JPH0823260B2 - Drilling position control method and device for rock drill - Google Patents

Description

Detailed Description of the Invention

A. OBJECT OF THE INVENTION (1) Industrial field of application The present invention relates to a drilling positioning control method and device for a rock drill used for drilling work such as blast holes in tunnel construction, and more specifically, in a facet of a tunnel. The present invention relates to a control method and device for automatically controlling a rock drill when drilling a blast hole or the like and positioning a bit at a pre-calculated drilling position.

(2) Prior Art In tunnel construction, automating the tunnel excavation work to save labor, improve efficiency, improve safety, and improve the working environment promotes rationalization of tunnel construction. Is listed as a top priority issue. In particular, automation of rock drilling machines used for drilling holes such as blast holes in tunnels is an urgent task, and over the past few years, automation of drill jumbo equipped with rock drilling machines has attracted attention, and development of automatic drill jumbo has been attempted. Has been. The automatic drill jumbo requires various automation functions such as "machine positioning function", "drilling position calculation function", "drilling positioning control function", and "drilling control function". The "control function" constitutes the central function for achieving automation.

When using a normal manual (manual) operation drill jumbo, it is indispensable to mark a large number of work points such as blast holes on the face of the face, which involves a high degree of distressing and dangerous work. In addition, positioning the rock drill at the marked drilling position requires a great deal of skill,
Long working time and low accuracy. Therefore, in realizing an automatic drill jumbo, development of a high-precision and high-speed "drilling positioning control function" is particularly important. That is, if the rock drilling machine can be automatically controlled using the "drilling positioning control function" and the bit can be accurately positioned at the pre-calculated drilling position, the marking work that involves difficult and dangerous work becomes unnecessary, Laborsaving, efficiency improvement, and safety can be achieved. Further, since it is possible to drastically reduce the excess digging, excess winding, and atari which have a great influence on the construction quality and cost of the tunnel construction, the construction efficiency and the economical efficiency are remarkably improved.

In the conventional drilling positioning control method, as shown in FIGS. 7 and 8, a rock drill 102 is mounted on a body 100 of a drill jumbo, and the boom 10 is mounted on the rock drill 102.
Various sensors (rotation angle sensor 104, displacement sensor 106, proximity sensor 108) are arranged for each degree of freedom in order to detect the operation amounts of the 2a and the guide cell 102b. Therefore, a system for determining the position of the bit 102d at the tip of the drill rod 102c of the rock drill 102 is adopted.
These sensors are so-called internal sensors, and in addition to the detection error of the sensor itself, the boom 102a
Further, position errors due to accumulation of "deflection / twisting of members", "play / backlash of movable parts", "manufacturing error", "deformation / wear", etc., of the guide cell 102b and the like always occur.
In particular, in a large articulated boom such as a rock drill having a large operating range and a significant movement of the center of gravity during operation, it is difficult to perform accurate drilling positioning control due to this position error.
The position error increases as the drilling position moves away from the center of the drill jumbo body.

On the other hand, since it is necessary to position the outer peripheral hole of the facet with high accuracy in order to reduce excess digging, excess wrapping, and misalignment, the above-mentioned position error is an obstacle to automation of the drill jumbo. . That is, in order to automate the drill jumbo, the drilling positioning accuracy is ± 20 mm.
Although it is necessary to reduce the error to a certain extent, the conventional control method using the internal sensor system cannot avoid a positioning error of about ± 100 mm at present. In addition, the trouble that the installation position of the drill jumbo shifts during the operation often occurs, but it is difficult to deal with this trouble by the control method using the internal sensor system. Further, in the conventional technology, as a control method of the rock drilling machine, a teaching / playback method for teaching the drilling position in advance and a numerical control method for numerically inputting the drilling position in advance are used, and the preparation work is complicated and practical. It is poor in sex and has various problems.

(3) Problems to be Solved by the Invention The present invention has been made in view of the above circumstances, and solves the problems of the above-mentioned prior art and solves the problems such as the bending and play of a rock drilling machine or the drill jumbo. PROBLEM TO BE SOLVED: To provide a drilling hole positioning control method and device for a rock drilling machine capable of accurately and quickly positioning a bit of a rock drilling machine at a pre-calculated drilling position without being affected by a deviation of an installation position during work. With the goal. Therefore, the present invention directly detects the position of the controlled object by using a so-called hand-eye (hand-arm / visual) system, which uses an external sensor such as the visual sense as the position detecting means, and obtains the coordinate information of the position. It was made based on the finding that the method of controlling by feedback to is most effective. In the present invention, a boom and guide cell of a rock drill, a servo mechanism built in the rock drill, a detection body at the tip of the rock drill, a color imager for imaging the detection body, a color image analyzer, a computing unit and a computer A positioning control system that is a hand eye system is configured using
The basic technical idea is to automatically control the operation of a rock drill.

B. Configuration of the Invention (1) Means for Solving Problems The drilling positioning control method for a rock drilling machine according to the present invention has the following configuration in order to achieve the above object. That is, with respect to a drill jumbo installed toward a face in a tunnel, a colored detector is attached to a known position of the tip of a rock drill equipped with the drill jumbo, and the detector and
The tunnel inner surface captured by the color imager installed in aft body or fuselage behind the drill jumbo, its said sensing member
Of the image signal.
Coordinates of the position of the detector and known points on the inner surface of the tunnel
The coordinates of the position are continuously analyzed and detected, and the rock drill is automatically operated via a servo mechanism in the rock drill by a control signal based on the coordinate information of the position of the detector, and It is characterized in that the bit of the rock drill is guided and positioned at the drilling position on the face face calculated in advance based on the planned alignment and the design cross-sectional shape.

The drilling positioning control device for a rock drilling machine according to the present invention is for carrying out the above method, and has the following configuration. That is, for a drill jumbo installed toward a face in a tunnel, a device used for controlling the drilling positioning of a rock drill installed in the drill jumbo, which is a known device near the tip of the rock drill. colored sensing element mounted on the position and; installed in aft body or fuselage rear of the drill jumbo, the colored detection object and tunnels
A color imaging means for imaging the Le inner surface; position of a known point of the inner surface of the coordinates and the tunnel location of the detection knowledge body extracts the detection object based on the sensing signal from the color image pickup means
A color image analyzing means for continuously analyzing coordinates ; a hole position calculating means for calculating a hole position on a face face based on a planned line shape and a design cross-sectional shape of the tunnel; based on coordinate analysis values of the color image analyzing means Control means for automatically controlling the operation of the rock drill to guide and position the bit of the rock drill to the calculated drilling position;

(2) Action A color imager is used to pick up an image of a detector mounted near the tip of a rock drill, and the color image analyzer extracts the detector from the captured image information. Based on this, the coordinates of the position of the center of gravity (centroid) of the detection body are continuously calculated and detected by the calculator. In addition, surveying and image acquisition by the color imager
Alignment of reference points of tunnel on face by image analysis means
And the coordinates of the reference line are detected. Then, using a computer, the current position and the switching of the bits obtained from the position of the detection object
From the known coordinates of the wing face, the coordinates with the pre-calculated drilling position are compared with each other to obtain the deviation, and the control signal based on this deviation is input to the servo mechanism equipped in the rock drill , and the rock drill's
Real-time feedback control of operation, tunnel
Pre-calculated based on the planned alignment and design cross-sectional shape of
The servo mechanism uses the drilling position on the face as the target value.
Without giving the numerical information of the target value directly,
Bits are continuously guided to the target value and positioned.

(3) Embodiment An embodiment of a drilling positioning control method for a rock drilling machine and its apparatus according to the present invention will be described with reference to the drawings. Embodiment Device FIGS. 1 to 4 show an embodiment device of the present invention. That is,
FIG. 1 shows the overall configuration of the apparatus of this embodiment, and FIGS. 2 to 4 show the structure of each part.

In FIG. 1, T indicates a tunnel, which has a semicircular cross section. In addition, F indicates a face face, J indicates a drill jumbo, P indicates a survey reference point, and Q indicates a tunnel center point on the face face F, respectively. B indicates the actual distance between the laser spots described later. Further, X represents a horizontal coordinate axis of the tunnel cross section, Y represents a vertical coordinate axis of the tunnel cross section, and Z represents a coordinate axis of the tunnel excavation direction.

In this embodiment, one color imager is installed in a drill jumbo J having two rock drills. The drill jumbo J is mainly composed of the body 1 including the underbody of the wheel 1a and the outrigger 1b of the fixing device,
Two rock drills 2 are arranged at the front of the machine body 1, and a color imager 3 is arranged above the rear part of the machine body 1, facing the face F and parallel to the direction of excavation near the center of the tunnel T. Installed on. At this time, the body 1 of the drill jumbo J
Is properly installed at a position where the rock drill 2 reaches the outer periphery of the face face F, and the body 1 is held horizontally by the outrigger 1b.

The rock drill 2 comprises a boom 2a, a guide cell 2b,
It is composed of a drill rod 2c and a bit 2d. The rock drilling machine 2 has a well-known mechanism having an adjusting function in which the guide cell 2b is substantially parallel to the machine body 1 regardless of the operating state of the beam 2a. Therefore, unless the guide cell 2b is provided with a tilt angle or the like, the drilling direction of the drill rod 2c and the bit 2d mounted on the guide cell 2b is substantially the same as the drilling direction by installing the machine body 1 in parallel with the drilling direction. . In the body 1 of the drill jumbo J,
Further, a color image analysis device 4 including a color image analysis unit described later is installed.

Further, as shown in FIG. 1, a laser beam emitted from the laser projecting device (not shown) installed behind the drill jumbo J in parallel to the excavation direction of the tunnel T on the face face F. 5, a plurality of laser spots 6 are irradiated. These are used to find the center point of the tunnel cross section and various reference lines.

A colored detector 8 and an ultrasonic sensor 9 are mounted at known positions near the tip of the guide cell 2b of the rock drilling machine 2. 2A and 2B show these arrangement configurations. FIG. 2A is a layout drawing viewed from the X direction, and FIGS. 2B and 2C are layout drawings viewed from the Z direction. Regarding the installation positions of the color imager 3 and the detection body 8, they may be installed at positions where the color imager 3 can sufficiently collimate the detection body 8 in the operating range of the rock drill 2. The figure (b) shows an arrangement example in which one detector 8 is attached to one side of the tunnel center side of the guide cell 2b, and the figure (c) shows the guide cell 2
An example of arrangement in which two detectors 8 are mounted on both sides of b is shown. Here, assuming a case where the guide cell 2b is used by being inverted in the punching work, it is preferable to attach a plurality of detection bodies 8 to one guide cell 2b as shown in FIG. Then, one of the detectors 8 which is easily aimed is selected and its position is detected.

A small chromatic color sphere including white and black is used as the detection body 8, but a light emitting sphere may be used depending on circumstances. The detector 8 that moves with the operation of the rock drill 2 is imaged by the color imager 3 together with the laser spot 6, and the coordinates thereof are continuously detected by the color image analysis means described later. Further, the relative distance between the face surface F and the rock drill 2 is constantly detected by the ultrasonic sensor 9.

FIG. 3 shows an example of a screen imaged when one color imager 3 in this embodiment is used.
In this screen, the laser spot 6 with the face F as the background.
The image (for example, a red spot) and the detector 8 are simultaneously imaged, and this image signal is sent to a control unit including a color image analysis means. Further, on this screen, a horizontal reference line 11, a tunnel center line 12, a tunnel outer peripheral line 13, and a drilling position 14 as a working point (indicated by a cross point in the figure) on the face face F calculated in advance by using a computer. Is displayed. Further, in the figure, M is the intersection of the line 15 connecting the laser spots 6 and 6 in the image and the tunnel center line 12, and ΔH is the line 15 between the laser spots 6 and 6 in the image and the horizontal reference line 11. Distance b is the same as laser spots 6 and 6.
Is the distance between. As shown, the rock drill bit 2d is guided in the direction of arrow a and positioned at the calculated drilling position 14.

FIG. 4 shows the overall configuration of the positioning control system in this embodiment. As shown in the figure, the positioning control system includes a color image analysis unit 17 that processes signals from the color imager 3, an oscillation detector 18 that processes signals from the ultrasonic sensor 9, and color image analysis of these. Control unit 1 for processing signals from the unit 17 and the oscillation detector 18
It consists of 9 and. The color image analysis unit 17
In this embodiment, the color image analyzing device 4 is assembled and mounted on the rear portion of the machine body 1, but the assembling mode and mounting position are not limited.

First, the color image analysis unit 17 includes a color image analyzer 20, a calculator 21, and a monitor television 22. That is, the color image analyzer 20 graphically shows only the object images of a plurality of colors set arbitrarily, that is, the laser spot 6 and the detector 8 from the image displayed on the monitor TV 22 captured by the color imager 3. And the coordinates of the barycentric (centroid) position of these figures are detected.
Based on the coordinate data of these barycentric positions, the calculator 21 determines the tunnel center point Q of the face face F and various reference lines 1
1, 12 and 13 are calculated and set, and the detector 8
The XY coordinates of the bit 2d with respect to the facet F are calculated from the position coordinates of.

The oscillation detector 18 processes the signal from the ultrasonic sensor 9 to detect the relative distance between the face F and the rock drill 2 in real time, and sends this to the controller.

The control unit 19 includes a computer 23, a servo mechanism 24, an input device 25, a CRT display device 26, and a recording device 27. Other than the servo mechanism 24, the control unit 19 is installed outside the drill jumbo J, and the color image folding unit described above is used. Upon receiving signals from the rock drilling machine 17 and the oscillation detector 18, the servo mechanism 24 built in the rock drilling machine 2 is finally controlled to control the drilling position of the bit 2d of the rock drilling machine 2.

More specifically, the computer 23 has, as its function, all the coordinate information necessary for the drilling work on the face F, that is, the face based on the pre-registered plan alignment and design cross-sectional shape of the tunnel. Tunnel center point Q at F
A hole position calculation function (so-called hole position calculation means) for calculating coordinate information on the tunnel center line 12, horizontal reference line 11, tunnel outer peripheral line 13, and all hole positions 14, and coordinate information output from the color image analysis unit 17. The deviation is obtained by comparing the coordinate information calculated by the boring position calculation function with each other, and the control signal based on this deviation is input to the servo mechanism 24 built in the rock drill 2 to make the rock drill 2
The operation of is automatically controlled with high precision and high speed, and bit 2d
Control function for guiding and positioning the X-Y coordinates of the rock drill 2 to the coordinates of a predetermined drilling position, the control signal is corrected based on the relative distance information between the face face F and the rock drill 2, and the bit 2d of the rock drill 2 It has a control function of controlling the Z-coordinate of the device to a predetermined position. The above-mentioned control function is included in the control means in the sense.

The servo mechanism 24 is built in the rock drilling machine 2 and freely controls the three-dimensional operation of the rock drilling machine 2 based on a control signal from the computer 23. The input device 25 is for inputting various data to the computer 23 and also for sequentially inputting work commands relating to positioning of perforations. The CRT display 26 or the recording device 27 displays or records the calculation result of the computer 23 and the operation control state of the rock drill 2.

In the above system configuration, the arithmetic unit 21
Can be omitted if the function can be handled by the computer 23, and can also be omitted for the monitor television 22 if the function can be converted to the CRT display 26. Further, a communication means such as an optical fiber is adopted as a means for sending a signal from the color image analysis section 17 and the oscillation detector 18 to the computer 23 of the control section 19 or a means for sending a signal from the computer 23 to the servo mechanism 24. The communication means by is also appropriately adopted.

Example Method Next, a method executed by using the drilling positioning control device of the rock drill having the above-mentioned structure, that is, a drilling positioning control method of the rock drill will be described, and the operation of the present control device will be described. Describe. The procedure will be described below.

(1) First, in the work of boring a blast hole
Is based on the surveying reference point P and uses a light wave distance measuring gonio, etc.
Measure the face face F and the inside of the tunnel, including the face face.
To determine each position on the inside of the tunnel.
Determine a uniform Z coordinate.

(2) Next, as shown in FIG. 1, the machine body 1 of the drill jumbo J is installed toward the face F and parallel to and horizontal to the tunneling direction. Along with this, a laser projecting device (not shown) is installed near the both side walls of the tunnel T behind the fuselage 1 of the drill jumbo J, and the laser light 5 is directed toward the facet F to indicate the direction of excavation of the tunnel. It is irradiated in parallel.

(3) The facet F is irradiated with two laser spots 6, and the laser spot 6 and the detector 8 are imaged by the color imager 3 mounted on the drill jumbo J. Based on the image information obtained by this imaging, the color image analysis unit 17 performs image analysis as follows. That is, in the present embodiment, as a positioning method using two laser spots 6, the tunnel center line 12 connects the two laser spots 6 on the left and right sides as shown in the screen example of FIG. It is obtained as a vertical line passing through the division point M. Also, a horizontal reference line 11 called a spring line
Is obtained as a line parallel to the line connecting the two laser spots 6 and shifted downward by the distance AH. However, the distance ΔH is known in advance by surveying. Further, the tunnel center point Q is obtained as the intersection of the horizontal reference line 11 and the tunnel center line 12.

As shown in FIG. 3, in the image obtained by the color imager 3 installed at the rear of the body 1 of the drill jumbo J, as shown in FIG. 3, the laser spot 6 (for example, a red spot) and the detector are set against the background of the face of the tunnel. 8 is imaged. Then, this image signal is sampled and processed at high speed in the color image analysis unit 17. That is, for the laser spot 6, the X-Y coordinate on the screen regarding the tunnel center point Q and the various reference lines 11, 12, and 13 on the face F is set by performing the arithmetic processing according to the above-described positioning method. . Here, these XY coordinates are constantly updated at predetermined time intervals. Furthermore, the position of the detection body 8 that moves with the operation of the rock drill 2 is continuously detected as XY coordinates on the image. Here, in order to associate the real coordinate system on the facet with the coordinate system on the screen, the known real distance B between the laser spots 6 shown in FIG. 1 and the laser spot 6 on the screen in FIG. The distance b is opposed to the coordinate system on the screen and is corrected.

As described above, since the laser spot 6 and the colored detector 8 are imaged, the XY coordinate system having the horizontal reference line 11 and the tunnel center line 12 as reference axes and the detector in the coordinate system. 8 position coordinates are continuously detected. Here, since the detection object 8 and the bit 2d have a known distance relationship, the position (XY coordinate) of the bit 2d is immediately obtained. For the Z coordinate of bit 2d, the ultrasonic sensor 9
It is easily determined from the distance to the face face F and the relative distance detected by.

(4) On the other hand, in the computer 23, Z is calculated based on the planned line and design cross-sectional shape of the tunnel.
The coordinate information of the face face F at the coordinates, that is, the XY coordinates of the tunnel center point Q, the Y coordinate of the horizontal reference line 11, the X coordinate of the tunnel center line 12, the XY coordinates of the tunnel outer peripheral line 13, and all perforations. The XY coordinates of position 14 are calculated in advance. However, in the curve construction section of the tunnel T, Z coordinates are also required as coordinate information with respect to the various reference lines. Then
By comparing the coordinates of the drilling position 14 as the working point with the coordinates of the position of the bit 2d detected by the detector 8, the deviation (ΔX, ΔY) between the two is calculated, and the control signal based on the deviation is deleted from the computer 23. Servo mechanism 2 built in rock machine 2
4 to control the operation of the rock drill 2 to guide the bit 2d to a predetermined drilling position 14. At this stage, the boom 2a and the guide cell 2b are controlled so that the distance between the bit 2d and the face surface F is a constant value (for example, around 100 mm).
However, when a distance measuring sensor such as the ultrasonic sensor 9 is not attached, a virtual cross section is set slightly before the face face F,
It is necessary to control the bit 2d to move on this virtual section while detecting the Z coordinate of the bit 2d using the internal sensor incorporated in the boom 2a of the rock drill 2. However, in this case, the relative distance between the face F and the machine body 1 must be measured in advance.

(5) Then, when the deviations ΔX and ΔY become zero, the guide cell 2b is moved forward, and while finely adjusting the position of the bit 2d, the bit 2d is rocked on the face F and the drilling positioning work is performed. Is completed and the drilling work is started.

(6) The drilling order is shared by the two rock drills 2 on the left and right sides with the tunnel center line 12 interposed therebetween, and the previously ordered work points are sequentially drilled.

Thus, in the image analysis method of this embodiment,
Unlike the normal image analysis means that uses the brightness difference, it is a method of identifying and extracting the measurement target by color difference, so there is almost no effect on the background of the target or ambient light, and the contour of the measurement target Also, the center of gravity can be detected with high speed and high accuracy. In addition, even if it is a motion phenomenon in which a plurality of measurement objects intersect in a complicated manner by specifying the color of the measurement object,
It is possible to accurately track and detect the movement trajectory of each object. Further, even if the image of the object disappears temporarily due to an obstacle or the like, the detection can be restarted from the time when the image newly appears.

Incidentally, regarding the performance of the color image folding means applied to this embodiment, the image sampling speed is 60 Hz at maximum, and the number of simultaneously measurable objects is 4 to 12. Further, since the coordinate analysis accuracy of the measuring object has a resolution of about 1/2000 of the shooting range, for example, if the shooting range of FIG. 3 is 10 m, a detection accuracy of about 5 mm can be obtained. In this embodiment, since a plurality of detectors 8 can be detected at the same time, basically the plurality of rock drills 2 are independently controlled as in the case of manual operation. In the drilling work where the two interfere with each other,
It is necessary to control these operations while coordinating them.

In the present embodiment, two laser spots 6 are used to obtain the tunnel center point Q and various reference lines on the face F, but naturally, two or more laser spots are used. However, the function of the present invention does not change. Further, the same function can be exerted even if a plurality of circular colored marks are attached to known positions on the facet F without using the laser spot 6, and these are identified and extracted. When the unevenness of the cutting face F is severe and the change in the Z direction is large, there is almost no error in the actual coordinates of the laser spot 6 irradiated on the cutting face F, but the coordinates of the laser spot 6 imaged on the screen indicate the coordinates of the camera. A slight collimation error occurs depending on the position. This degree of error is practically no problem in terms of construction accuracy, but it is possible to substantially eliminate this error by attaching the colored mark to the average cross-sectional position of the face.

The above embodiment is an example in which one color imager is installed at the rear part of the body of the drill jumbo. However, even if two color imagers are installed at the rear part or the rear part of the drill jumbo, The objects of the invention are fully achieved. Figure 5
Is two color imagers 3 behind the drill jumbo J fuselage
FIG. 6 shows an example of the image pickup screen in the case where the image pickup screen is installed. In the figure, members and devices equivalent to those in the previous embodiment are designated by the same reference numerals. In this embodiment, in the operating range of the rock drill 2, the laser spot 6
And the color imager 3 at a high position where the detector 8 can be fully seen.
Is installed. In this case, the imaging screen is composed of a screen L by the first color imager 3 and a screen R by the second color imager 3. Since the imaging screen is divided into the screen L and the screen R, the measurement accuracy is improved as compared with the case of using one color imaging device, and a system suitable for tunnel construction with a large cross section can be configured.

In the present embodiment using the two color image pickup devices 3, it is necessary to increase the laser spots 6 in order to obtain the reference points and the reference lines on the facet for each of the screens L and R. Furthermore, if two color imagers 3 are installed, the detector 8 can be viewed stereoscopically, and the three-dimensional coordinates (X-Y-Z) of the bit 2d can be obtained without using the ultrasonic sensor 9.
Can be detected. However, this method of directly detecting the three-dimensional coordinates requires complicated measurement work for calibrating the coordinate system on the screen, and its measurement accuracy is not high. Therefore, the ultrasonic sensor 9 is appropriately used according to the measurement accuracy.

As described above, by using the drilling positioning control method and device of the rock drilling machine of these embodiments, the "drilling positioning control function" essential for the development of the automatic drill jumbo can be easily realized. , It becomes possible to position the bit of the rock drill at a predetermined drilling position with high accuracy and high speed. That is, the detectors 4 mounted near the tip of the rock drill 2 are extracted as a figure from the image captured by the color imager 3, and the coordinates of the positions of these detectors 4 are continuously analyzed and detected. Since the control signal based on the position coordinates is input to the servo mechanism 24 built in the rock drill 2 to automatically control the operation of the rock drill 2, it is calculated in advance based on the planned alignment of the tunnel and the design cross-sectional shape. The bit 2d of the rock drill 2 can be accurately and quickly guided and positioned at the drilling position 14 on the face face F. As a result, the positioning accuracy of the rock drill 2 can be significantly improved as compared with the control method using the internal sensor system of the related art, without being affected by the flexure or play generated in the rock drill 2. it can.
Further, since the tunnel center point Q on the face face F and various reference lines 11, 12, and 13 are constantly updated and set, it is possible to continue the work even if the installation position of the drill jumbo J is slightly displaced during the work. is there. Further, the working time can be significantly shortened as compared with the prior art in which it is necessary to teach the punching position or input a numerical value of the punching position as a preparatory work. Therefore, if the control method according to the present invention is used, labor saving, efficiency, and safety of tunnel excavation work can be achieved, and excessive dug, excessive winding, and atari that adversely affect construction quality and cost can be significantly reduced. Can be reduced to.

The present invention is not limited to the above embodiment, but various modifications can be made within the scope of the basic technical idea of the present invention. That is, the following modes are included in the technical scope of the present invention. In the above embodiment, the wheel type drill jumbo J equipped with two rock drills 2 is shown. However, in the case of equipped with one to three or more rock drills, or in the case of a gantry type drill jumbo. Even if there is, the effect of the present invention is sufficiently exerted. Even if the so-called laser marking method of irradiating the facet face with the laser beam to pierce the face is used together with the control method of the present invention, the effects of the present invention are sufficiently exhibited. That is, by using the color image pickup means and the color image analysis means of the present invention, the position coordinates of the laser spot irradiated on the drilling position are detected, and the bit 2d of the rock drill 2 is directly guided to this position coordinate for positioning. Is also possible. In this case, the computer 23 does not need the calculation function of calculating the coordinate information regarding the drilling position. Although the hole positioning control function is completely automated in the above embodiment, the hole position 15 and the bit 2d displayed on the CRT display 26 are not used without using the automatic control function of the computer 23 and the servo mechanism 24. Even if the rock drill 2 is manually operated while monitoring both the position and the position, the effect of the present invention is not impaired. In the above example, the reference point or base of the tunnel on the face
To measure the 3D coordinates of the line
Surveying and color imaging analysis of laser spots and colored marks
I have shown the means, but it is necessary to make sure that it works accurately with the color imager.
The same effect can be obtained by using a body-ranging rangefinder. sand
Wachi, colored spots on the face of the face and the right place of the detector of the rock drill
The light wave reflection sheet is attached to the color image sensor.
These targets using the image analysis function of the type rangefinder
By tracking and aiming automatically, the reference point of the face
Three-dimensional coordinates can be detected directly. In this method,
The self-position of the color imager-type rangefinder is used as another survey reference point.
If required, use colored marks to cut face
Attach it to any position above or other than the face
Is no problem. Furthermore, if the Z coordinate of the face is known.
In this case, it is possible to omit the installation of the colored mark itself.
It In addition, in the color image pickup type rangefinder, the color image pickup device is used.
Since the rangefinder and angle finder work together , images from a color imager
Is not a fixed screen but changes as the target is tracked
However, the control function according to the present invention is fully exerted. Well
Also, because the three-dimensional coordinates of the sensing object can be detected, the ultrasonic sensor
You don't need a sir. Furthermore, the control method according to the present invention can be applied to general control systems for large articulated booms installed in construction machines.

C. EFFECTS OF THE INVENTION According to the present invention, the detectors mounted near the tip of the rock drill are extracted as figures from both images captured by the color imager, and the coordinates of the positions of these detectors are continuously analyzed. The inner surface of the tunnel through the same color imager.
Then, the coordinates of that position are detected, these detected coordinate values are compared, and a control signal based on the position coordinates of the detected body is input to the servo mechanism built into the rock drill to automatically control the operation of the rock drill. Since it does not require the initial positioning of the bit,
Is continuously controlled and guided to the target position for real time
The rock drill bit can be accurately and quickly guided and positioned at the drilling position of the face face calculated based on the planned alignment and the designed cross-sectional shape of the tunnel. Further, in the present invention, since it is a method of identifying and extracting the measurement object by color difference, it is hardly affected by the background of the object or the ambient light, and the contour and the center of gravity of the measurement object can be measured at high speed and high accuracy. Can be detected. Further, by designating the color of the measurement object, it is possible to accurately track and detect the motion locus of each of the measurement objects even in the case of a motion phenomenon in which a plurality of measurement objects intersect in a complicated manner.

As a result, the positioning accuracy of the rock drill can be greatly improved as compared with the control method using the internal sensor system of the prior art, without being affected by the bending and play of the rock drill. . Further, since the tunnel center point on the face of the face and various reference lines are constantly updated and set, it is possible to continue the work even if the installation position of the drill jumbo slightly shifts during the work. Further, the working time can be significantly shortened as compared with the prior art in which it is necessary to teach the punching position or input a numerical value of the punching position as a preparatory work. Therefore, if the control method according to the present invention is used, labor saving, efficiency, and safety of tunnel excavation work can be achieved, and excessive dug, excessive winding, and atari that adversely affect construction quality and cost can be significantly reduced. Can be reduced to.

[Brief description of drawings]

FIG. 1 is a three-dimensional view showing the overall configuration of an embodiment of a device for carrying out a drilling positioning control method for a rock drill according to the present invention.

FIG. 2 (a) is a side view of a detector / sensor near the tip of a rock drill. (B) The front layout drawing of the detection body and sensor in a figure. (C) The front arrangement | positioning figure of another aspect of a detection body / sensor in a figure (b).

FIG. 3 is an exemplary screen view showing various reference lines and drilling positions on the face of a face and control states of a rock drill.

FIG. 4 is an overall configuration diagram of a positioning control system according to the present embodiment.

FIG. 5 is a three-dimensional view showing the overall configuration of an apparatus according to another embodiment of the present invention.

FIG. 6 is another exemplary screen illustration of this embodiment.

FIG. 7 is a front view of a conventional rock drill equipped with various sensors.

FIG. 8 is a plan view of FIG.

[Explanation of symbols]

T ... Tunnel, F ... Face, J ... Drill jumbo, 1 ... Machine, 2 ... Rock drill, 2d ... Bit, 3 ... Color imager (color image capturing means), 8 ... Detector, 17 ... Color image analyzer (Color image analysis means), 19 ... Control unit, 23 ... Computer (drilling position calculation means, control means), 24 ... Servo mechanism

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Toshio Yamamoto 4-355, Konohana-ku, Osaka-shi, Osaka City, Konoikegumi Co., Ltd. (72) Inventor, Koji Yuki, 3-55, Konohana-ku, Osaka, Osaka No. Konoike Gumi Co., Ltd. (72) Yoshiyuki Sawa Inventor Yoshiyuki Sawa No. 4-55, Konohana-ku, Osaka City, Osaka Prefecture Konoike Gumi Co., Ltd. (56) References JP-A-61-250292 (JP, A)

Claims (4)

[Claims] 1. A drill jumbo installed in a tunnel facing a face, a colored detector is mounted at a known position on the tip of a rock drill equipped with the drill jumbo, and the detector and the tunnel. The inner surface is imaged with a color imager installed at the rear or rear of the body of the drill jumbo, and the detected body is identified and detected with its color.
The position of the detector and its coordinates
Continuously analyze the coordinates of the positions of known points on the inner surface of the
Detect and automatically operate the rock drill through a servo mechanism in the rock drill by a control signal based on the coordinate information of the position of the detection object, and calculate in advance based on the planned alignment of the tunnel and the design cross-sectional shape A drilling positioning control method for a rock drilling machine, which comprises guiding and positioning a bit of a rock drilling machine to a drilling position on the face face. 2. The inner surface of the tunnel for imaging with a color imager is cut off.
The drilling positioning control of the rock drill according to claim 1, which is a wing surface.
Method. 3. The face is preset from the rear of the drill jumbo on the face.
By two laser beams parallel to each other with a space of
The perforation position according to claim 2, which is irradiated with a laser spot.
Arrangement control method. 4. A device for use in a method of controlling the drilling positioning of a rock drill installed in a drill jumbo, which is installed toward a face in a tunnel, the tip of the rock drill. a detection body colored to be attached to a known position in the vicinity; imaging by the color image pickup means; installed in aft body or fuselage behind the drill jumbo, color imaging means and imaging the tunnel inner surface detection member parallel beauty of the colored The detection object is extracted based on the signal, and the coordinates of the position of the detection object and the inner surface of the tunnel
A color image analysis means for continuously breaking the coordinates of the positions of known points of the ; a hole position calculation means for calculating the hole position on the face based on the planned alignment and design cross-sectional shape of the tunnel; Control means for automatically controlling the operation of the rock drill on the basis of the coordinate analysis value of the means to guide and position the bit of the rock drill to the calculated drilling position; Rock drilling positioning control device.