeding device (30), and the water supply device (50) are configured to be remotely operated wirelessly.

[0027] In the above configuration, the operator can remotely advance the rod (1) to the depth to collect soil samples.

[0028] A seventh feature of the boring machine system according to the present invention is that the traveling device (10) is configured to be remotely operated by a wire.

[0029] In the above configuration, the operator can remotely move the boring device (100) to the drilling location.

[0030] An eighth feature of the boring machine system according to the present invention is that the data input unit (71) is equipped with a transceiver (71f) that can send and receive data by connecting to a data communication network including a mobile phone network.

[0031] In the above configuration, measured values ​​such as depth (H), rotational speed (R), lifting speed (V), water flow rate (Q), rotational torque (T), supply pressure (F), and water supply pressure (P) can be transmitted to an external computer as construction data. Furthermore, it becomes possible to set various operating conditions related to constant speed control, slight vertical lifting control, and core cutting control from the external computer.

[0032] The ninth feature of the boring machine system according to the present invention is that each of the speed target values ​​(VT, RT, QT) is set based on the parameter values ​​at which the variation in torque value is small with respect to the magnitude of rotational torque (T) in a preliminary drilling test using the lifting speed (V), rotational speed (R), and water supply rate (Q) as parameters for the same or similar ground.

[0033] In the above configuration, the boring device (100) can perform drilling operations in a way that is not undue and does not unnecessarily damage the ground.

[0036] The first part of the boring machine system according to the present invention 10 A key feature is that the machine control unit (72) stops the lifting and lowering operation of the feeding device (30) and performs constant-speed control of the rotational speed (R) and the water supply amount (Q) for a predetermined period of time before the rod (1) starts the drilling operation related to core sampling, or after the core cutting operation has been performed.

[0037] In the above configuration, unnecessary soil and sediment unrelated to core sampling that are present in the borehole before the drilling operation begins can be automatically discharged.

[0038] The first part of the boring machine system according to the present invention 11 The characteristic of this system is that, if any of the measured values ​​of the feed pressure (F) and tilt angle of the feed device (30), the rotational torque (T) of the rotary drive device (40), and the water supply pressure (P) of the water supply device (50) are above a preset abnormality judgment value and the measured value remains above that value for a preset judgment time, the machine control unit (72) stops the lifting and lowering operation of the feed device (30) and performs constant speed control of the rotational speed (R) and the water supply amount (Q) until the measured value falls below a preset release value.

[0039] With the above configuration, malfunctions related to the drilling operation can be automatically resolved.

[0040] The first part of the boring machine system according to the present invention 12 The characteristic of this system is that, if any of the measured values ​​of the feed pressure (F) and inclination angle of the feed device (30), the rotational torque (T) of the rotary drive device (40), and the water supply pressure (P) of the water supply device (50) are above a preset abnormality judgment value and the measured value persists for a preset judgment time, the machine control unit (72) raises the rod (1) by a predetermined distance using the feed device (30) while maintaining the constant speed control for the rotational speed (R) and the water supply amount (Q).

[0041] With the above configuration, malfunctions related to the drilling operation can be automatically resolved.

[0042] The first part of the boring machine system according to the present invention 13 A key feature is that the mechanical control unit (72) reduces the lowering speed of the lifting device (35) that winds up / lowers the recovery mechanism (3) when the recovery mechanism (3) for recovering the core barrel (2) after sample collection is complete reaches a position a predetermined distance above the connection target position with the core barrel (2).

[0043] In the above configuration, the recovery mechanism (3) and the core barrel (2) can be automatically recovered without putting any load on the connection.

[0044] The first part of the boring machine system according to the present invention 14 A key feature is that the machine control unit (72) calculates the lowering distance / lifting distance of the lifting device (35) for the retrieval mechanism (3) based on the number of detections by the proximity sensor (80) for a plurality of holes (34a) provided on the circular side surface of the pulley (34) through which the wire (35a) wound around the lifting device (35) passes.

[0045] In the above configuration, the lowering distance / lifting distance of the lifting device (35) for the recovery mechanism (3) can be accurately calculated with a simple mechanism.

[0046] The first part of the boring machine system according to the present invention 15 The characteristic of this method is that, each time the drilling of one section of a predetermined set of sections leading to the target drilling depth is completed, the machine control unit (72) threads the connection between the rotary drive unit (40) and the rod (1), then feeds the rotary drive unit (40) up to a predetermined height, then slides the rotary drive unit (40) laterally to a predetermined lateral position, then connects the additional rod (1) to the rotary drive unit (40), then feeds the rotary drive unit (40) up to a predetermined height, then slides the rotary drive unit (40) laterally to its original lateral position, then feeds the rotary drive unit (40) down to a predetermined height, and screw-connects the additional rod (1) to the rod (1) that has been driven into the ground.

[0047] With the above configuration, drilling can be performed automatically to the target core depth with each drilling stroke.

[0048] The first part of the boring machine system according to the present invention 16 The characteristic of this method is that, after the drilling of the final section of a predetermined set of sections leading to the target drilling depth is completed and the core barrel (2) is recovered, the machine control unit (72) slides the rotary drive unit (40) laterally back to its original lateral position, then feeds the rotary drive unit (40) down to a predetermined height, screwing the rotary drive unit (40) to the rod (1) that has been driven into the ground, then feeds the rotary drive unit (40) up to a predetermined height, threading the rod connection, then removes the rod (1) from the rotary drive unit (40), and sequentially removes all the rods (1) that have been driven into the ground.

[0049] In the above configuration, all rods (1) that have penetrated into the ground to the target drilling depth can be automatically removed from the ground.

[0050] The first part of the boring machine system according to the present invention17 A key feature is that the machine control unit (72) selectively switches the water supply line (50a) of the water supply device (50) to either a machine line (81a) that supplies water into the borehole via the rotary drive device (40) or a hose line (81b) that supplies water directly into the borehole.

[0051] In the above configuration, the borehole can be automatically filled with drilling water between the recovery and insertion of the core barrel and the extension of the rod.

[0052] The first part of the boring machine system according to the present invention 18 The distinguishing feature is that it comprises a drilling core barrel (2') consisting of an upper part (2a') that engages with the inner circumferential surface of the rod (1), and a hollow cylindrical lower part (2b') that is rotatable integrally with the upper part (2a') and has a drilling blade attached to its end.

[0053] In the above configuration, after lifting the outer pipe from the ground to replace the outer pipe bit or to reset the core barrel inside the outer pipe, it becomes possible to perform non-core drilling (borehole drilling) in the same section, or to continuously drill (borehole drilling) in a section where core sampling is not required. In other words, in the drilling (borehole drilling) operation to reach the target depth for core sampling, if drilling (borehole drilling) becomes necessary due to collapse of the borehole wall or the like, it becomes possible to perform non-core drilling (borehole drilling) without using the core barrel (2).

[0054] Furthermore, since the lower part (2b') of the drilling core barrel (2') is fitted with a drilling blade, full-surface drilling is possible using both the outer pipe and the drilling core barrel (2').

[0055] The first part of the boring machine system according to the present invention 19 A key feature is that multiple through holes (2d') connecting the inside and outside are formed on the outer surface of the lower part (2b') of the drilling core barrel (2').

[0056] In the above configuration, external drilling fluid flows into the interior through the through-hole (2d') and flows out to the outside from the tip of the lower part (2b'). As a result, the outer pipe bit and drilling blade are lubricated, cooled, and friction is reduced by the drilling fluid, improving drilling efficiency. [Effects of the Invention]

[0057] According to the boring machine system of the present invention, it is possible to automate a series of boring processes for core sampling, from drilling operations to core cutting operations, for the purpose of core sampling for geological surveys. [Brief explanation of the drawing]

[0058] [Figure 1] This is an explanatory diagram showing a boring device equipped with a boring control unit according to the present invention, with the lifting device in an upright position. [Figure 2] This is a right side view of Figure 2. [Figure 3] This is a block diagram showing the configuration of a boring control unit that controls the constant-speed operation and core cutting / up / down movement related to core sampling of a boring device. [Figure 4] This flowchart shows the operating conditions for constant-speed operation and core cutting / up / down movement, as well as the drilling operation up to the core barrel drop depth. [Figure 5] This is a flowchart illustrating automatic control related to constant-speed operation. [Figure 6] This is a flowchart illustrating the automatic control related to constant-speed operation linked to rotational speed. [Figure 7] This flowchart shows the detection of slight vertical lifting movements and the automatic control related to those movements. [Figure 8] This is a flowchart illustrating the automatic control process related to core cutting. [Figure 9] This is an explanatory diagram showing the construction preparation screen of the management monitor unit according to the present invention. [Figure 10] This is an explanatory diagram showing the automatic operation setting screen related to the constant-speed operation of the management monitor unit according to the present invention. [Figure 11]This is an explanatory diagram showing the automatic operation setting screen related to the core cutting / up / down slight lifting operation of the management monitor unit according to the present invention. [Figure 12] This is an explanatory diagram showing the construction monitoring screen of the management monitoring unit according to the present invention. [Figure 13] This is an explanatory diagram showing the drilling operation process related to core sampling using a boring device according to the present invention. [Figure 14] This is a plan view showing a remote control for driving according to the present invention. [Figure 15] This is a bottom view showing the driving remote control according to the present invention. [Figure 16] This is a plan view showing a remote control for drilling and attitude control according to the present invention. [Figure 17] This is a right side view showing a remote control for drilling and attitude control according to the present invention. [Figure 18] This is an explanatory diagram showing cross-sectional views of key parts of the core barrel and overshot used for core sampling. [Figure 19] This is an explanatory diagram showing the transportation configuration of the boring apparatus according to the present invention. [Figure 20] This is an explanatory diagram showing a drilling test for determining the target speeds for lifting speed, rotational speed, and water flow rate in constant-speed control according to the present invention. [Figure 21] This diagram illustrates the time-series data of rotational torque and core sampling rate for drilling depth in drilling tests. [Figure 22] This is an explanatory diagram showing the drilling process involved in core sampling using a conventional boring device. [Figure 23] This is an explanatory diagram showing a boring apparatus according to a second embodiment of the present invention. [Figure 24] This is a flowchart illustrating the automatic control of the drilling operation of a boring apparatus according to a second embodiment of the present invention. [Figure 25] This is a flowchart illustrating the trouble avoidance operation determination and automatic control related to trouble avoidance operation of a boring apparatus according to a second embodiment of the present invention. [Figure 26]This is a flowchart illustrating the automatic control of the core cutting operation of a boring apparatus according to a second embodiment of the present invention. [Figure 27] This is a flowchart illustrating the automatic control of the core barrel retrieval operation of a boring apparatus according to a second embodiment of the present invention. [Figure 28] This is a flowchart illustrating the automatic control of the core barrel insertion operation of a boring apparatus according to a second embodiment of the present invention. [Figure 29] This is an explanatory diagram showing the lowering of the winch and the completion of the connection between the overshot and the core barrel. [Figure 30] This is an explanatory diagram showing the stoppage of winch hoisting at the mounting position of the fall prevention jig. [Figure 31] This is an explanatory diagram showing how to lower a winch for moving a workbench. [Figure 32] This is a flowchart showing the automatic control related to the preparation of an additional rod in the rod extension operation of a boring apparatus according to a second embodiment of the present invention. [Figure 33] This is a flowchart illustrating the automatic control related to threading an additional rod in the rod extension operation of a boring device according to a second embodiment of the present invention. [Figure 34] This is a flowchart illustrating the automatic control related to the screw connection of an additional rod in the rod extension operation of a boring device according to a second embodiment of the present invention. [Figure 35] This is an explanatory diagram illustrating the screw loosening and threading operations performed by the swivel head at the head connection point between the swivel head and the rod. [Figure 36] This is an explanatory diagram showing the lateral sliding movement of the swivel head to the additional rod height position. [Figure 37] This diagram illustrates the upward feed movement of a swivel head with an additional rod attached to the rod extension height, as well as its lateral sliding movement to the rod extension sideways. [Figure 38] This is an explanatory diagram showing the threading and screw jointing operations at the connection point between the additional rod and the main rod. [Figure 39]This is an explanatory diagram showing the lateral sliding movement of the swivel head to the lateral position of the rod extension during the rod removal operation of a boring device according to a second embodiment of the present invention. [Figure 40] This is an explanatory diagram showing the screw joint operation and feed rise at the head connection part within the rod removal operation of a boring device according to a second embodiment of the present invention. [Figure 41] This is an explanatory diagram showing the screw loosening operation, screw cutting operation, feed raising operation, and lateral sliding movement at the rod connection part of the rod removal operation of a boring device according to a second embodiment of the present invention. [Figure 42] This diagram illustrates the lateral sliding movement of the swivel head to a laterally positioned position after the core barrel has been retrieved following the arrival of the target drilling depth. [Figure 43] This is an explanatory diagram showing the feed descent of the swivel head to the rod extension height position and the screw connection operation at the head connection point. [Figure 44] This is an explanatory diagram showing the upward movement of the rod and the loosening of the screw at the rod connection point by the swivel head. [Figure 45] This is an explanatory diagram showing the threading operation, feed rise, and rod removal at the rod connection point. [Figure 46] This is an explanatory diagram showing an automatic driving setting screen related to trouble avoidance operation determination and trouble avoidance operation according to a second embodiment of the present invention. [Figure 47] This is a cross-sectional diagram illustrating the main part of a core barrel for non-core drilling according to a third embodiment of the present invention. [Figure 48] This is a cross-sectional diagram illustrating the flow of drilling water in a core barrel for non-core drilling. [Figure 49] This is an explanatory diagram showing a non-core drilling process using a non-core drilling core barrel according to a third embodiment of the present invention. [Figure 50] This is an explanatory diagram showing a sheave and proximity sensor according to the present invention. [Modes for carrying out the invention]

[0059] Embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0060] (First Embodiment) Figures 1 to 2 and Figure 19 are explanatory diagrams showing a boring apparatus 100 equipped with a boring control unit 70 (Figure 3) according to the present invention. Figure 1 shows a front view of the boring apparatus 100 with the lifting device 30 in the upright position, and Figure 2 shows a right side view of Figure 1. Figure 19 is an explanatory diagram showing the boring apparatus 100 in the transport configuration with the lifting device 30 tilted. For the sake of explanation, the core barrel 2 and rod 1 for core sampling are omitted from the illustration.

[0061] This boring device 100 is configured to automatically collect soil samples (cores) at a predetermined depth and section (stroke distance) using a wireline system. "Automatically collecting" here means that the control of the boring device 100 for core collection is performed by a control unit (a computer equipped with a central processing unit). Therefore, automatic operation also includes the operation of the boring device 100 by an operator transmitting command values ​​related to the operation of the drive unit from a remote control to the control unit of the boring device 100, and the control unit receiving these command values ​​controlling the operation of the boring device 100 based on those command values. In particular, when the operator only transmits a start / stop signal (trigger signal) to the control unit, and after the trigger signal is transmitted, the control unit automatically controls the operation of the boring device 100 to perform the desired operation without the operator transmitting any further command values, this is referred to as unmanned automation or unmanned automatic operation.

[0062] Furthermore, as shown in Figure 18, a "core barrel assembly" generally refers to a so-called sleeve-type triple-tube sampler, which consists of an "outer tube section" attached to the tip of the rod 1 and rotating integrally with the rod 1, and an "inner tube section" in which the lower part 2b is rotatable relative to the head section 2a while the head section 2a engages with the inner circumferential surface of the outer tube section, and has a space for housing the core. However, for the sake of explanation, the "outer tube section" is assumed to be pre-attached to the rod 1, and the "inner tube section" is referred to as the core barrel 2, and the core barrel 2 and the "inner tube section" are not strictly distinguished except in special cases.

[0063] As shown in Figure 1, the mechanical configuration of the boring device 100 includes a crawler device 10 for moving the vehicle body 20 forward and backward, a vehicle body 20 in which a power room housing an internal combustion engine, a hydraulic pump and their control equipment is located, a lifting device (feeding means) 30 for raising and lowering the swivel head (rotary drive device) 40, a swivel head (rotary drive device) 40 that applies rotational torque to the rod 1, and a pump (not shown) for supplying drilling water to the rod 1. For example, the dimensions and weight of the boring device 100 are as follows: the overall width is 1200 mm, shorter than the standard for a light vehicle; the overall length during transport is 3870 mm, shorter than the standard for a regular vehicle; and the overall height during transport is 2220 mm, also shorter than the standard for a regular vehicle. The weight is, for example, 3.1 tons. Therefore, this boring device 100 can be loaded onto a 4-ton class transport vehicle. The following describes each component.

[0064] As shown in Figure 2, the crawler device 10 has independent left and right drive motors (not shown), and comprises independent left and right drive wheels 11, 11 directly connected to each drive motor, independent left and right idler wheels 12, 12 that can rotate freely, independent left and right, infinite tracks 13, 13 that are wrapped between the drive wheels 11 and the idler wheels 12, and a plurality of independent left and right road wheels 14 that are positioned between the drive wheels 11 and the idler wheels 12 to maintain the tension of the infinite tracks 13, thereby moving the vehicle body 20 forward, backward, and turning left and right.

[0065] In addition to the power room described above, the vehicle body 20 is also equipped with a leader tilting mechanism 24 for raising or lowering the leader body 33, a leader sliding mechanism 25 for sliding the leader body 33 up and down, and a swivel motor (not shown) for rotating the vehicle body 20 in the vertical direction.

[0066] The lifting device 30 includes a first clamping mechanism 31 and a second clamping mechanism 32 for clamping or extending the rod 1, a leader body 33 which serves as a moving rail for the swivel head 40 to move up and down vertically, a sheave 34 for lifting the rod 1, and a winch 35 for winding up the wire.

[0067] Furthermore, the leader body 33 is equipped with a hydraulic cylinder 36 (Figure 1) that raises and lowers the swivel head 40. The hydraulic cylinder 36 is installed in a vertical groove 33a formed along the central longitudinal direction of the leader body 33 and is driven by a lifting drive unit 36a (Figure 3). Therefore, the rod 1, which is rotationally driven by the swivel head 40, can be pushed down into the ground or pulled up from the ground to the surface by the hydraulic cylinder 36.

[0068] Furthermore, the lifting device 30 is equipped with a head slide mechanism 37 that slides the swivel head 40 in the left-right (lateral) direction and a mast slide mechanism 38 that slides the sheave 34 up and down.

[0069] The swivel head 40 includes a head end 41 to which the rod 1 is connected, a rotary motor 42 that generates rotational torque, a head rotating part 43 that rotates the head end 41, and a spindle 44 that transmits the rotational torque of the rotary motor 42 to the head rotating part end 43.

[0070] Furthermore, in this embodiment, as will be described in detail with reference to Figure 3, the boring apparatus 100 is configured to perform a series of boring processes, from drilling to a predetermined depth for core sampling to core sampling in a predetermined section (stroke) at the predetermined depth, under automatic operation (electronically controlled). In particular, the processes from drilling to core cutting related to core sampling are configured to be performed under unmanned automatic operation.

[0071] Furthermore, for the drilling operation up to the depth to which the core barrel 2 is inserted (hereinafter referred to as the "core barrel drop depth"), the operator uses a wireless drilling and attitude control remote control 74 (Figure 16) to allow the boring device 100 to drill automatically. This drilling and attitude control remote control 74 will be described later with reference to Figures 16 and 17.

[0072] Furthermore, regarding the operation of the boring machine 100, the operator uses a wired remote control 73 (Figure 14) to automatically control the boring machine 100's movement. This remote control 73 will be described later with reference to Figures 14 and 15.

[0073] Figure 3 is a block diagram showing the configuration of the boring control unit 70, which controls the drilling and core cutting operations related to core sampling of the boring device 100. The boring control unit 70 comprises a management monitor unit 71 for the operator to set and monitor various operating conditions related to the automatic operation of the boring device 100 for core sampling, a control unit unit 72 for controlling each corresponding drive unit based on the various operating conditions set by the operator, a travel remote control 73 for the operator to remotely operate the crawler device 10 of the boring device 100, and a drilling and attitude control remote control 74 for the operator to remotely operate the lifting device 30 and swivel head 40, etc. Note that the diagrams for travel control are omitted.

[0074] In this embodiment, the communication between the control unit 72, the management monitor unit 71, and the driving remote control 73 is wired. The communication between the control unit 72 and the drilling / attitude control remote control 74 is wireless. However, the communication between the control unit 72 and the management monitor unit 71, the driving remote control 73, or the drilling / attitude control remote control 74 can be either wired or wireless. The following describes each configuration.

[0075] The management monitor unit 71 can be configured, for example, with a tablet-type portable terminal device that can be attached to the vehicle body 20, a retractable terminal device, or a built-in terminal device. The management monitor unit 71 includes a construction preparation screen 71a for the operator to set the site name, hole number, and recording conditions, a constant-speed operation automatic operation setting screen 71b for the operator to input target values ​​for each speed in each drilling operation mode, a core cutting / up / down slight lift operation automatic operation setting screen 71c for the operator to set various operation conditions related to core sampling, a construction monitor screen 71d that displays a list of various operation conditions and construction data set by the operator, a storage unit 71e that records various operation conditions and construction data set by the operator, and a transmitting / receiving unit 71f that transmits data to / from an external computer (server). Each of the screens 71a, 71b, 71c, and 71d will be described later with reference to Figures 9 to 12.

[0076] Furthermore, "constant speed operation" as used here refers to the operation of the control unit 72 to control the corresponding drive units so that the rotational speed R of the swivel head 40, the lifting speed V of the lifting device 30, and the water supply volume Q of the water supply pump 50 match the target rotational speed RT, target lifting speed VT, and target water supply volume QT, respectively, thereby making each speed conform to the respective target value. "Constant speed control" is synonymous with "constant speed operation."

[0077] Furthermore, the term "core cutting operation" here refers to the operation of cutting the core contained in the core barrel 2 from the ground over a predetermined section (stroke distance).

[0078] Furthermore, the term "up and down slight lifting and lowering operation" here refers to the operation to eliminate an abnormality that occurs when an abnormality occurs during drilling of the boring device 100, such as when at least one of the rotational torque T, supply pressure F, or water supply pressure P exceeds an abnormality threshold. This is done by raising / lowering the swivel head 40 by a predetermined distance, number of lifts / lowers, and rotational speed while maintaining constant speed control of the water supply volume Q of the water supply pump 50.

[0079] The control unit 72 can be configured by a control device such as a PLC (Programmable Logic Controller), and includes a control unit 72a that performs constant-speed control and core cutting / up / down micro-lifting operation, respectively; a measurement unit 72b that performs A / D conversion of each measurement data measured by each sensor and converts it to a predetermined value, respectively; a determination unit 72c that determines whether constant-speed control is being performed normally, or determines the timing to start the up / down micro-lifting operation or the core cutting operation, respectively; and an input / output unit 72d for outputting construction data (for example, depth H, lifting speed V, rotation speed R, water supply volume Q, rotation torque T, supply pressure F, water supply pressure P) or for receiving each speed target value for constant-speed operation (target rotation speed RT, target lifting speed VT, target water supply volume QT).

[0080] The control unit 72a performs lifting motion control, lifting speed control, rotation speed control, and pump water flow rate control. Lifting motion control refers to the control of switching the feed direction from feed descent to feed rise, and vice versa. This lifting motion control is used in core cutting / up and down fine lifting operations.

[0081] Lifting speed control refers to constant-speed control of the lifting speed (feed speed) V of the lifting device 30, which controls the lifting drive unit 36a to match the target lifting speed VT.

[0082] Similarly, rotational speed control refers to constant speed control of the rotational speed (rotational speed) R, which controls the rotating motor 42 so that the rotational speed R of the swivel head 40 matches the target rotational speed RT.

[0083] Similarly, pump water flow rate control refers to constant-speed control of the water flow rate Q, which controls the pump drive unit 50a to match the water flow rate Q of the water supply pump 50 to the target water flow rate QT. The constant-speed control of the pump water flow rate Q and the lifting speed V is configured to allow the respective speed target values ​​VT and QT to be changed in conjunction with the constant-speed control of the rotational speed R. That is, when the rotational speed R of the swivel head 40 fluctuates from the target rotational speed RT, the control unit 72a changes the other target lifting speed VT and the target water flow rate QT of the pump according to the amount of fluctuation, and then performs constant-speed control of the lifting speed V, water flow rate Q, and rotational speed R based on the changed target lifting speed VT', target water flow rate QT', and target rotational speed RT. This rotational speed-linked constant-speed control will be described later with reference to Figure 6.

[0084] The measuring unit 72b takes measurements from the wire-type encoder 36b provided on the lifting drive unit 36a and calculates the depth H and lifting speed V. It also takes measurements from the rotary-type encoder 42a provided on the rotary motor 42 and calculates the rotational speed R. Furthermore, it takes measurements from the electromagnetic flow meter 50b provided downstream of the pump and calculates the water supply volume Q.

[0085] Furthermore, the measuring unit 72b acquires the measurement value from the first pressure sensor 42b provided on the rotary motor 42 and calculates the rotational torque T. It also acquires the measurement value from the second pressure sensor 36c provided on the lifting drive unit 36a and calculates the supply pressure F. It also acquires the measurement value from the third pressure sensor 50c provided downstream of the pump and calculates the pump water supply pressure P.

[0086] The determination unit 72c determines the start timing of the core cutting operation based on the depth H acquired from the measurement unit 72b. It also compares the lifting speed V, rotation speed R, and water flow rate Q acquired from the measurement unit 72b with the target lifting speed VT, target rotation speed RT, and target water flow rate QT acquired separately from the management monitor unit 71 to determine whether constant-speed control is being performed effectively. This determination of constant-speed control will be described later with reference to Figure 5.

[0087] The determination unit 72c determines the start timing of the slight vertical lifting operation based on the rotational torque T, supply pressure F, and pump water pressure P acquired from the measurement unit 72b, and the rotational torque abnormality determination value Tth, supply pressure abnormality determination value Fth, and pump water pressure abnormality determination value Pth acquired separately from the management monitoring unit 71. The determination of this slight vertical lifting operation will be described later with reference to Figure 7.

[0088] The input / output unit 72d receives from the management monitor unit 71 the target speeds related to constant-speed control (target rotational speed RT, target lifting speed VT, target water flow rate QT), core sampling depth (target depth HT, 1-stroke distance ST), core cutting operation conditions, vertical micro-lifting operation conditions, and vertical micro-lifting operation judgment values. The input / output unit 72d also receives command values ​​related to lifting operation, lifting speed V, rotational speed R, and pump water flow rate Q transmitted by the operator from the drilling / attitude control remote control 74.

[0089] Conversely, all measurement values ​​(depth H, lifting speed V, rotation speed R, water flow rate Q, rotation torque T, supply pressure F, water flow pressure P) calculated by the measurement unit 72b are transmitted as construction data to the management monitor unit 71 via the input / output unit 72d. The construction data input to the management monitor unit 71 is stored in the storage unit 71e. The construction data stored in the storage unit 71e of the management monitor unit 71 is transmitted wirelessly (carrier wave) along with location information from the transmitting / receiving unit 71f to a server (cloud server) located separately at a remote location. The operation of the boring control unit 70 will be described below.

[0090] Figures 4 to 8 are control flow diagrams showing the operation of the boring control unit 70 related to drilling and core sampling. Figure 13 is an explanatory diagram showing the drilling and core sampling process of the boring apparatus 100.

[0091] As shown in Figure 4, in step S1, the operator sets up the boring device 100 at a predetermined construction location. The boring device 100 is moved by the operator using the travel remote control 73.

[0092] Figures 14 and 15 are explanatory diagrams showing the driving remote control 73 according to the present invention. Figure 14 is a plan view of the driving remote control 73. Figure 15 is a bottom view of the driving remote control 73.

[0093] The driving remote control 73 includes a first joystick JS1 for controlling the forward and reverse movement of the left crawler device 10 in relation to the direction of travel, a second joystick JS2 for controlling the forward and reverse movement of the right crawler device 10, a first select switch CS1 for switching the driving operation on / off, a second select switch CS2 for switching the engine between idling and rated operation, a third select switch CS3 for switching the driving speed between low and high speed, a first push button PB1 for sounding the horn, a second push button PB2 for forcibly stopping the engine, a cable connector CN5 for communicating with the control unit 72, and a first handle 73a and a second handle 73b for supporting the entire unit.

[0094] For example, to move the boring machine 100 forward at a low speed, the operator first switches the first select switch CS1 to ON. Next, the second select switch CS2 is switched to rated operation. Then, the third select switch CS3 is switched to "low speed". Finally, by simultaneously moving the first joystick JS1 and the second joystick JS2 to the "forward" position, the boring machine 100 will move forward at a low speed.

[0095] Returning to Figure 4, in step S2 the operator sets the rod 1 in the boring device 100. As shown in Figure 13(a), the operator lifts the rod 1 with the sheave 34 and passes it through the first clamping mechanism 31 and the second clamping mechanism 32. With the first clamping mechanism 31 and the second clamping mechanism 32 clamping the rod 1, the operator lowers the swivel head 40 to connect the head end 41 to the rod 1.

[0096] In step S3, the operator inputs the site number, pile number, and recording conditions (recording cycle) on the construction preparation screen 71a of the management monitor unit 71 shown in Figure 9.

[0097] Figure 9 is an explanatory diagram showing the construction preparation screen 71a of the management monitor unit 71 according to the present invention. This construction preparation screen 71a includes a site number / hole number setting unit 71a1 for setting the site number and hole number, a recording cycle setting unit 71a2 for setting the recording cycle of each measurement value, and a numeric keypad unit 71a3 for inputting numerical values. When the hole number input method is set to "automatic," the hole number is counted automatically, so the operator does not need to input the hole number. On the other hand, when the hole number input method is set to "manual," the operator uses the numeric keypad unit 71a3 to input the site number and hole number.

[0098] Returning to Figure 4, in step S4, the operator sets each operating condition on the automatic operation setting screen (core cutting / up / down slight lifting operation conditions) 71c of the management monitor unit 71 shown in Figure 11.

[0099] Figure 11 is an explanatory diagram showing the automatic operation setting screen (core cutting / up / down slight lifting operation conditions) 71c of the management monitor unit 71 according to the present invention. This automatic operation setting screen (core cutting / up / down slight lifting operation conditions) 71c includes a depth setting unit 71c1 for setting the target depth HT and one-stroke distance ST related to core sampling, a core cutting operation setting unit 71c2 for setting the operating conditions for core cutting operation, an up / down slight lifting operation setting unit 71c3 for setting the operating conditions for up / down slight lifting operation, an abnormality determination value setting unit 71c4 for setting an abnormality determination value to start up / down slight lifting operation, and a numeric keypad unit 71c5 for inputting numerical values.

[0100] Returning to Figure 4, in step S5, the operator sets each operating condition on the automatic operation setting screen (constant speed operation conditions) 71b of the management monitor unit 71 shown in Figure 10.

[0101] Figure 10 is an explanatory diagram showing the automatic operation setting screen (constant speed operation conditions) 71b of the management monitor unit 71 according to the present invention. This automatic operation setting screen (constant speed operation conditions) 71b includes a mode setting unit 71b1 for setting target speed values ​​for each speed in each mode, and a numeric keypad unit 71b2 for inputting numerical values. A "mode" is a drilling operation condition that defines target speed values ​​for rotation (rotation speed R), feeding (lifting speed V), and water supply (water supply amount Q) based on the hardness of the ground. Each target speed value is set to the respective speed values ​​of the drilling test results when the variation in torque values ​​becomes small relative to the magnitude of the acquired rotational torque (T) in a prior drilling test conducted on the same or similar ground with varying rotation speed R, lifting speed V, and water supply amount Q. This drilling test will be described later with reference to Figures 20 and 21.

[0102] In this embodiment, the operator can set three modes: Mode A, Mode B, and Mode C. Mode A can be applied to constant-speed control when drilling loose sandy soil (N value < 10), for example. Mode B can be applied to constant-speed control when drilling soft rock (improved ground), for example. Mode C can be applied to constant-speed control when drilling ground that is intermediate between loose sandy soil and improved ground, for example.

[0103] Returning to Figure 4, in step S6, the operator clicks (tap) the "Construction Preparation Complete" button 71a4 on the construction preparation screen 71a of the management monitor unit 71. This completes the construction preparation for the drilling operation related to core sampling. A list of the settings made by the operator is displayed on the construction monitor screen 71d (Figure 12) of the management monitor unit 71.

[0104] Figure 12 is an explanatory diagram showing the construction monitor screen 71d of the management monitor unit 71 according to the present invention. This construction monitor screen 71d includes a site / recording setting monitor unit 71d1 that displays a list of site numbers, hole numbers, and recording condition settings set by the operator in step S3; a core cutting / up / down micro-lifting operation setting monitor unit 71d2 that displays a list of operation conditions for core cutting operation and up / down micro-lifting operation set by the operator in step S4; a constant speed control setting monitor unit 71d3 that displays a list of constant speed control (mode) settings selected by the operator in step S7, which will be described later; a machine setting monitor unit 71d4 that displays a list of the inclination angle of the lifting device 30 and the inclination angle of the main body (vehicle body 20) set by the operator in step S2; and a measurement value monitor unit 71d5 that displays a list of measurement values ​​measured by each sensor (such as the wire-type encoder 30 in Figure 3).

[0105] Steps S1 through S6 described above are manual operations performed by the operator. Steps S7 through S12 described below are automated operations performed by the operator using the drilling and attitude control remote control 74.

[0106] In step S7, the operator selects a mode related to constant-speed control on the drilling and attitude control remote control 74. As shown in Figure 16, the operator selects the desired mode by operating the 10th select switch CS10 of the drilling and attitude control remote control 74. In this embodiment, three modes, Mode A, Mode B, and Mode C (Figure 10), are pre-set.

[0107] In step S8, the operator resets the depth measurement on the drilling and attitude control remote control 74. As shown in Figure 16, the operator resets the depth measurement by operating the 11th select switch CS11 on the drilling and attitude control remote control 74. This erases the previous depth data.

[0108] In step S9, the operator turns on the depth measurement on the drilling and attitude control remote control 74. As shown in Figure 16, the operator turns on the depth measurement by operating the 11th select switch CS11 on the drilling and attitude control remote control 74. This sets the current depth of rod 1 to its initial value.

[0109] In step S10, the operator starts recording measurements using the drilling and attitude control remote control 74. As shown in Figure 16, all measurements are started when the operator presses the third push button PB3 on the drilling and attitude control remote control 74. In this embodiment, the measurement items include, for example, depth H, lifting speed V, rotation speed R, pump water flow rate Q, rotation torque T, supply pressure F, and pump water pressure P. The measurement results are displayed on the construction monitor screen 71d (Figure 12) of the management monitor unit 71.

[0110] In step S11, the operator operates the drilling and attitude control remote control 74 to rotate and drive the rod 1 into the ground. As shown in Figure 16, the operator operates the third joystick JS3 for rotation and the fourth joystick JS4 for feed descent on the drilling and attitude control remote control 74 to rotate and drive the rod 1 into the ground. At the same time, the operator starts the pump with the fifth select switch CS5 and supplies drilling water to the rod 1 while adjusting the pump water flow rate with the third volume VR3.

[0111] In step S12, the operator operates the drilling and attitude control remote control 74 to rotate and penetrate the rod 1 to the initial core barrel drop depth. As shown in Figure 13(b), this “core barrel drop depth” refers to the depth measured by the operator from the ground where the core barrel 2 is dropped.

[0112] In step S13, the operator drops the core barrel 2 (inner tube section) and attaches it to the inner surface of the rod 1 (outer tube section). As shown in Figure 18(a), the latch of the core barrel 2 opens due to the force of an internal spring after free fall and locks onto the inner surface of the outer tube section, and the head section 2a, including the latch, rotates integrally with the outer tube section connected to the rod 1. On the other hand, the head section 2a and the lower section 2b are connected via bearings, so that the rotation of the rod 1 is not transmitted to the lower section 2b. Note that this step S13 is a manual operation performed by the operator.

[0113] In step S14, the operator turns on unmanned automatic operation by operating the drilling and attitude control remote control 74. This "unmanned automatic operation" means that, according to the constant speed operation mode selected in step S7, the control unit 72 controls the lifting drive unit 36a, the rotary motor 42, and the pump drive unit 50a so that the lifting speed V, rotational speed R, and water supply volume Q are equal to the target lifting speed VT, target rotational speed RT, and target water supply volume QT, respectively. Steps S15 to S49 below are performed by the "unmanned automatic operation" by the control unit 72.

[0114] As shown in Figure 16, when the operator presses the second push button PB2 on the drilling and attitude control remote control 74, unmanned automatic operation (constant speed control) is started, and drilling for core sampling is started at the same time.

[0115] In step S15, the control unit 72 issues an operation command to the pump drive unit 50a (Figure 3) of the water supply pump 50.

[0116] In step S16, the control unit 72 performs constant-speed control of the water supply rate Q of the water supply pump 50. This constant-speed control of the water supply rate Q is performed based on PID control. PID control is a control method that stabilizes the control system by adjusting the proportional term (P), integral term (I), and differential term (D) in the state equation of the control system, thereby minimizing the difference between the measured water supply rate Q of the water supply pump 50 and the target water supply rate QT.

[0117] In step S17, the control unit 72 sets the water supply amount Q to the set water supply amount Q. * The elapsed time ΔT from the time it was reached is set to ΔT in seconds. * It is determined whether or not the specified time has elapsed. This process is for determining the timing at which the control unit 72 starts driving the swivel head 40 and the lifting device 30. The set water supply volume Q for this purpose. * For example, this can be set to a predetermined percentage (%) of the target water supply volume QT. Also, the set number of seconds ΔT * For example, this can be set to a predetermined percentage (%) of the convergence time required for the water flow rate Q to converge to the target water flow rate QT. The reason for starting the constant-speed control of the water flow rate Q earlier than the constant-speed control of the rotational speed R and the lifting speed V is that it is necessary to fill the hole drilled by the rod 1 with drilling water.

[0118] The elapsed time ΔT mentioned above is set to a predetermined number of seconds ΔT. *If the elapsed time ΔT has elapsed (OK), the control unit 72 executes steps S19 and S20. On the other hand, if the elapsed time ΔT is set to a preset number of seconds ΔT * If the value is not exceeded (NG), return to step S16 and perform constant-speed control of the water supply amount Q again.

[0119] In step S18, the control unit 72 determines whether the measured water flow rate Q of the water supply pump 50 is converging to the target water flow rate QT. If the absolute value of the difference between the measured water flow rate Q and the target water flow rate QT is less than a preset threshold, it is determined that the water flow rate Q of the water supply pump 50 is converging to the target water flow rate QT. If the water flow rate Q of the water supply pump 50 is converging to the target water flow rate QT (OK), the control unit 72 executes step S25. On the other hand, if the water flow rate Q of the water supply pump 50 is not converging to the target water flow rate QT (NG), the control unit 72 returns to step S16 and performs constant-speed control of the water flow rate Q again.

[0120] In step S19, the control unit 72 issues a forward rotation command to the swivel head 40's rotary motor 42.

[0121] In step S20, the control unit 72 issues a feed descent command to the lifting drive unit 36a (Figure 3) of the lifting device 30.

[0122] In step S21, the control unit 72 performs constant-speed control of the rotational speed R of the swivel head 40. Constant-speed control of the rotational speed R is performed by PID control, similar to the water flow rate Q.

[0123] In step S22, the control unit 72 performs constant-speed control of the lifting speed V of the lifting device 30. Constant-speed control of the lifting speed V is performed by PID control, similar to the water supply volume Q.

[0124] In step S23, the control unit 72 determines whether the measured rotational speed R of the swivel head 40 is converging to the target rotational speed RT. If the absolute value of the difference between the measured rotational speed R and the target rotational speed RT is less than a preset threshold, it is determined that the rotational speed R of the swivel head 40 is converging to the target rotational speed RT. If the rotational speed R of the swivel head 40 is converging to the target rotational speed RT (OK), the control unit 72 executes step S25. On the other hand, if the rotational speed R of the swivel head 40 is not converging to the target rotational speed RT (NG), the process returns to step S21 and constant speed control for the rotational speed R is performed again.

[0125] In step S24, the control unit 72 determines whether the measured lifting speed V of the lifting device 30 is converging to the target lifting speed VT. If the absolute value of the difference between the measured lifting speed V and the target lifting speed VT is less than a preset threshold, it is determined that the lifting speed V of the lifting device 30 is converging to the target lifting speed VT. If the lifting speed V of the lifting device 30 is converging to the target lifting speed VT (OK), the control unit 72 executes step S25. On the other hand, if the lifting speed V of the lifting device 30 is not converging to the target lifting speed VT (NG), the process returns to step S22 and constant speed control for the lifting speed V is performed again.

[0126] In step S25, the control unit 72 determines whether or not the rotation speed interlocking function is present. This "rotation speed interlocking function" is a function that changes the target lifting speed VT of the lifting device 30 and the target water flow rate QT of the pump according to the degree (percentage) of the variation when the current rotation speed R of the swivel head 40 varies from a predetermined range of the target rotation speed RT. The percentage of change is determined, for example, based on the ratio of the average value Rav over a predetermined time width for the current rotation speed R to the target rotation speed RT (hereinafter referred to as "rotation speed correction coefficient rR = average value Rav / target rotation speed RT").

[0127] Furthermore, the operator manually sets whether or not the rotation speed linkage function is enabled in the mode setting section 71b1 of the automatic operation setting screen (constant speed operation conditions) 71b in Figure 10. If the rotation speed linkage function is "enabled" (on), the control unit 72 executes step S25. If the rotation speed linkage function is "disabled" (off), the control unit 72 executes step S30.

[0128] In step S26, the control unit 72 determines whether the current rotational speed R of the swivel head 40 is fluctuating within a predetermined range of the target rotational speed RT. If the current rotational speed R is fluctuating within the predetermined range of the target rotational speed RT, the control unit 72 executes steps S27 and S28. If the current rotational speed R is not fluctuating within the predetermined range of the target rotational speed RT, the control unit 72 executes step S31.

[0129] In step S27, the control unit 72 calculates a new target lifting speed VT' for the lifting speed V of the lifting device 30. The control unit 72 can calculate the new target lifting speed VT' by multiplying the current target lifting speed VT by a rotational speed correction coefficient rR, for example.

[0130] In step S28, the control unit 72 calculates a new target water flow rate QT' for the water flow rate Q of the water supply pump 50. The control unit 72 can calculate the new target water flow rate QT' by multiplying the current target water flow rate QT by a rotation speed correction coefficient rR, for example.

[0131] In step S29, the control unit 72 performs constant-speed control of the lifting speed V of the lifting device 30 based on a new target lifting speed VT'. Similar to step S22, constant-speed control of the lifting speed V is performed by PID control.

[0132] In step S30, the control unit 72 performs constant-speed control of the water supply volume Q of the water supply pump 50 based on a new target water supply volume QT'. Similar to step S16, the constant-speed control of the water supply volume Q is performed by PID control.

[0133] In step S31, the control unit 72 determines whether the measured water pressure P of the pump is equal to or greater than the abnormal water pressure determination value Pth. This abnormal water pressure determination value Pth is set by the operator in the abnormal determination value setting unit 71c4 in Figure 11 (step S4). If the measured water pressure P of the pump is equal to or greater than the abnormal water pressure determination value Pth (YES), the control unit 72 executes step S34. On the other hand, if the measured water pressure P of the pump is less than the abnormal water pressure determination value Pth (NO), the control unit 72 executes step S32.

[0134] In step S32, the control unit 72 determines whether the rotational torque T of the swivel head 40 is greater than or equal to the rotational torque abnormality determination value Tth. This rotational torque abnormality determination value Tth is set by the operator in the abnormality determination value setting unit 71c4 in Figure 11 (step S4). If the rotational torque T of the swivel head 40 is greater than or equal to the rotational torque abnormality determination value Tth (YES), the control unit 72 executes step S34. On the other hand, if the rotational torque T of the swivel head 40 is less than the rotational torque abnormality determination value Tth (NO), the control unit 72 executes step S33.

[0135] In step S33, the control unit 72 determines whether the feed pressure F of the lifting device 30 is equal to or greater than the abnormal feed pressure determination value Fth. This abnormal feed pressure determination value Fth is set by the operator in the abnormality determination value setting unit 71c4 in Figure 11 (step S4). If the feed pressure F of the lifting device 30 is equal to or greater than the abnormal feed pressure determination value Fth (YES), the control unit 72 executes step S34. On the other hand, if the feed pressure F of the lifting device 30 is less than the abnormal feed pressure determination value Fth (NO), the control unit 72 executes step S39.

[0136] In step S34, the control unit 72 causes the lifting device 30 to move the rod 1 from feed downward to feed upward. As shown in the vertical micro-lifting operation setting unit 71c3 in Figure 11, the vertical micro-lifting operation conditions in this embodiment are set to: micro-lift / micro-down distance: 0.2 (m) each, number of times: 2, feed speed: 500 (m / min), and rotation speed: 30 (min-1).

[0137] In step S35, the control unit 72 causes the lifting device 30 to raise the rod 1 to a small lifting distance. The small lifting distance is 0.2m.

[0138] In step S36, the control unit 72 causes the lifting device 30 to move the rod 1 from feed upward to feed downward.

[0139] In step S37, the control unit 72 causes the lifting device 30 to lower the rod 1 to a small downward distance. The small downward distance is 0.2m.

[0140] In step S38, the control unit 72 determines whether the number of flushing operations has reached the set number. If the number of flushing operations has reached the set number (YES), the control unit 72 executes step S31 again. On the other hand, if the number of flushing operations has not reached the set number (NO), the control unit 72 executes step S34 again.

[0141] In step S39, the control unit 72 determines whether the depth measurement has reached the core barrel drop and mounting depth. This "core barrel drop and mounting depth" is the depth obtained by adding the 1-stroke distance ST to the core barrel drop depth in step S12. As shown in the depth setting unit 71c1 in Figure 11, the 1-stroke distance ST is set to 1.00m.

[0142] If the depth measurement reaches the core barrel drop and mounting depth (YES), the control unit 72 executes step S40. On the other hand, if the depth measurement does not reach the core barrel drop and mounting depth (NO), the control unit 72 executes step S31 again.

[0143] In step S40, the control unit 72 determines whether core cutting is enabled or disabled. This "core cutting operation" is a process for cutting the core (soil sample) collected by the core barrel 2 during drilling from the ground. Whether core cutting is enabled or disabled is set by the operator in the core cutting operation setting unit 71c2 in Figure 11 (step S4). If core cutting is "enabled" (YES), the control unit 72 executes step S41. If core cutting is "disabled" (NO), the control unit 72 executes step S46.

[0144] In step S41, the control unit 72 causes the lifting device 30 to move the rod 1 from feed-down to feed-up. As shown in the core cutting operation setting unit 71c2 in Figure 11, the core cutting operation conditions in this embodiment are set to core cutting distance: 0.1 (m) and core cutting speed: 500 (m / min).

[0145] In step S42, the control unit 72 causes the lifting device 30 to raise the rod 1 to the core cutting lifting distance. The core cutting lifting distance is 0.1 m.

[0146] In step S43, the control unit 72 causes the lifting device 30 to move the rod 1 from feed upward to feed downward.

[0147] In step S44, the control unit 72 causes the lifting device 30 to lower the rod 1 to the core cutting descent distance. The core cutting descent distance is 0.1 m.

[0148] In step S45, the control unit 72 stops the feed downward movement of the lifting device 30 relative to the rod 1.

[0149] In step S46, the control unit 72 stops the rotational movement of the swivel head 40 relative to the rod 1.

[0150] In step S47, the control unit 72 stops the operation of the water supply pump 50.

[0151] In step S48, the control unit 72 interrupts unmanned automatic operation (constant speed control and core cutting / up / down slight lifting operation control).

[0152] In step S49, the control unit 72 turns off depth measurement. Then, steps S50 to S56, excluding step S54 below, are performed manually by the operator.

[0153] In step S50, the operator drops the overshot 3. As shown in Figure 18(c), the overshot 3 is a fixture for lifting the core barrel 2 with the sheave 34 by fitting the lifting dog onto the spearhead of the core barrel 2. This corresponds to the step in Figure 13(d).

[0154] In step S51, the operator retrieves the core barrel 2 by winding up the winch 35. This corresponds to the process shown in Figure 13(e).

[0155] In step S52, the operator takes a core (soil sample) from core barrel 2. This corresponds to the step shown in Figure 13(f).

[0156] In step S53, the operator determines whether the drilling depth H has reached the target depth HT. The drilling depth H is displayed on the measurement value monitor section 71d5 of the construction monitor screen 71d in Figure 12. If the drilling depth H has reached the target depth HT (YES), the operator executes step S54. On the other hand, if the drilling depth H has not reached the target depth HT (NO), the operator executes step S55.

[0157] In step S54, the operator terminates the recording of measurements using the drilling and attitude control remote control 74. As shown in Figure 16, all measurements are terminated when the operator presses the third push button PB3 on the drilling and attitude control remote control 74.

[0158] In step S55, the operator adds rod 1. This corresponds to the process shown in Figure 13(g). Note that this process can be automated, specifically the cutting (threading) of the rod 1 that has penetrated the ground (the first rod 1) and the head end 41, and the connection (threading) of the newly added rod 1 (the second rod 1) and the first rod 1. In this case, for the threading, the head end 41 is held by the first clamping mechanism 31, and the first rod 1 is held by the second clamping mechanism 32. The first clamping mechanism 31 is rotated by a predetermined angle to loosen the screw fastening between the head end 41 and the first rod 1, and then the swivel head 40 is rotated and raised to completely release the screw connection. On the other hand, for the threading, the second rod 1 is connected to the head end 41, and the first rod 1 is held by the second clamping mechanism 32. The swivel head 40 is then lowered to connect the second rod 1 to the first rod 1. The connection between the second rod 1 and the head end 41 is performed manually by the operator.

[0159] In step S56, the operator drops the core barrel 2 and attaches it to the inner surface of the rod 1 (outer tube section). Then, the operator repeats the unmanned automatic operation (constant speed control linked to rotation speed, slight vertical lifting motion control, core cutting motion control) from step S14.

[0160] Figures 20 and 21 are explanatory diagrams showing drilling tests to determine the target speed values ​​VT, RT, and QT for the lifting speed V, rotational speed R, and water flow rate Q in constant-speed control according to the present invention. Figure 20(a) shows the operating conditions at each drilling position. Figure 20(b) shows the coordinates of each drilling position. Figure 21(a) shows the time-series data of the rotational torque T with respect to the drilling depth in the drilling test. Figure 21(b) shows the core sampling rate.

[0161] As shown in Figures 20(a) and (b), this drilling test was conducted by drilling a section (3m) from a depth of 2m to 5m with boring device 100 at drilling locations numbered 1 to 9 in a construction site of loose sandy soil with an N value of less than 10, while varying the lifting speed V, rotation speed R, and water supply rate Q for each drilling location. As shown in Figure 20(a), each speed is discretely varied in three stages. That is, the lifting speed is discretely varied to V = 5, 10, and 15 (min / m), the rotation speed is discretely varied to R = 15, 30, and 45 (min-1), and the water supply rate is discretely varied to Q = 10, 20, and 30 (L / min). The effects of the three stages of conditions for the lifting speed V, rotation speed R, and water supply rate Q can be estimated from the nine combinations shown in Figure 20(a) by using the L9 orthogonal array.

[0162] Based on the results of nine drilling tests, the drilling condition that resulted in the smallest variation in torque value relative to the estimated rotational torque T was the condition for drilling position No. 9 (V: 15 mm / min, R: 45 min-1, Q: 20 L / min), while the condition that resulted in the largest variation was the condition for drilling position No. 1 (V: 5 mm / min, R: 15 min-1, Q: 10 L / min). The time-series data of rotational torque T and the core sampling rate (%) when drilling at the drilling position (confirmed) (X, Y) = (54.5, 36.5) using the condition for drilling position No. 9 (V: 15 mm / min, R: 45 min-1, Q: 20 L / min) are shown in the upper part of Figure 21(a) and the upper part of Figure 21(b), respectively. The lower sections of Figures 21(a) and 21(b) show, as comparative examples, the time-series data of the rotational torque T and the core collection rate (%) for the conditions of drilling position No. 1 (V: 15 mm / min, R: 45 min-1, Q: 20 L / min). From these, it can be seen that the core collection rate is high and stable under drilling conditions where the variation in torque T is small.

[0163] As described above, the boring apparatus 100 according to the present invention makes it possible to automate a series of boring processes for core sampling, from drilling operations to core cutting operations, for core sampling for geological surveys. In particular, the control unit 72 is configured to individually perform constant speed control for the lifting speed (feed speed) V of the lifting device 30, the rotational speed R of the swivel head 40, and the water supply volume Q of the water supply pump 50, so that they are equal to preset target lifting speed VT, target rotational speed RT, and target water supply volume QT, respectively.

[0164] These speed target values ​​VT, RT, and QT are set to the respective speed values ​​obtained in preliminary drilling tests conducted on the same or similar ground using varying rotational speed R, lifting speed V, and water flow rate Q, which result in the smallest variation in torque values ​​relative to the magnitude of the acquired rotational torque T.

[0165] Furthermore, if the rotational speed R deviates from a predetermined range of the target rotational speed RT, the control unit 72 is configured to individually perform constant-speed control by changing the target lifting speed VT of the lifting device 30 and the target water supply volume QT of the water supply pump 50 to a new target lifting speed VT' and a new target water supply volume QT', respectively, according to the range (amount) of variation from the target rotational speed RT.

[0166] Furthermore, the control unit 72 is configured to detect in advance any abnormalities that may occur during drilling, such as when a load is applied (an abnormal situation where the rotational torque T, supply pressure F, or water supply pressure P exceeds the abnormality judgment values ​​Tth, Fth, or Pth), and to eliminate drilling-related abnormalities by performing a slight vertical lifting operation that raises and lowers the rod 1 by a predetermined distance (m), a predetermined number of times (times), and a predetermined speed (m / min) while maintaining constant speed control for the rotational speed R and water supply amount Q.

[0167] Furthermore, when the core barrel 2 reaches the "core barrel drop mounting depth," the control unit 72 is configured to perform a core cutting operation that raises and lowers the core barrel 2 by a predetermined distance (m) and a predetermined speed (m / min), thereby collecting cores with a high sampling rate while suppressing disturbance at the bottom of the hole.

[0168] Thus, the boring apparatus 100 according to the present invention can perform drilling operations for core sampling of the same quality as drilling operations performed by highly skilled and experienced technicians, through unmanned automatic operation.

[0169] Furthermore, since the boring device 100 is equipped with a transmitting / receiving unit 71f (communication interface) that connects wirelessly (on a predetermined carrier wave) to a mobile phone network (base station) to send and receive data, the operator can set the operating conditions related to constant speed control (target lifting speed VT, target rotational speed RT, target water supply volume QT), core cutting operating conditions (core cutting distance, core cutting speed), and vertical slight lifting and lowering operating conditions (lifting / lowering distance, number of lifting / lowering cycles, lifting / lowering speed) from a remote location away from the drilling site. In addition, it is possible to acquire and monitor construction data (drilling depth, lifting speed V, rotational speed R, water supply volume Q, supply pressure F, rotational torque T, water supply pressure P, inclination angle of the leader 30, inclination angle of the vehicle body 20, slide distance of the swivel head 40) from a remote location.

[0170] Furthermore, since the boring device 100 is equipped with an input / output unit 72d (communication interface) that supports short-range wireless communication standards (for example, Bluetooth® or Wi-Fi®), the operator can also remotely control the lifting device 30, swivel head 40, water pump 50, and crawler device 10 by transmitting command values ​​related to the lifting device 30, swivel head 40, water pump 50, and crawler device 10 to the control unit 72 using a remote control device (drilling / attitude control remote control 74, driving remote control 73) within the communication range.

[0171] Although a boring apparatus 100 according to one embodiment of the present invention has been described above with reference to the drawings, the embodiments of the present invention are by no means limited to the above embodiments. That is, it is possible to add various modifications and changes without departing from the technical features of the present invention.

[0172] For example, as shown in steps S11 and S12 of Figure 4, the drilling operation to the core barrel drop depth is performed by the operator remotely controlling the lifting device 30, swivel head 40, and water supply pump 50 using a drilling and attitude control remote control 74. However, it is also possible for the operator to set dedicated speed target values ​​(target lifting speed VT'', target rotational speed RT'', target water supply volume QT'') for the drilling operation to the core barrel drop depth, and for the control unit 72 to individually perform constant speed control so that each speed VT, RT, and QT is equal to these speed target values ​​VT'', RT'', and QT''.

[0173] The dropping of Core Barrel 2, the dropping of Overshot 3, and the extension of Rod 1 (rod change operation after the completion of one stroke) can also be performed by remote control or pre-programmed unmanned automatic operation.

[0174] Furthermore, in the vertical lifting motion control, while maintaining constant speed control only for the water supply volume Q, the vertical lifting motion is performed by lifting the rod 1 by a predetermined distance (m), a predetermined number of times (times), a predetermined lifting speed (m / min), and a predetermined rotational speed (min-1).

[0175] Furthermore, for the criteria for determining slight vertical lifting motion, it is possible to add the leader's forward and backward tilt angle in addition to the rotational torque T, feed supply pressure F, and water supply pressure P. Also, for core cutting motion, the rod 1 may be raised by a predetermined distance (m).

[0176] (Second embodiment) Figure 23 is an explanatory diagram showing a boring apparatus 200 according to a second embodiment of the present invention. Compared to the boring device 100 according to the first embodiment, this boring device 200 features several significant changes. These include the automation of the hoisting / lowering operation of the winch 35 for recovering and loading the core barrel 2, the automation of the extension operation of the rod 1 when drilling to the target depth, and the automation of the removal of the rod 1 after the recovery of the core barrel 2 is complete at the target depth. Furthermore, the drilling operation process includes newly added steps to ensure smooth drilling to the target depth, such as a pre-drilling soil removal process, an automatic water supply line switching process, and a trouble avoidance operation process.

[0177] Therefore, compared to the configuration of the boring device 100 according to the first embodiment, the boring device 200 is separately equipped with a proximity sensor 80 for measuring the hoisting / lowering distance of the winch 35, a water supply line switching valve 81 that selectively switches between two lines, a machine line 81a and a hose line 81b, which divide the water supply line 50a that supplies drilling water into the hole, and a receiver 82 that receives wireless signals related to driving transmitted from the driving remote control 73. The "machine line 81a" is a line that supplies drilling water into the hole via the swivel head 40, and the "hose line 81b" is a line that supplies drilling water directly into the hole without going through the swivel head 40.

[0178] Therefore, compared to the boring apparatus 100 according to the first embodiment, the boring apparatus 200 has the following additional functions. (1) Pre-drilling soil and sediment discharge function (2) Troubleshooting function (3) Automatic recovery and loading function for Core Barrel 2 (4) Automatic water supply line switching function (5) Automatic extension function for Rod 1 (6) Automatic extubation function of rod 1 (7) Wireless driving commands to the boring machine 200 via the driving remote control 73 The following describes each function.

[0179] First, the "pre-drilling borehole soil discharge function" is an operating mode that involves stopping the feed, constantly supplying water, and constantly rotating the swivel head 40 while supplying drilling water for a certain period of time (for example, the "soil discharge operation time" in Figure 24) using the water supply pump 50, in order to discharge soil that does not need to be sampled remaining in the borehole after the recovery of the core barrel 2. This "pre-drilling borehole soil discharge function" is performed automatically before drilling begins (zero stroke) and after core cutting, which is performed after each drilling stroke. Details will be described later with reference to Figures 24 and 26.

[0180] Next, the "trouble avoidance operation function" is an operation mode for resolving troubles during drilling operations, replacing the "up and down slight lifting operation" (Figure 7) described above. The boring control unit 70 of the present invention has two types of operation modes as trouble avoidance operations: "stagnation operation mode" and "lifting operation mode". The "stagnation operation mode" is defined as the operation in which, during drilling operations, any of the measured values ​​among the trouble operation judgment items (rotational torque, supply pressure, water supply pressure, leader inclination) exceeds a preset threshold (stagnation operation judgment value), and the measured value exceeds a preset judgment time T2 * If the condition persists, this is an operating mode that stops the feed descent by the lifting device 30. When the stagnation mode is executed, the lifting device 30 is stopped, but the constant water supply by the water pump 50 and the constant rotation of the swivel head 40 continue. When all measured values ​​fall below the abnormality release value, this "stagnation mode" is released, and the feed descent by the lifting device 30 resumes.

[0181] Furthermore, the "lifting operation mode" is defined as the state in which any of the trouble operation judgment items (rotational torque, supply pressure, water supply pressure, leader tilt) exceeds a preset threshold (lifting operation judgment value) and the measured value exceeds a preset judgment time T3 *If the operation continues, this mode raises the feed by a predetermined distance (lifting distance). When the lifting operation mode is executed, the constant water supply by the water supply pump 50 and the constant rotation operation of the swivel head 40 continue as usual. When all measured values ​​fall below the abnormality release value, this "lifting operation mode" is canceled, and the feed descent by the lifting device 30 resumes. Details of this "trouble avoidance operation function" will be described later with reference to Figure 25.

[0182] Next, "automatic retrieval of core barrel 2" is an operation mode in which the winch 35, to which the overshot 3 is connected to the lifting device 35b (Figure 23), is automatically retracted to connect the overshot 3 and core barrel 2, the winch 35 is automatically retracted to a predetermined height after connection, and then the winch 35 is automatically retracted to a height that allows it to be guided to a work table (Figure 37) for collecting core samples (soil samples) from core barrel 2. Details will be described later with reference to Figure 27.

[0183] Furthermore, "automatic core barrel 2 loading" refers to an operating mode in which the winch 35 automatically lowers the core barrel 2, which is connected to the overshot 3 and scheduled to be loaded next, to a predetermined height, and then automatically raises the winch 35 to the predetermined height after loading. Note that the connection of the overshot 3 and core barrel 2, and the separation of the overshot 3 and core barrel 2, are performed manually. Details will be described later with reference to Figure 28.

[0184] Next, the "automatic water supply line switching function" is an operating mode that selectively connects the water supply line 50a of the water supply pump 50, which supplies drilling water into the borehole (inside the rod 1), to either the machine line 81a or the hose line 81b. After each core cutting, which is performed for each drilling stroke, it is necessary to fill the borehole (inside the rod 1 located underground) with drilling water in preparation for the next drilling stroke. For example, when connecting the rod 1 to the swivel head 40, the swivel head 40 is in a laterally slid position. Therefore, the machine line 81a cannot supply drilling water into the borehole. In such cases, the connection destination of the water supply line 50a is automatically switched from the machine line 81a to the hose line 81b, and the borehole is filled with drilling water. Further details will be described later with reference to Figures 24 and 26.

[0185] Next, the "automatic rod extension function" is an operating mode in which an additional rod 1 is automatically added (replenished) to the rod 1 that has been penetrated into the ground after each drilling stroke is completed. Details of this will be described later with reference to Figures 32 to 34.

[0186] Next, the "automatic rod 1 extraction function" is an operating mode that automatically extracts multiple rods 1 that have penetrated the ground one by one after retrieving the core barrel 2 at a predetermined target depth. Details of this will be described later with reference to Figures 39 to 41.

[0187] Next, regarding the "wireless travel command to the boring machine 200 by the travel remote control 73," the travel command from the travel remote control 73 to the boring control unit 70 is transmitted wirelessly (carrier wave) with a frequency in the 2.4GHz band. The drilling and attitude control remote control 74 can also be made to have the same wireless specifications as the travel remote control 73. The specific automatic control flow related to each of the above functions will be explained below.

[0188] Figure 24 is a flowchart showing the automatic control of the drilling operation of a boring device 200 according to a second embodiment of the present invention. The drilling operation flow of this boring device 200 is different from that of the boring device 100 shown in Figure 5 above, with the addition of the "water supply line switching" process in step S14' and the "soil discharge time elapsed" process in step S23'. The other processes are the same as the drilling operation flow of the boring device 100 shown in Figure 5 above. Therefore, we will omit the explanation of processes other than steps S14' and S23' here.

[0189] In step S14', when the control unit 72 receives a signal from the operator to turn on unmanned automatic operation, it switches the water supply line 50a from the hose line 81b to the machine line 81a. As a result, drilling water is supplied into the borehole via the swivel head 40.

[0190] In step S23', if the control unit 72 determines that the rotational speed R of the swivel head 40 has converged to the target rotational speed RT, it executes the pre-drilling borehole soil discharge mode. In the pre-drilling borehole soil discharge mode, for a predetermined soil discharge time T0 (for example, 30 seconds), the control unit 72 controls the rotational speed R of the swivel head 40 to the target rotational speed RT while controlling the water supply amount Q of the water supply pump 50 to the target water supply amount QT with the feed stopped. Note that the soil discharge time T0 can be set to any number of seconds on the setting screen (not shown). Furthermore, the soil discharge time T1 after one drilling stroke (step S45' in Figure 26) can also be set individually, not just before drilling starts.

[0191] Furthermore, it is possible to individually set the increase in seconds ΔT per drilling stroke (e.g., 1m), which is added to the soil removal time T0 before drilling begins. For example, if the soil removal time T0 before drilling begins is 30 seconds and the increase in seconds per drilling stroke (1m) is ΔT is 5 seconds / m, then the soil removal time T5 when drilling begins at a position of 5m will be T5 = T0 + 5 × ΔT = 30 seconds + 5m × 5 seconds / m = 55 seconds.

[0192] In step S23', the control unit 72 resumes feed descent by the lifting device 30 after the pre-drilling soil removal time T0 has elapsed.

[0193] Figure 25 is a flowchart showing the trouble avoidance operation determination and automatic control related to trouble avoidance operation of a boring apparatus 200 according to a second embodiment of the present invention. Figure 46 is an explanatory diagram showing the automatic operation setting screen related to trouble avoidance operation determination and trouble avoidance operation according to a second embodiment of the present invention.

[0194] The trouble avoidance operation determination and trouble avoidance operation flow of this boring device 200 differ from the vertical slight lifting operation determination and vertical slight lifting operation flow of the boring device 100 shown in Figure 7 above in the following respects. (1) As a trouble avoidance operation, it has two types of operating modes: "stagnant operation mode" and "lifting operation mode". (2) Each operating mode has its own individual determination value. (3) Leader tilt has been newly added as a trouble detection item, in addition to {rotational torque, supply pressure, and water supply pressure}. (4) Each trouble detection item has its own release value for restarting the feed rate reduction. The following describes the flowchart related to trouble avoidance operations.

[0195] First, in step S31', the control unit 72 determines whether any of the trouble avoidance operation determination items are equal to or greater than the lifting operation determination value, and whether that measurement value has persisted for a preset determination time t1. As shown in Figure 46, the trouble avoidance operation determination items are rotational torque, supply pressure, water supply pressure, and leader tilt. For each of the trouble avoidance operation determination items, the lifting operation determination value is 350 (N·m) for rotational torque, 15 (kN) for supply pressure, 1.0 (MPa) for water supply pressure, and 1.0 (°) for leader tilt. The determination time t1 is 1.0 (seconds) for all of these.

[0196] If any of the measured values ​​is greater than or equal to the lifting operation judgment value and that measured value persists for a preset judgment time t1 (YES), the control unit 72 executes step S32' (feed up) and step S33' (stop after reaching the lifting distance). In any other case (NO), the control unit 72 executes step S34'.

[0197] In step S32', the control unit 72 causes the lifting device 30 to move the rod 1 from feed-down to feed-up.

[0198] In step S33', the control unit 72 causes the lifting device 30 to feed up the rod 1 by a certain distance. As shown in Figure 46, the feed distance is, for example, 10 cm. After reaching the feed distance, the control unit 72 stops the feed-up operation of the lifting device 30 and restarts the feed-down operation.

[0199] In step S34', the control unit 72 determines whether any of the measured values ​​for the trouble avoidance operation determination items are greater than or equal to the stagnation operation determination value, and whether that measured value has persisted for a preset determination time t2. As shown in Figure 46, the stagnation operation determination values ​​for each trouble avoidance operation determination item are 200 (N·m) for rotational torque, 10 (kN) for supply pressure, 0.5 (MPa) for water supply pressure, and 0.5 (°) for leader tilt. The determination time t2 is 3.0 (seconds) for all of them.

[0200] If any of the measured values ​​is greater than or equal to the stall operation judgment value and that measured value persists for a preset judgment time t2 (YES), the control unit 72 executes step S35' (stalling operation mode). In all other cases (NO), the control unit 72 executes step S39.

[0201] In step S35', the control unit 72 stops the feed downward movement of the lifting device 30. However, constant-speed control of the water supply volume for the water supply pump 50 and constant-speed control of the rotational speed for the swivel head 40 are continued.

[0202] In step S36', it is determined whether all measured values ​​of the trouble avoidance operation determination items are below the abnormality release value. If all measured values ​​are below the abnormality release value (YES), the control unit 72 executes step S37'. If all measured values ​​are not below the abnormality release value (NO), the control unit 72 executes step S35' again.

[0203] In step S37', the control unit 72 restarts the feed descent operation by the lifting device 30.

[0204] In step S39, the control unit 72 determines whether the depth measurement has reached the core barrel drop and mounting depth. This "core barrel drop and mounting depth" is the depth obtained by adding the 1-stroke distance ST to the core barrel drop depth in step S12. As shown in the depth setting unit 71c1 in Figure 11, the 1-stroke distance ST is set to 1.00m.

[0205] If the depth measurement reaches the core barrel drop and mounting depth (YES), the control unit 72 executes step S40 (Figure 8). On the other hand, if the depth measurement does not reach the core barrel drop and mounting depth (NO), the control unit 72 executes step S31' again.

[0206] Figure 26 is a flowchart showing the automatic control of the core cutting operation of a boring apparatus 200 according to a second embodiment of the present invention. The core cutting operation flow of this boring machine 200 differs from that of the boring machine 100 shown in Figure 8 above in the following respects. (1) The feed descent operation was removed from the core cutting operation (steps S43 and S44). (2) The operation of removing soil and sediment from the borehole before drilling (elapsed time of soil and sediment removal operation) was added (step S45'). (3) A water supply line switching was added (step S49'). (4) The winch lowering / hoisting involved in core barrel retrieval was automated (step S50'). (5) The winch lowering / hoisting process for inserting the core barrel was automated (step S56'). (6) The extension of rod 1 was automated (step S55'). (7) The removal of rod 1 was automated (step S57'). Of the processes (1) through (7) described above, processes (1) through (3) have already been explained, so they will be omitted here, and processes (4) through (7) will be explained.

[0207] Figure 27 is a flowchart showing the automatic control of the core barrel retrieval operation of the boring apparatus 200 according to the second embodiment of the present invention. Figures 29-31 are explanatory diagrams showing the core barrel retrieval operation of the boring apparatus 200 according to the second embodiment of the present invention.

[0208] First, in step S50', the operator presses the core barrel retrieval button after the core cutting operation. This initiates the automatic control related to the core barrel retrieval operation.

[0209] In step S51', the control unit 72 starts the lowering operation of the winch 35. As shown in Figure 29(a), the overshot 3 is pre-attached to the lifting device 35b by the operator.

[0210] In step S52', the control unit 72 determines whether the "overshot lowering distance" has reached 500 mm before the "core barrel connection target distance". As shown in Figure 29(a), the "overshot lowering distance" here refers to the sum of the "winch 35 lowering distance", the "total length of the lifting device", and the "total length of the overshot". Of these, the "winch 35 lowering distance" is a measured value (variable value) measured by the proximity sensor 80 provided on the sheave 34. The "total length of the lifting device" and the "total length of the overshot" are measured values ​​(unvariable values). Note that this "winch lowering distance" will be referred to as the "winch hoisting distance" when the winch 35 is winding up the wire 35a. Similarly, the "overshot lowering distance" will be referred to as the "overshot hoisting distance" when the winch 35 is winding up the wire 35a.

[0211] Furthermore, the "lowering distance of the winch 35" is calculated based on the number of proximity detections in which the proximity sensor 80 passes through the holes 34a (Figure 50) formed at equal intervals (e.g., 30°) on the circular side surface of the sheave 34. For example, if the lowering distance per proximity detection is 31.154 mm / 1 detection, then the "lowering distance of the winch 35" = 31.154 mm × number of proximity detections.

[0212] Furthermore, the "core barrel connection target distance" is equal to the value obtained by subtracting the "height of the core barrel connection position" from the "sheave height" and adding the depth (= "sheave height" - "core barrel connection position" + "depth"). Note that the "core barrel connection position" refers to the distance from the tip of the rod (bit) to the spearhead 2a1.

[0213] Therefore, the control unit 72 executes step S53' if the "overshot lowering distance" has reached 500m before the "core barrel connection target distance" (YES). On the other hand, if the "overshot lowering distance" has not reached 500m before the "core barrel connection target distance" (NO), it executes step S51' again.

[0214] In step S53', the control unit 72 reduces (decelerates) the lowering speed of the winch 35. The reduction is to the extent that no load is placed on the connection between the overshot 3 and the core barrel 2.

[0215] In step S54', the control unit 72 stops the lowering operation of the winch 35 when the "overshot lowering distance" becomes equal to the "core barrel connection target distance" (Figure 29(b)).

[0216] In step S55', the control unit 72 starts the winding operation of the winch 35. This causes the winch 35 to wind up the core barrel 2 that has been captured by the overshot 3.

[0217] In step S56', the control unit 72 determines whether the "overshot winding distance" has reached the "fall prevention jig connection position". If the "overshot winding distance" has reached the "fall prevention jig connection position" (YES), the control unit 72 executes step S57'. On the other hand, if the overshot lowering distance has not reached the fall prevention jig connection position (NO), step S55' is executed again.

[0218] In step S57', the control unit 72 temporarily suspends the hoisting of the winch 35. As shown in Figure 30(a), the operator can then attach the fall prevention fixture 3b to the overshot 3. The fall prevention fixture 3b consists of a U-shaped member and is attached to the underside of the lifting dog 3a of the overshot 3.

[0219] In step S58', the operator presses the core barrel retrieval button.

[0220] In step S59', the control unit 72 starts the hoisting operation of the winch 35. As shown in Figure 30(b), the core barrel 2 captured by the overshot 3 is hoisted up by the winch 35.

[0221] In steps S60' and S61', the control unit 72 stops the winding operation of the winch 35 at the position where the overwinding prevention switch is turned ON.

[0222] In step S62', the operator guides the core barrel 2 from the boring machine side to the slide side and turns on the winch 35's winding button.

[0223] In step S63', the control unit 72 starts the lowering operation of the winch 35. As shown in Figure 31, the recovered core barrel 2 is guided to the workbench by the slide.

[0224] In steps S64' and S65', the control unit 72 stops the winch 35 from lowering when it has lowered the core barrel 2 by the required distance to move it from the slide to the workbench.

[0225] As described above, the above flow chart related to the core barrel retrieval operation performed after the core cutting operation of one drilling stroke can be summarized into the following steps (1) to (11). (1) After the first drilling stroke is completed and the core cutting operation is finished, press the core barrel retrieval and insertion button (step S50'). (2) The lowering operation of the winch 35 connected to the overshot 3 begins (step S51'). (3) The rotational speed of the pulley on the sheave 34 is detected by the proximity sensor 80 to detect the winding distance (step S52'). (4) When the lowering distance reaches 500 mm before the target distance for connecting the core barrel, reduce the lowering speed (step S53'). Reduce the speed so as not to put a load on the connection between the overshot 3 and the core barrel 2. When the unwinding distance reaches the core barrel connection target distance, the unwinding stops (step S54'). (6) The winch winding operation starts, and the core barrel 2 connected to the overshot 3 is wound up (step S55'). (7) When reaching the position where the anti-drop fixture is to be attached to the connection part between the overshot 3 and the core barrel 2, the winch winding temporarily stops (step S56' - step S57'). (8) When the anti-drop fixture is attached and the core barrel recovery button is pressed, the winch winding restarts and stops at the position where the winch overwind prevention switch is ON (step S58' - step S61') (9) To move to the workbench for placing the recovered core barrel 2, the winch unwinding operation starts (step S62' - step S63'). A sliding table is prepared and moved from the machine to the workbench. (10) When reaching the distance to the workbench, the winch unwinding operation ends (step S64' - step S65'). Subsequently, the core barrel loading operation of the bowling device 200 will be described.

[0226] FIG. 28 is a flowchart showing the automatic control related to the core barrel loading operation of the bowling device 200 according to the second embodiment of the present invention. Since the core barrel loading operation corresponds to the reverse process of the core barrel recovery operation (FIG. 31 → FIG. 30(b) → FIG. 30(a) → FIG. 29(b) → FIG. 29(a)), the explanatory diagrams will be omitted.

[0227] In steps S66' and S67', the operator connects the core barrel 2 to be loaded to the overshot 3 and presses the core barrel loading button. Thereby, the automatic control related to the core barrel loading operation is started.

[0228] In step S68', the control unit 72 starts the winding operation of the winch 35.

[0229] In steps S69' and S70', the control unit 72 stops the winch 35 from hoisting up at the position where the winch overwind prevention switch is turned ON. The position where the winch overwind prevention switch is turned ON refers to the winch hoisting distance (= "winch lowering distance" in Figure 29(a)) at which the weight (not shown), which is passed through the wire 35a, is lifted by the rising overshot 3 while the winch overwind prevention switch (not shown) is normally pulled vertically downward, resulting in the tensile force of the weight (not shown) no longer acting on the winch overwind prevention switch, and the return spring turns on the contact of the winch overwind prevention switch.

[0230] In step S71', the control unit 72 starts the lowering operation of the winch 35 at the core barrel insertion upper position. Here, "core barrel insertion upper position" refers to the height position vertically above the core barrel insertion position.

[0231] In steps S72' and S73', the control unit 72 stops the lowering operation of the winch 35 when the overshot lowering distance reaches the core barrel insertion position.

[0232] In step S74', the operator separates core barrel 2 from overshot 3 and allows it to fall naturally into rod 1.

[0233] In step S75', the operator presses the button to load the core barrel with overshot 3.

[0234] In step S76', the control unit 72 starts the hoisting operation of the winch 35.

[0235] In steps S77' and S78', the control unit 72 stops the winding operation of the winch 35 at the position where the overwinding prevention switch is turned ON.

[0236] As described above, the above flow relating to the core barrel insertion operation, which is performed after collecting a core sample from the recovered core barrel 2, can be summarized into the following steps (1) to (8). (1) Connect the core barrel 2 and overshot 3 to be inserted next (manually) (step S66'). (2) When the core barrel insertion button is turned ON, the winch starts raising and moves towards the boring machine (step S67'-step S68'). (3) The winch hoisting stops when the overwind prevention switch is turned ON (step S69'-step S70'). (4) Start lowering the winch when the core barrel is in the upper position (step S71'). (5) When the lowering distance reaches the core barrel insertion position, the winch lowering is stopped (step S72'-step S73'). (6) Insert core barrel 2 into rod 1 (manually) (step S74'). (7) When the core barrel insertion button is turned ON, winch hoisting begins, moving overshot 3 to the top of the boring machine (step S75'-step S76'). (8) Turn the overwind prevention switch ON to stop winch winding (step S77'-step S78'). Next, the rod extension operation will be explained.

[0237] Figures 32-34 are flowcharts showing the automatic control of the rod extension operation of the boring apparatus 200 according to the second embodiment of the present invention. Figures 35-38 are explanatory diagrams showing the rod extension operation of the boring apparatus 200.

[0238] First, in step S80', the operator presses the rod change button. This initiates automatic control related to the rod extension operation.

[0239] In step S81', the control unit 72 closes the second clamping mechanism 32.

[0240] In step S82', the control unit 72 closes the first clamping mechanism 31.

[0241] In step S83’, the control unit 72 rotates the first clamp mechanism 31 by a predetermined angle. As shown in Fig. 35(a), this corresponds to a screw loosening operation that loosens the screw fastening at the connection part (head connection part) between the head end 41 of the swivel head 40 and the rod 1 by the rotational torque of the first clamp mechanism 31.

[0242] In step S84’, the control unit 72 opens the first clamp mechanism 31.

[0243] In step S85’, the control unit 72 returns the rotational position of the first clamp mechanism 31 to its original position.

[0244] In step S86’, the control unit 72 determines whether the number of screw loosening operations by the first clamp mechanism 31 has reached the set number. If the number of screw loosening operations has reached the set number (YES), the control unit 72 executes step S87’. On the other hand, if the number of screw loosening operations has not reached the set number (NO), the control unit 72 executes step S82’ again.

[0245] In step S87’, the control unit 72 starts the threading operation by the swivel head 40. The threading operation is an operation of rotating the swivel head 40 in the direction in which the screw loosens to make the screw fastening force at the screw connection part zero. As shown in Fig. 35(b), this corresponds to a threading operation that makes the screw fastening force at the screw connection part (head connection part) between the swivel head 40 and the rod 1 zero by the rotation of the swivel head 40 when the first clamp mechanism 31 is in the OPEN state and the second clamp mechanism 32 is in the CLOSE state.

[0246] In step S88’, the control unit 72 determines whether the rotational speed of the swivel head 40 is -1 1 min or more. If the rotational speed is -1If the above is true (YES), the control unit 72 executes step S89'. Meanwhile, the rotational speed is 1 min -1 If the value falls below (NO), the control unit 72 repeats step S82'.

[0247] In step S89', the control unit 72 determines whether the upward distance of the swivel head 40 due to the threading operation has reached the "threading completion distance" (determination value). Here, "threading completion distance" refers to the length corresponding to the screw fastening section.

[0248] If the swivel head 40 has reached the threading completion distance (YES), the control unit 72 executes step S90'. On the other hand, if the swivel head 40 has not reached the threading completion distance (NO), the control unit 72 executes step S87' again. The swivel head 40's upward movement is calculated from the measurement value of the wire-type encoder 36b (Figure 3) provided on the lifting drive unit 36a (Figure 3).

[0249] In step S90', the control unit 72 completes the threading operation by the swivel head 40. This stops the rotation of the swivel head 40.

[0250] In step S91', the control unit 72 feeds up the lifting device 30. This causes the swivel head 40 to rise.

[0251] In step S92', the control unit 72 determines whether the swivel head 40 has reached the rod addition height position. The "rod addition height position" here refers to the height position of the swivel head 40 on the lifting device 30 at which the operator can manually connect a new rod 1 to the head end 41 of the swivel head 40 when the swivel head 40, which does not have a rod 1 connected to it, is slid laterally by the head slide mechanism 37 (Figure 1).

[0252] If the swivel head 40 has reached the additional rod height position (YES), the control unit 72 executes step S93'. On the other hand, if the swivel head 40 has not reached the additional rod height position (NO), the control unit 72 executes step S91' again. The raised position of the swivel head 40 is calculated from the measurement value of the wire-type encoder 36b (Figure 3) provided on the lifting drive unit 36a (Figure 3).

[0253] In step S93', the control unit 72 stops the lifting device 30. As a result, the swivel head 40 stops at the additional rod height position.

[0254] In step S94', the control unit 72 moves the swivel head 40 laterally by the head slide mechanism 37 (Figure 1). As shown in Figure 36(a), the swivel head 40 is positioned laterally offset from the axis of the rod 1.

[0255] In step S95', the control unit 72 determines whether the swivel head 40 has reached the rod addition lateral position. The "rod addition lateral position" here refers to the lateral position of the swivel head 40 on the head slide mechanism 37 (Figure 1) where the operator can manually connect a new rod 1 to the head end 41 of the swivel head 40 when the swivel head 40, which does not have a rod 1 connected to it, is slid laterally by the head slide mechanism 37 (Figure 1).

[0256] If the swivel head 40 has reached the additional lateral position of the rod (YES), the control unit 72 executes step S96'. On the other hand, if the swivel head 40 has not reached the additional lateral position of the rod (NO), the control unit 72 executes step S94' again.

[0257] In step S96', the control unit 72 stops the lateral sliding of the swivel head 40 by the head slide mechanism 37 (Figure 1).

[0258] In step S97', the control unit 72 is put into a rod connection standby state.

[0259] In step S98', the operator connects a new rod 1 to the head end 41 of the swivel head 40. This step is performed manually by the operator.

[0260] In step S99', the operator waits until the recovery of core barrel 2 and the loading of the next core barrel 2 are complete.

[0261] In step S100', the operator presses the rod change button. This initiates the extension of rod 1.

[0262] In step S101', the control unit 72 feeds up the swivel head 40 using the lifting device 30.

[0263] In step S102', the control unit 72 determines whether the swivel head 40 has reached the rod extension height position. As shown in Figure 37(a), the "rod extension height position" here refers to the height position of the swivel head 40 on the lifting device 30 where, when the swivel head 40 to which the new rod 1 is connected is slid laterally by the head slide mechanism 37 (Figure 1), the new rod 1 does not interfere with the rod 1 that has been driven into the ground, and the rod connection work can be performed automatically.

[0264] If the swivel head 40 has reached the rod extension height position (YES), the control unit 72 executes step S103'. On the other hand, if the swivel head 40 has not reached the rod extension height position (NO), the control unit 72 executes step S101' again.

[0265] In step S103', the control unit 72 stops the feed upward movement by the lifting device 30.

[0266] In step S104', the control unit 72 slides the swivel head 40 to the rod extension lateral position using the head slide mechanism 37 (Figure 1). As shown in Figure 37(b), the "rod extension lateral position" here refers to the lateral position of the swivel head 40 in the head slide mechanism 37 where the axis of the head end 41 and the axis of the rod 1 penetrated into the ground coincide or almost coincide. "Almost coincide" means that the amount of misalignment of the axes does not affect the screw extension operation or the screw cutting operation.

[0267] In step S105', the control unit 72 determines whether the swivel head 40 has reached the lateral position of the rod extension. If the swivel head 40 has reached the lateral position of the rod extension (YES), the control unit 72 executes step S106'. On the other hand, if the swivel head 40 has not reached the lateral position of the rod extension (NO), the control unit 72 executes step S104' again.

[0268] In step S106', the control unit 72 stops the lateral sliding movement of the swivel head 40 by the head slide mechanism 37 (Figure 1).

[0269] In step S107', the control unit 72 lowers the swivel head 40 using the lifting device 30.

[0270] In step S108', the control unit 72 determines whether or not there is a change in depth. If there is no change in depth (YES), the control unit 72 executes step S109'. On the other hand, if there is a change in depth (NO), the control unit 72 executes step S107' again.

[0271] In step S109', the control unit 72 stops the feed descent by the lifting device 30.

[0272] In step S110', the control unit 72 initiates a screw-connecting operation using the swivel head 40. The screw-connecting operation is the movement of rotating the swivel head 40 in the direction that tightens the screw connection at the rod connection.

[0273] In step S111', the control unit 72 controls the rotation speed of the swivel head 40 to 1 min -1 Determine whether the rotation speed is above or below 1 min. -1 If the above is true (YES), the control unit 72 executes step S119'. Meanwhile, the rotational speed is 1 min -1 If the value is below (NO), the control unit 72 executes step S112'.

[0274] In step S119', the control unit 72 determines whether or not there is a change in depth. If there is no change in depth (YES), the control unit 72 executes step S120'. On the other hand, if there is a change in depth (NO), the control unit 72 executes step S110' again.

[0275] In step S112', the control unit 72 determines whether the rotational torque of the swivel head 40 is greater than or equal to a predetermined threshold value. If the rotational torque is greater than or equal to the threshold value (YES), the control unit 72 executes step S113'. On the other hand, if the rotational torque is less than the threshold value (NO), the control unit 72 executes step S110' again.

[0276] In step S113', the control unit 72 determines whether the screw joint distance is greater than or equal to a predetermined judgment value. Here, "screw joint distance" refers to the length corresponding to the screw fastening section at the rod connection.

[0277] If the screw joint distance is greater than or equal to the determination value (YES), the control unit 72 executes step S114'. On the other hand, if the screw joint distance is less than the determination value (NO), the control unit 72 executes step S120'.

[0278] In step S114', the control unit 72 stops the screw joint operation by the swivel head 40.

[0279] In step S115', the control unit 72 starts a screw tightening operation using the swivel head 40.

[0280] In step S116', the control unit 72 stops the screw joint operation by the swivel head 40.

[0281] In step S117', the control unit 72 determines whether the number of screw tightening operations has reached a predetermined number. If the number of screw tightening operations has reached the predetermined number (YES), the control unit 72 executes step S118'. On the other hand, if the number of screw tightening operations has not reached the predetermined number (NO), the control unit 72 executes step S115' again.

[0282] In step S118', the control unit 72 completes the rod extension operation.

[0283] Note that the rotation speed is 1 min -1 If there is no change in depth after the above steps (step S111') (step S119'), or if the screw joint distance is less than the judgment value (step S113'), the following process will be executed.

[0284] In step S120', the control unit 72 starts the screw joint retry operation. The screw joint retry operation is the operation of threading the rod connection part → feeding upward to the screw joint retry position → feeding downward → screw joint.

[0285] In step S121', the control unit 72 determines whether the number of screw joint retries is 3 or less. If the number of screw joint retries exceeds 3 (NO), the control unit 72 terminates automatic operation. On the other hand, if the number of screw joint retries is 3 or less (YES), the control unit 72 executes step S122'.

[0286] In step S122', the control unit 72 threads the rod connection and raises the feed to the threaded joint retry position.

[0287] In step S123', the control unit 72 determines whether the swivel head 40 has reached the screw joint retry position. If the swivel head 40 has reached the screw joint retry position (YES), the control unit 72 executes step S107' again. On the other hand, if the swivel head 40 has not reached the screw joint retry position (NO), the control unit 72 executes step S122' again.

[0288] As described above, the above flow relating to the rod extension operation performed after one drilling stroke to reach the target drilling depth can be summarized in the following steps (1) to (11). (1) Press the rod change button to start automatic operation (step S80'). (2) The second clamping mechanism 32 and the first clamping mechanism 31 are tightened to grip the rod (step S81'-step S82'). (3) The first clamping mechanism 31 cuts the rod connection (steps S83'-S85'). When the number of operations reaches the set value, the thread cutting operation starts (steps S86'-S87'). (4) Rotation speed is 1 min -1 Once the threading completion distance is reached, the threading operation is complete (steps S88'-S90'). (5) After threading, the feed rise operation is started and when it reaches the position for connecting the rod ("rod additional height position"), the feed rise is stopped and a lateral sliding operation is performed (step S91'-step S94'). (6) After the lateral sliding operation is complete, the rod connection standby state is entered, and the rod 1 is manually connected to the swivel head 40 (step S95'-step S98'). Wait until the retrieval of the drilled core barrel 2 and the insertion of the next core barrel 2 are complete (step S99'). (7) Once the Core Barrel 2 has been loaded, turn the rod change button ON (step 100'). (8) When the feed upward movement is started and the swivel head 40 reaches the "rod extension height position", it performs a lateral sliding movement to the "rod extension lateral position" (step S101'-step S106'). (9) The feed begins to descend, and when no change in depth is detected, it is determined that the screw joint position is reached and the feed descent stops (step S107'-step S109'). (10) Start the screw joint operation, rotating at 0.0 min -1 If the torque is detected to be above a certain value, or if the screw joint distance is above a certain value, the screw joint operation stops (step S110'-step S114'). On the other hand, the rotation speed is 1 min -1 If there is no change in depth, or if the rotation speed is 0.0 min -1 If the screw joint position has not been reached, the screw joint retry operation is performed (step S119'-step S120'). Screw splicing retry operation: Start threading, and once the screw splicing retry position is reached, the feed is lowered and the screw splicing operation is resumed (step S122'-step S123'). If the screw splicing retry is exceeded three times, it is determined that automatic screw splicing is impossible and the automatic operation is terminated (step S121'). In this case, the screw splicing is performed manually. (11) As a screw tightening operation, the "screw connection ⇒ screw connection stop" operation is performed a predetermined number of times to complete the rod extension operation (step S115'-step S118'). Next, the rod removal operation will be explained.

[0289] Figures 39-41 are flowcharts showing the automatic control of the rod removal operation of a boring device 200 according to a second embodiment of the present invention. Figures 42-45 are explanatory diagrams showing the rod removal operation of the boring device 200. At the start of the flowchart, the state of the boring device 200 is assumed to be that drilling has reached the target drilling depth and the recovery of the core barrel has been completed. That is, as shown in Figure 42(a), the swivel head 40 is threaded and separated from the rod 1 in the ground, and the swivel head 40 is assumed to be in a rotation-stopped state after sliding laterally.

[0290] First, in step S124', the operator presses the rod removal button. This causes the control unit 72 to start the rod removal operation.

[0291] In step S125', the control unit 72 moves the swivel head 40 laterally by the head slide mechanism 37 (Figure 1) (Figure 42(b)).

[0292] In step S126', the control unit 72 determines whether the swivel head 40 has reached the "rod extension lateral position" described above (step S104').

[0293] If the swivel head 40 has reached the lateral position of the rod extension (YES), the control unit 72 executes step S127'. On the other hand, if the swivel head 40 has not reached the lateral position of the rod extension (NO), the control unit 72 executes step S125' again.

[0294] In step S127', the control unit 72 stops the lateral sliding movement of the swivel head 40 by the head slide mechanism 37 (Figure 1).

[0295] In step S128', the control unit 72 feeds down the swivel head 40 using the lifting device 30. As shown in Figure 43(a), the rod 1 is fixed in position by the second clamping mechanism 32, and the axis position of the swivel head 40 coincides with or almost coincides with the axis position of the rod 1. Here, "almost coincides" means that the amount of misalignment of the axes does not affect the screw-connecting operation or the thread-cutting operation.

[0296] In step S129', the control unit 72 determines whether or not there is a change in depth. If there is no change in depth (YES), the control unit 72 executes step S130'. On the other hand, if there is a change in depth (NO), the control unit 72 executes step S128' again.

[0297] In step S130', the control unit 72 stops the feed descent by the lifting device 30.

[0298] In step S131', the control unit 72 starts the screw-tightening operation using the swivel head 40. As shown in Figure 43(a), the screw-tightening operation is the movement of rotating the swivel head 40 in the direction in which the screw is tightened.

[0299] In step S132', the control unit 72 controls the rotation speed of the swivel head 40 to 1 min -1 Determine whether the rotation speed is above or below 1 min. -1 If the above is true (YES), the control unit 72 executes step S140'. Meanwhile, the rotational speed is 1 min -1 If the value is below (NO), the control unit 72 executes step S133'.

[0300] In step S133', the control unit 72 determines whether the rotational torque of the swivel head 40 is greater than or equal to a predetermined threshold value. If the rotational torque is greater than or equal to the predetermined threshold value (YES), the control unit 72 executes step S134'. On the other hand, if the rotational torque is less than the threshold value (NO), the control unit 72 executes step S131' again.

[0301] In step S134', the control unit 72 determines whether the screw joint distance is greater than or equal to a predetermined determination value. If the screw joint distance is greater than or equal to the predetermined determination value (YES), the control unit 72 executes step S135'. On the other hand, if the screw joint distance is less than the determination value (NO), the control unit 72 executes step S141'.

[0302] In step S135', the control unit 72 stops the screw joint operation by the swivel head 40.

[0303] In step S136', the control unit 72 opens the second clamping mechanism 32.

[0304] In step S137', the control unit 72 feeds the swivel head 40 up to the threaded position using the lifting device 30.

[0305] In step S138', it is determined whether the swivel head 40 has reached the threaded position. The "threaded position" referred to here means the height position of the swivel head 40 on the lifting device 30 where the male threaded portion of the upper rod 1 is gripped and fixed by the first clamping mechanism 31 at the rod connection part, and the female threaded portion of the lower rod 1 is gripped and fixed by the second clamping mechanism 32, as shown in Figure 44(a).

[0306] If the swivel head 40 has reached the threaded position (YES), the control unit 72 executes step S139'. On the other hand, if the swivel head 40 has not reached the threaded position (NO), the control unit 72 executes step S137' again.

[0307] In step S139', the control unit 72 stops the feed upward movement by the lifting device 30.

[0308] By the way, if the screw joint distance of the swivel head 40 does not reach a predetermined value in step S134' above (NO), or if the rotational speed is 1 min -1 If there is no change in depth (YES), the control unit 72 will perform a screw joint retry operation.

[0309] In step S141', the control unit 72 starts the screw joint retry operation.

[0310] In step S142', the control unit 72 determines whether the number of screw joint retries is 3 or less. If the number of screw joint retries exceeds 3 (NO), the control unit 72 determines that screw jointing is impossible in automatic operation and terminates automatic operation. In this case, manual screw jointing will be performed. On the other hand, if the number of screw joint retries is 3 or less (YES), the control unit 72 executes step S143'.

[0311] In step S143', the control unit 72 performs a threading operation. The threading operation is the operation of rotating the swivel head 40 in the direction that loosens the screw.

[0312] In step S144', the control unit 72 determines whether the swivel head 40 has reached the screw joint retry position. If the swivel head 40 has reached the screw joint retry position (YES), the control unit 72 executes step S128' again. On the other hand, if the swivel head 40 has not reached the screw joint retry position (NO), the control unit 72 executes step S143' again.

[0313] In step S145', the control unit 72 closes the second clamping mechanism 32.

[0314] In step S146', the control unit 72 closes the first clamping mechanism 31.

[0315] In step S147', the control unit 72 rotates the first clamping mechanism 31 by a predetermined angle. As shown in Figure 44(b), this corresponds to a screw-loosening operation in which the rotational torque of the first clamping mechanism 31 reduces the screw fastening force of the rod connection while the swivel head 40 is stationary.

[0316] In step S148', the control unit 72 opens the first clamping mechanism 31.

[0317] In step S149', the control unit 72 returns the rotational position of the first clamping mechanism 31 to its original position.

[0318] In step S150', the control unit 72 determines whether the number of screw loosening operations by the first clamping mechanism 31 has reached the set number. If the number of screw loosening operations has reached the set number (YES), the control unit 72 executes step S151'. On the other hand, if the number of screw loosening operations has not reached the set number (NO), the control unit 72 executes step S146' again.

[0319] In step S151', the control unit 72 starts the threading operation of the swivel head 40. The threading operation is the operation of rotating the swivel head 40 in the direction that loosens the screw. That is, as shown in Figure 45(a), this corresponds to the rotation of the swivel head 40 when the first clamping mechanism 31 is OPEN, which completely releases the screw fastening of the connection between the swivel head 40 and the rod 1 (rod connection).

[0320] In step S152', the control unit 72 controls the rotation speed of the swivel head 40 to 1 min -1 Determine whether the rotation speed is above or below 1 min. -1 If the above is true (YES), the control unit 72 executes step S153'. Meanwhile, the rotational speed is 1 min -1 If the value falls below (NO), the control unit 72 repeats step S146'.

[0321] In step S153', the control unit 72 determines whether the threading completion distance at the rod connection has reached a predetermined value. If the threading completion distance has reached the predetermined value (YES), the control unit 72 executes step S154'. On the other hand, if the upward displacement of the swivel head 40 has not reached the threading completion distance (NO), the control unit 72 executes step S151' again. The threading completion distance is calculated, for example, from the measurement value of the wire-type encoder 36b (Figure 3) provided on the lifting drive unit 36a (Figure 3).

[0322] In step S154', the control unit 72 completes the threading operation by the swivel head 40. This stops the rotation of the swivel head 40.

[0323] In step S155', the operator manually removes rod 1 from swivel head 40.

[0324] In step S156', the operator presses the rod removal button. This restarts the rod removal operation.

[0325] As described above, the above flow relating to the rod removal operation performed after the core barrel retrieval is completed upon reaching the target drilling depth can be summarized into the following steps (1) to (10). (1) Press the extubation button to start automatic operation (step S124'). (2) The swivel head slides to the "rod extension lateral position" (from step S125' to step S127'). (3) The feed starts descending, and when no change in depth is detected, it is determined that the screw joint position is reached and the feed stops descending (from step S128' to step S130'). (4) Start the screw joint operation, with a rotation speed of 0.0 min -1 If the torque is detected to be above a certain value, or if the screw joint distance is above a certain value, the screw joint operation is stopped (steps S131' to S135'). On the other hand, the rotation speed is 1 min -1 If there is no change in depth, or if the rotation speed is 0.0 min -1 If the screw joint position has not been reached, the screw joint retry operation is performed (step S140'-step S141'). Screw splicing retry operation: Start threading, and once the screw splicing retry position is reached, the feed descends and the screw splicing operation resumes (steps S143'-S144'). If the screw splicing retry exceeds three attempts, it is determined that automatic screw splicing is impossible and the automatic operation is terminated (step S142'). In this case, the screw splicing is performed manually. (5) After the screwing operation is completed, the feed rise begins, and when the thread cutting position is detected, the feed rise stops (step S136'-step S139'). (6) The second clamping mechanism 32 and the first clamping mechanism 31 are tightened to grip the rod 1 (step S145'-step S146'). (7) The first clamping mechanism 31 loosens the rod connection (steps S147'-S149'). When the number of screw loosening operations reaches the set value, the screw cutting operation starts (steps S150'-S151'). Rotation speed is 1 min -1 Once the threading completion distance is reached, the threading operation is complete (steps S152'-S154'). (8) Manually remove rod 1 from swivel head 40 to complete the removal of one tube (step S155'). (9) Press the rod removal button to restart the automatic removal operation from feed descent (step S156').

[0326] (Third embodiment) As shown in Figure 18 above, the core barrel assembly is designed to collect (sample) a sample (core) during drilling. The drilling method involves drilling to a predetermined depth (one drilling stroke), after which the sample (core) is stored inside the lower part 2b of the inner tube section (core barrel 2). The outer tube section (the outer tube section with the bit attached to the tip) and rod 1 are left in the borehole, and only the inner tube section (core barrel 2) is retrieved to the ground by winding up a wire. The core is then removed from inside the lower part 2b of the core barrel 2 on a workbench.

[0327] Then, for the next drilling stroke and core sampling, the used inner tube section (core barrel 2) or a new replacement inner tube section (core barrel 2) is either dropped into rod 1 or suspended by a wire, and placed in a predetermined position within the outer tube section remaining in the borehole.

[0328] By the way, in the automated drilling operation using the above-mentioned boring devices 100 and 200, the bit attached to the tip of the outer tube may need to be replaced due to changes in the geological conditions (for example, from soft to hard rock). In such cases, it is necessary to pull up not only the outer tube but also the rod 1 connected to the outer tube from inside the borehole.

[0329] However, since the inner surface of the borehole is a wall-like structure with exposed ground (hereinafter referred to as the "borehole wall"), when the outer pipe and rod 1 are pulled up from inside the borehole, there is a risk that part or all of the borehole wall may collapse, causing part or all of the borehole to be buried by soil and sediment. In the drilling method using the core barrel 2, if the borehole is buried by soil and sediment, it is necessary to drill this section again with the core barrel 2 in order to regenerate the borehole with a borehole bottom at its original depth.

[0330] Drilling with Core Barrel 2 requires the collection of unwanted samples (soil) while excavating this section, and also necessitates separate wire winding / lowering operations. On the other hand, as a method to reduce the risk of borehole collapse, measures such as injecting specially prepared slurry into the borehole are sometimes taken. However, the production of this special slurry requires time, special tools and materials, and advanced manufacturing technology. Re-excavating the same section with Core Barrel 2 or producing and injecting slurry significantly impairs the inherent excavation efficiency of the wireline method.

[0331] Therefore, there was a need to develop a core barrel for non-core drilling that could drill continuously without the need to manufacture and inject special drilling slurry or to collect unnecessary samples (cores). In addition to the above-mentioned case (replacement of the cutting edge due to changes in geological conditions), the non-core drilling core barrel can also be used for drilling in sections where sample (core) collection is unnecessary, and for re-drilling the same section after pulling up the outer pipe section in response to problems that occurred during drilling (for example, a malfunction where the inner pipe is not properly set in the outer pipe). Below, an example of this non-core drilling core barrel will be described in detail.

[0332] Figure 47 is a cross-sectional diagram illustrating the main parts of a core barrel 2' for non-core drilling according to a third embodiment of the present invention. Figure 48 is a cross-sectional diagram illustrating the flow of drilling water in the core barrel 2' for non-core drilling.

[0333] As shown in Figure 47(b), the core barrel 2' for non-core drilling eliminates the rotational separation mechanism (bearing) provided between the head portion 2a and the lower portion 2b of the core barrel 2, compared to the core barrel 2 shown in Figure 18. By eliminating the rotational separation mechanism, the head portion 2a' and the lower portion 2b rotate as a single unit. That is, as shown in Figure 47(a), when the latch of the core barrel 2' for non-core drilling engages with the rotational transmission portion of the outer tube, the rotation of the outer tube is transmitted via the latch to both the head portion 2a' and the lower portion 2b' of the core barrel 2 (inner tube) for non-core drilling, and the lower portion 2b' also rotates as a single unit with the outer tube.

[0334] Furthermore, by allowing the lower part 2b' to rotate integrally with the outer tube, it becomes possible to provide cutting functionality not only to the outer tube but also to the inner tube itself. For example, as shown in the view of arrow B in Figure 47(b), a cross-shaped inner tube bit 2c' is provided at the tip of the lower part 2b'. This makes it possible to drill across the entire tip surface of the non-core drilling core barrel assembly 4, as shown in the view of arrow B in Figure 47(a). In addition to the cross-shaped bit, other shapes such as a straight bit can be used for the shape of the inner tube bit 2c'.

[0335] Furthermore, as shown in Figure 48, since the non-core drilling core barrel assembly 4 has a structure that drills across the entire tip surface, multiple through holes 2d' are provided on the outer surface of the lower part 2b' to allow drilling water to flow from inside the lower part 2b', connecting the outside and inside of the lower part 2b'.

[0336] Figure 49 is an explanatory diagram showing a non-core drilling process using a non-core drilling core barrel 2' according to a third embodiment of the present invention. This non-core drilling process refers to a situation where, when the soil changes from soft to hard rock and the outer pipe bit needs to be replaced, a portion of the borehole wall collapses when the outer pipe is withdrawn from the borehole, causing a portion of the borehole to be buried by soil and debris. This will be explained in detail below.

[0337] Figure 49(a) shows the core sampling operation by the core barrel 2 while drilling into the ground with the outer pipe and rod 1.

[0338] Figure 49(b) shows the recovery of core barrel 2 by overshot 3 (not shown).

[0339] Figure 49(c) shows the pipe removal operation, in which the outer pipe and rod 1 are pulled up into the ground to replace the outer pipe bit (replacement blade) because the soil type has changed from soft to hard rock.

[0340] Figure 49(d) shows the preparation operation for non-core drilling, in which an outer pipe fitted with a new outer pipe bit (replacement blade), a rod 1 connected to the outer pipe, and a non-core drilling core barrel 2' locked inside the outer pipe are placed in the drilled hole.

[0341] Figure 49(e) shows the non-core drilling operation using an outer pipe for removing soil and sediment embedded in the borehole and a non-core drilling core barrel 2'.

[0342] Figure 49(f) shows the completed state of the non-core drilling operation, in which the borehole with its original depth bottom has been regenerated by the non-core drilling operation using the outer pipe and the non-core drilling core barrel 2'.

[0343] Figure 49(g) shows the recovery operation of the core barrel 2' for non-core drilling using an overshot 3 (not shown).

[0344] Figure 49(h) shows the core barrel insertion operation to lock the cobarrel 2 inside the outer tube after the non-core drilling operation is completed.

[0345] Figure 49(i) shows the drilling preparation operation using an outer pipe with a core barrel 2 installed inside.

[0346] Figure 49(j) shows the completion of the one-stroke drilling operation by the outer tube and the completion of the core sampling operation by the core barrel 2.

[0347] Figure 49(k) shows the recovery operation of the core barrel 2 by overshot 3 (not shown).

[0348] As shown in Figures 49(d) and 49(e) above, in the case of non-core drilling that does not require core sampling, or in the case of re-excavating the same section with the outer pipe after the outer pipe has been lifted up due to the replacement of the cutting edge (outer pipe bit) to match the changes in the geological formation, the outer pipe with the non-core drilling inner pipe (non-core drilling core barrel 2') set on the ground can be lowered while excavating again to a predetermined depth (original depth).

[0349] On the other hand, as shown in Figures 49(g)(h), if core sampling is required, core sampling can be performed by pulling up the non-core drilling inner tube (non-core drilling core barrel 2') and replacing it with a normal core sampling inner tube (core barrel 2). [Explanation of symbols]

[0350] 1 rod 2 Core Barrels 2a Head section 2a1 Spearhead 2b Lower part 2' Core Barrel for Non-Core Drilling 2a' Head section 2b' Lower part 2c' Bit for internal pipes 2d' through hole 3 Overshot 3a Lifting Dog 3b Fall prevention jig 4. Core barrel assembly for non-core drilling. 10. Crawler system (running gear) 11 Drive wheel 12 Idle Wheel 13 Infinite Tracks 14 road wheels 20 car bodies 24 Leader tilting mechanism 25 Leader slide mechanism 30. Lifting device (feeding device) 31. First clamping mechanism 32. Second clamping mechanism 33 Reader unit 33a vertical groove 34 sieve 34a hole 35. Winch (Lifting device) 35a wire 36 Hydraulic Cylinder 37. Head slide mechanism 38. Mast slide mechanism 40 Swivel head (rotary drive device) 41 Headends 42 Rotation motor 43 Head Rotation Section 44 spindles 50 Water supply pump (water supply device) 50a water supply line 50b Pump suction line 70 Boring Control Unit 71 Management and Monitoring Department (Data Entry Department) 72 Control Unit Section 73. Remote control for driving (remote control device) 74. Remote control for drilling and position control (remote operation device) 80 Proximity Sensors 81 Water supply line switching valve 81a Machine Line 82b Hose line 82 Receiver 100 Boring equipment (boring machine system) 200 Boring equipment (boring machine system)

Claims

1. A rod (1) for drilling holes in the ground, The core barrel (2) consists of an upper part (2a) that engages with the inner circumferential surface of the rod (1) and a hollow cylindrical lower part (2b) that is rotatable relative to the upper part (2a) and has an open end, A feeding device (30) that feeds the rod (1) in a predetermined direction, A rotary drive device (40) for rotating the rod (1), A water supply device (50) that supplies drilling water to the rod (1), A lifting device (35) for raising the core barrel (2) to the ground, The vehicle body (20) supporting the aforementioned feeding device (30), A running device (10) that moves the vehicle body (20) forward, backward, and turns, A mechanical control unit (72) controls the feeding device (30), the rotary drive device (40), and the water supply device (50), A data input unit (71) for inputting target speed values ​​(VT, RT, QT) for the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply volume (Q) of the water supply device (50), A wireline boring apparatus comprising a machine control unit (72) and a remote control device (74) for transmitting operation signals to the feeding device (30), the rotary drive device (40), and the water supply device (50) related to the core sampling drilling operation, The machine control unit (72), upon receiving a start signal for core sampling, takes in the target speed values ​​(VT, RT, QT) from the data input unit (71) and individually controls the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply amount (Q) of the water supply device (50) to be equal to the target speed values ​​(VT, RT, QT), thereby automatically collecting soil samples from a predetermined section using the core barrel (2). The machine control unit (72) performs a core cutting operation in which, after drilling one of a predetermined number of sections leading to the target drilling depth is completed, it raises the rod (1) by a predetermined distance only once while maintaining the constant speed control for the rotational speed (R) and the water supply volume (Q). A boring machine system characterized by the following.

2. In the boring machine system according to claim 1, The machine control unit (72) individually performs constant speed control for the lifting speed (V) of the feeder (30), the rotational speed (R) of the rotary drive unit (40), and the water supply rate (Q) of the water supply unit (50) when the measured value of one reference speed (R), selected from the lifting speed (V), the rotational speed (R), or the water supply rate (Q), deviates from a predetermined range of the speed target value (RT), and changes the other speed target values ​​(VT, QT) according to the deviation range of the reference speed (R) from the speed target value (RT), so that the lifting speed (V) of the feeder (30), the rotational speed (R) of the rotary drive unit (40), and the water supply rate (Q) of the water supply unit (50) become equal to the changed speed target values ​​(VT', RT, QT'). A boring machine system characterized by the following.

3. In the boring machine system according to claim 1, The machine control unit (72) performs a slight vertical lifting operation to raise or lower the rod (1) once or more times by a predetermined distance, a predetermined number of times, a predetermined lifting speed (V), and a predetermined rotational speed (R), while maintaining constant speed control for at least the water supply speed (Q), if any of the rotational torque (T) related to the rotational speed (R), the supply pressure (F) related to the lifting speed (V), or the water supply pressure (P) related to the water supply amount (Q) exceeds a preset abnormality determination value (Tth, Fth, Pth). A boring machine system characterized by the following.

4. A rod (1) for drilling holes in the ground, The core barrel (2) consists of an upper part (2a) that engages with the inner circumferential surface of the rod (1) and a hollow cylindrical lower part (2b) that is rotatable relative to the upper part (2a) and has an open end, A feeding device (30) that feeds the rod (1) in a predetermined direction, A rotary drive device (40) for rotating the rod (1), A water supply device (50) that supplies drilling water to the rod (1), A lifting device (35) for raising the core barrel (2) to the ground, The vehicle body (20) supporting the aforementioned feeding device (30), A running device (10) that moves the vehicle body (20) forward, backward, and turns, A mechanical control unit (72) controls the feeding device (30), the rotary drive device (40), and the water supply device (50), A data input unit (71) for inputting target speed values ​​(VT, RT, QT) for the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply volume (Q) of the water supply device (50), A wireline boring apparatus comprising a machine control unit (72) and a remote control device (74) for transmitting operation signals to the feeding device (30), the rotary drive device (40), and the water supply device (50) related to the core sampling drilling operation, The machine control unit (72), upon receiving a start signal for core sampling, takes the target speed values ​​(VT, RT, QT) from the data input unit (71) and individually controls the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply amount (Q) of the water supply device (50) to be equal to the target speed values ​​(VT, RT, QT), thereby automatically collecting soil samples from a predetermined section using the core barrel (2). The machine control unit (72) executes a core cutting operation in which, when the rod (1) has drilled to a predetermined depth necessary for core sampling, it raises and lowers the rod (1) once by a predetermined distance and a predetermined lifting speed (V) while maintaining the constant speed control for the rotation speed (R) and the water supply volume (Q). A boring machine system characterized by the following.

5. In the boring machine system according to claim 1, The machine control unit (72) has a communication interface unit (72d) that supports predetermined wireless data communication, wired data communication, or both. A boring machine system characterized by the following.

6. In the boring machine system according to claim 1, The rotary drive unit (40), the feeding unit (30), and the water supply unit (50) are configured to be remotely controlled wirelessly. A boring machine system characterized by the following.

7. In the boring machine system according to claim 1, The aforementioned traveling device (10) is configured to be remotely controllable via a wired connection. A boring machine system characterized by the following.

8. In the boring machine system according to claim 1, The data input unit (71) includes a transceiver (71f) that can connect to a mobile phone network to send and receive data. A boring machine system characterized by the following.

9. In the boring machine system according to claim 1, Each of the aforementioned speed target values ​​(VT, RT, QT) is set based on the parameters used in a preliminary drilling test on the same or similar ground, where the variation in torque value is small with respect to the magnitude of rotational torque (T), using the lifting speed (V), rotational speed (R), and water supply rate (Q) as parameters. A boring machine system characterized by the following.

10. In the boring machine system according to claim 1, The machine control unit (72) controls the rod (1) before it starts the drilling operation for core sampling, or after it has performed the core cutting operation. With the lifting and lowering operation of the feeding device (30) stopped, the constant-speed control of the rotational speed (R) and the water supply volume (Q) is performed for a predetermined time. A boring machine system characterized by the following.

11. A rod (1) for drilling holes in the ground, The core barrel (2) consists of an upper part (2a) that engages with the inner circumferential surface of the rod (1) and a hollow cylindrical lower part (2b) that is rotatable relative to the upper part (2a) and has an open end, A feeding device (30) that feeds the rod (1) in a predetermined direction, A rotary drive device (40) for rotating the rod (1), A water supply device (50) that supplies drilling water to the rod (1), A lifting device (35) for raising the core barrel (2) to the ground, The vehicle body (20) supporting the aforementioned feeding device (30), A running device (10) that moves the vehicle body (20) forward, backward, and turns, A mechanical control unit (72) controls the feeding device (30), the rotary drive device (40), and the water supply device (50), A data input unit (71) for inputting target speed values ​​(VT, RT, QT) for the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply volume (Q) of the water supply device (50), A wireline boring apparatus comprising a machine control unit (72) and a remote control device (74) for transmitting operation signals to the feeding device (30), the rotary drive device (40), and the water supply device (50) related to the core sampling drilling operation, The machine control unit (72), upon receiving a start signal for core sampling, takes in the target speed values ​​(VT, RT, QT) from the data input unit (71) and individually controls the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply amount (Q) of the water supply device (50) to be equal to the target speed values ​​(VT, RT, QT), thereby automatically collecting soil samples from a predetermined section using the core barrel (2). The machine control unit (72) determines if any of the measured values ​​of the feed pressure (F) and tilt angle of the feed device (30), the rotational torque (T) of the rotary drive device (40), and the water supply pressure (P) of the water supply device (50) are above a preset abnormality determination value and the measured value persists for a preset determination time. With the lifting and lowering operation of the feeding device (30) stopped, the constant-speed control of the rotational speed (R) and the water supply amount (Q) is performed until the measured value is less than or equal to a preset release value. A boring machine system characterized by the following.

12. In the boring machine system according to claim 1, The machine control unit (72) determines if any of the measured values ​​of the feed pressure (F) and tilt angle of the feed device (30), the rotational torque (T) of the rotary drive device (40), and the water supply pressure (P) of the water supply device (50) are above a preset abnormality determination value and the measured value persists for a preset determination time. While maintaining the constant speed control for the rotational speed (R) and the water flow rate (Q), the rod (1) is raised by the feeding device (30) by a predetermined distance. A boring machine system characterized by the following.

13. A rod (1) for drilling holes in the ground, The core barrel (2) consists of an upper part (2a) that engages with the inner circumferential surface of the rod (1) and a hollow cylindrical lower part (2b) that is rotatable relative to the upper part (2a) and has an open end, A feeding device (30) that feeds the rod (1) in a predetermined direction, A rotary drive device (40) for rotating the rod (1), A water supply device (50) that supplies drilling water to the rod (1), A lifting device (35) for raising the core barrel (2) to the ground, The vehicle body (20) supporting the aforementioned feeding device (30), A running device (10) that moves the vehicle body (20) forward, backward, and turns, A mechanical control unit (72) controls the feeding device (30), the rotary drive device (40), and the water supply device (50), A data input unit (71) for inputting target speed values ​​(VT, RT, QT) for the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply volume (Q) of the water supply device (50), A wireline boring apparatus comprising a machine control unit (72) and a remote control device (74) for transmitting operation signals to the feeding device (30), the rotary drive device (40), and the water supply device (50) related to the core sampling drilling operation, The machine control unit (72), upon receiving a start signal for core sampling, takes in the target speed values ​​(VT, RT, QT) from the data input unit (71) and individually controls the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply amount (Q) of the water supply device (50) to be equal to the target speed values ​​(VT, RT, QT), thereby automatically collecting soil samples from a predetermined section using the core barrel (2). The machine control unit (72) reduces the lowering speed of the lifting device (35) that winds up / lowers the recovery mechanism (3) for recovering the core barrel (2) after sample collection is complete when the recovery mechanism (3) reaches a position a predetermined distance above the connection target position with the core barrel (2). A boring machine system characterized by the following.

14. In the boring system according to claim 13, The machine control unit (72) calculates the lowering distance / lifting distance of the lifting device (35) for the retrieval mechanism (3) based on the number of detections by the proximity sensor (80) for a plurality of holes (34a) provided on the circular side surface of the pulley (34) through which the wire (35a) wound around the lifting device (35) passes. A boring machine system characterized by the following.

15. A rod (1) for drilling holes in the ground, The core barrel (2) consists of an upper part (2a) that engages with the inner circumferential surface of the rod (1) and a hollow cylindrical lower part (2b) that is rotatable relative to the upper part (2a) and has an open end, A feeding device (30) that feeds the rod (1) in a predetermined direction, A rotary drive device (40) for rotating the rod (1), A water supply device (50) that supplies drilling water to the rod (1), A lifting device (35) for raising the core barrel (2) to the ground, The vehicle body (20) supporting the aforementioned feeding device (30), A running device (10) that moves the vehicle body (20) forward, backward, and turns, A mechanical control unit (72) controls the feeding device (30), the rotary drive device (40), and the water supply device (50), A data input unit (71) for inputting target speed values ​​(VT, RT, QT) for the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply volume (Q) of the water supply device (50), A wireline boring apparatus comprising a machine control unit (72) and a remote control device (74) for transmitting operation signals to the feeding device (30), the rotary drive device (40), and the water supply device (50) related to the core sampling drilling operation, The machine control unit (72), upon receiving a start signal for core sampling, takes in the target speed values ​​(VT, RT, QT) from the data input unit (71) and individually controls the lifting speed (V) of the feeding device (30), the rotational speed (R) of the rotary drive device (40), and the water supply amount (Q) of the water supply device (50) to be equal to the target speed values ​​(VT, RT, QT), thereby automatically collecting soil samples from a predetermined section using the core barrel (2). The machine control unit (72) performs the following actions each time drilling is completed in one of a predetermined set of sections leading to the target drilling depth, excluding the final section: threading the screw connection between the rotary drive unit (40) and the rod (1); then feeding the rotary drive unit (40) up to a predetermined height; then sliding the rotary drive unit (40) laterally to a predetermined lateral position; then connecting the additional rod (1) to the rotary drive unit (40); then feeding the rotary drive unit (40) up to a predetermined height; then sliding the rotary drive unit (40) laterally to its original lateral position; then feeding the rotary drive unit (40) down to a predetermined height; and screwing the additional rod (1) to the rod (1) that has been driven into the ground. A boring machine system characterized by the following.

16. In the boring machine system according to claim 1, The machine control unit (72) then, after the drilling of the final section of a predetermined set of sections leading to the target drilling depth is completed and the core barrel (2) is recovered, slides the rotary drive unit (40) laterally back to its original lateral position, then feeds the rotary drive unit (40) down to a predetermined height, screwing the rotary drive unit (40) to the rod (1) that has been driven into the ground, then feeds the rotary drive unit (40) up to a predetermined height, threading the rod connection, then removes the rod (1) from the rotary drive unit (40), and sequentially removes all the rods (1) that have been driven into the ground. A boring machine system characterized by the following.

17. In the boring machine system according to claim 1, The machine control unit (72) selectively switches the water supply line (50a) of the water supply device (50) to either a machine line (81a) that supplies water into the borehole via the rotary drive unit (40) or a hose line (81b) that supplies water directly into the borehole. A boring machine system characterized by the following.

18. In the boring machine system according to claim 1, The drilling core barrel (2') comprises an upper part (2a') that engages with the inner circumferential surface of the rod (1), and a hollow cylindrical lower part (2b') that is rotatable integrally with the upper part (2a') and has a drilling blade attached to its end. A boring machine system characterized by the following.

19. In the boring machine system according to claim 18, Multiple through holes (2d') connecting the inside and outside are formed on the outer surface of the lower part (2b') of the drilling core barrel (2'). A boring machine system characterized by the following.

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