JP2014089050A - Hole curve measuring method and hole curve measuring apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hole curve measuring method that, when the hole curve formed by a punch machine is measured, can maximize the accuracy of a measuring apparatus and smoothly move a probe without being affected by an influence of the irregularity on a hole wall surface punched by the measuring apparatus and can efficiently perform measurement work of a hole curve along a hole axis.SOLUTION: A hole curve measuring method is a method of measuring the curve of a hole 51 formed by a punch machine 52 such as a crawler drill. A probe 10 for measuring the hole curve is inserted into a water hole 40a of a rod 40 for punch used by the punch machine 52, and the probe 10 is moved into the hole 51 along the water hole 40a, thereby measuring the curve state of the formed hole 51.

Description

  The present invention relates to a hole bending measuring method for measuring the state of bending of a hole punched by a punching machine and a hole bending measuring apparatus that can be suitably used for the method.

  For example, in the bench cut method, the relative hole bending of a plurality of drilled holes affects the adjustment of the explosive loading amount at the time of the bench cut. In other words, it is necessary to reduce the amount of explosives when drilled holes are close to each other in order to reduce the power of blasting. There is a need to do more. For this reason, it is necessary to measure the bending state of each hole, and relatively evaluate the proximity or separation state between adjacent holes.

  Here, many hole bending measuring devices attach a probe with various sensors to the tip of a wire or rod, insert the probe into the hole, process the information obtained from the sensor, and measure the hole bending. (For example, refer to Patent Document 1). Further, for example, in Non-Patent Document 1, the deviation of the axis of two rings installed in a probe is optically measured using a CCD camera, and the bending of the hole is optically measured by measuring the deflection of the probe itself. The technique to measure automatically is shown.

JP 2010-281893 A

Application accuracy of optical hole bending measuring instrument Takanori Ishikawa, Masaya Yamauchi Applied Geological Technology Annual Report: 23 pages: 123-129

  However, at present, when measuring the bending of a hole punched by a punching machine, the biggest problem is that the measuring device is affected by the unevenness of the hole wall surface. That is, in any of the conventional techniques described in Patent Document 1 and Non-Patent Document 1, the problem that vibration due to the unevenness of the hole wall surface adversely affects the measurement accuracy of the sensor, There is an unsolved problem of getting caught. If the measuring device is caught by the irregularities on the wall surface of the hole, the working efficiency may be reduced and the caught measuring device may not be collected. Therefore, any method of the prior art is insufficient for smoothly moving the probe when measuring the bent state of the drilled hole.

  Here, in order to maximize the accuracy of the measuring instrument and smoothly move the probe to advance the measurement operation, it is conceivable to embed a casing tube along the drilled hole. However, work with a drilling machine such as a crawler drill is aimed at blasting the rock mass, and a large number of holes for loading explosives are drilled at one site. For this reason, the work of burying a casing tube in each hole is very inefficient, and the depth of the holes often exceeds 10 m.

  Therefore, the present invention has been made paying attention to such problems, and when measuring the bending of a hole punched by a punching machine, the measurement device is not affected by the unevenness of the hole wall surface punched by the measuring instrument. A hole bending measuring method capable of maximizing the accuracy of an apparatus, smoothly moving a probe, and efficiently proceeding a hole bending measuring operation along the hole axis, and a hole bending measuring apparatus suitably used for the hole bending measuring method It is intended to provide.

The drilling rod used in the drilling machine is hollow because water holes are formed. As a result of intensive studies, the present inventors have conceived a hole bending measurement method for measuring the degree of bending of a hole along the water hole by using the water hole of the drilling rod as a guide.
That is, in order to solve the above problems, a hole bending measuring method according to an aspect of the present invention is a method for measuring the bending of a hole drilled by a drilling machine such as a crawler drill, and is used in the drilling machine. A probe for measuring hole bending is inserted into a water hole of a drilling rod, and the bending state of the drilled hole is measured by moving the probe along the water hole into the drilled hole. And

  Here, in the hole bending measurement method according to one aspect of the present invention, in order to adjust the amount of the explosive loaded in the bench-cut method, the method is to measure the bending of a plurality of holes drilled by the drilling machine. The probe for measuring the bending of the hole is inserted into the water hole of the drilling rod used in the drilling machine with the drilling rod left in the ground, and the probe is drilled into the hole. It is preferable to measure the bending state of the perforated holes by moving them along the water holes, and relatively evaluate the proximity or remote state between adjacent holes.

  Further, in the hole bending measurement method according to one aspect of the present invention, the measurement of the drilled hole bending state includes the probe, a guide unit that guides the probe, a main calculation unit that calculates a trajectory of the probe, And an output unit that outputs a calculation result of the main calculation unit, and the probe has a rotation axis of each of the X axis, the Y axis, and the Z axis, with the tip end in the axial direction of the probe as the X axis positive direction. A sensor for detecting a rotation angle with respect to the motor, wherein the guide portion is attached to an upper end portion of the drilling rod, and a motor attached with a motor for moving the probe along the water hole A roller with an encoder provided with an encoder for detecting a feed amount of a wire that moves the probe along the water hole, and a posture calibration guide when the probe is inserted. The main calculation unit is configured to calculate a trajectory of the probe by matching a sensor posture based on a rotation angle with respect to the rotation axis and a probe movement amount based on a feed amount of the wire based on time. preferable.

  Further, in the hole bending measurement method according to one aspect of the present invention, the probe includes a small, six-axis inertial measurement sensor using MEMS technology capable of acquiring measurement information of acceleration and angular acceleration, and the inertial measurement sensor. A measurement information calculation unit that calculates the obtained measurement information into angle information, and a communication interface that transfers the angle information calculated by the measurement information calculation unit to the ground using a differential signal method that is resistant to noise. In preparation, it is preferable that the external shape of the probe is a pencil type probe having an external shape capable of passing through the water hole of the drilling rod. In such a configuration, the probe is a pencil type of a size that can pass through a water hole of a drilling rod having a small and six-axis inertial measurement sensor using MEMS technology. This is suitable for using the water hole as a probe guide.

In the hole bending measurement method according to one aspect of the present invention, it is preferable that the probe further includes an inclination sensor capable of calibrating its initial posture.
In the hole bending measurement method according to one aspect of the present invention, it is preferable that the probe further includes a GPS and an orientation sensor capable of measuring the tip position coordinates of the drilled hole with respect to a global coordinate system. .

  Furthermore, in order to solve the above-described problem, a hole bending measuring apparatus according to an aspect of the present invention is a hole bending measuring apparatus that measures a bending state of a plurality of holes punched by a punching machine, A probe that can be inserted into a water hole of a drilling rod used, a guide unit that moves the probe along the water hole into the drilled hole, a main calculation unit that calculates a trajectory of the probe, and And an output unit that outputs a calculation result of the main calculation unit, wherein the main calculation unit relatively evaluates a proximity state or a remote state between adjacent holes.

  Here, in the hole bending measuring apparatus according to one aspect of the present invention, the probe detects a rotation angle with respect to the rotation axis of each of the X axis, the Y axis, and the Z axis, with the tip end side in the axial direction of the probe as the positive direction of the X axis A roller with a motor to which a motor for moving the probe along the water hole is attached, and the guide portion is attached to an upper end portion of the drilling rod; A roller with an encoder provided with an encoder for detecting a feed amount of a wire that moves the probe along the water hole; and a posture calibration guide for inserting the probe; The trajectory of the probe is calculated by matching the sensor posture based on the rotation angle with respect to the axis and the probe movement amount based on the feed amount of the wire on the basis of time. Masui.

In the hole bending measurement apparatus according to one aspect of the present invention, it is preferable that the probe further includes an inclination sensor that can calibrate its initial posture.
In the hole bending measuring apparatus according to one aspect of the present invention, it is preferable that the probe further includes a GPS and an orientation sensor capable of measuring a tip position coordinate of the drilled hole with respect to a global coordinate system. .

  Since the piercing rod continues to the tip of the pierced hole, according to the present invention, the piercing rod serves as a casing tube by using the water hole of the piercing rod as a guide for the probe. Thus, according to the present invention, it is possible to solve the problem of catching the irregularities of the hole wall surface and the error caused by vibration by moving the probe along the water hole of the drilling rod. Furthermore, since the degree of freedom in the direction of movement of the probe can be defined along the water hole of the drilling rod, measurement errors can be reduced. That is, according to the present invention, the probe can be moved along the water hole without the probe being caught in the unevenness of the inner wall surface of the hole, so that the accuracy of the measuring instrument can be maximized. In addition, the probe can be moved smoothly, and the hole bending measurement operation can be efficiently advanced along the hole axis.

It is a figure explaining one Embodiment of the hole bending measuring method which concerns on this invention, In the same figure, the principal part is shown in the cross section containing the axis line of the rod for a hole. It is a block diagram explaining one Embodiment of the hole bending measuring apparatus which concerns on this invention. It is a perspective view explaining one Embodiment of the probe which comprises a hole bending measuring apparatus. It is a perspective view explaining one Embodiment of the guide part which comprises a hole bending measuring apparatus. It is a figure explaining the example of the hole drilled with the crawler drill which is an example of a drilling machine. It is a figure explaining the relationship between a guide part, a drilling rod, and a rock mass. It is a flowchart of the hole bending measuring method which concerns on this invention. It is a figure explaining the relative positional relationship of the some hole drilled with the drilling machine. It is a perspective view explaining the guide part which concerns on 2nd embodiment of this invention. It is a block diagram explaining 2nd embodiment of the hole bending measuring apparatus which concerns on this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.

As shown in FIGS. 1 and 2, the hole bending measuring device used in the hole bending measuring method according to the present invention can be inserted into a water hole 40a of a drilling rod 40 used in a drilling machine 52 such as a crawler drill. A probe 10, a guide unit 20 that guides the probe 10, a main calculation unit 30 that calculates the trajectory of the probe 10, and an output unit 31 that outputs a calculation result of the main calculation unit 30 are provided.
As shown in FIGS. 1 and 3, the probe 10 is a pencil-type probe whose outer shape can pass through the water hole 40a of the piercing rod 40. As shown in FIG. A small 6-axis inertial measurement sensor 11 using a Electro Mechanical Systems) technology, a measurement information calculation unit 12, and a communication interface 13 are provided therein.

  Further, as shown in FIG. 3, the probe 10 has a convex portion 10a that protrudes in the radial direction on the outer peripheral surface thereof. The inertial measurement sensor 11 can acquire measurement information of acceleration and angular acceleration, and the rotation angle with respect to the rotation axis of each of the X axis, the Y axis, and the Z axis is set with the tip end in the axial direction of the probe 10 as the X axis positive direction. It can be detected. Then, the measurement information calculation unit 12 calculates angle information from the measurement information obtained by the inertial measurement sensor 11, and the communication interface 13 uses the angle information data calculated by the measurement information calculation unit 12 as a noise-resistant difference. The data is transferred to the ground main arithmetic unit 30 by a dynamic signal system. In addition, since this hole bending measuring apparatus is intended for holes whose drilling depth exceeds 10 m as a main use condition, the communication interface 13 adopts a communication method using a differential signal for noise countermeasures. ing.

  As shown in FIG. 4, the guide portion 20 has a substantially cylindrical main body portion 20c, and as shown in FIG. 1, the drilling rod is coaxially mounted on the upper end portion 40t of the drilling rod 40. A recess 20h that fits into the upper end portion 40t of 40 is formed in the lower portion of the main body portion 20c. As shown in FIG. 4, the guide unit 20 is provided with a pair of rollers 21 and 22 that are vertically opposed to each other so that the wire 14 of the probe 10 can be sandwiched between the upper and lower sides of the main body 20 c. . The pair of rollers 21 and 22 are provided below and are provided with a motor-attached roller 21 provided with a motor 21m that moves the probe 10 along the water hole 40a, and provided above and the probe 10 is provided along the water hole 40a. And an encoder-equipped roller 22 in which an encoder (not shown) for detecting the feed amount of the wire 14 is moved. Moreover, the guide part 20 has the calibration guide 20a for calibrating the attitude | position at the time of inserting the probe 10 in the water hole 40a inside the main-body part 20c.

  The calibration guide 20a has a slit 20b formed in the inner peripheral surface of the main body portion 20c of the guide portion 20 so as to penetrate along the axial direction and formed in the inner peripheral surface along the axial direction. The slit 20 b is a positioning groove for defining the initial direction of the probe 10, and is formed so as to be fitted to the convex portion 10 a of the probe 10. And when inserting the probe 10 in the guide part 20, it inserts in the guide 20a for a calibration, fitting the convex part 10a of the probe 10 in the slit 20b, and prescribing | regulating the initial direction of the probe 10. FIG. Accordingly, the initial posture of the probe 10 is defined by the calibration guide 20a so that the axis of the probe 10 does not shake. At this time, the output from the probe 10 is recorded as an initial posture by the main calculation unit 30.

  The main calculation unit 30 on the ground calculates the trajectory of the probe 10 by matching the posture data based on the rotation angle of the probe 10 with respect to the rotation axis and the data on the probe movement amount based on the feed amount of the wire 14 in time. . The calculated probe trajectory information is output to the outside from the output unit 31 and displayed on a display such as a display.

Next, a hole bending measurement method using the above-described hole bending measuring apparatus will be described.
Many of the drilling machines 52 such as the crawler drill shown in FIG. 5 perform the drilling operation while adding the drilling rod 40 as the drilling depth becomes deeper. When using the hole bending measuring apparatus of the present invention, as shown in FIG. 6, first, only the ground drilling rod 40 is removed while leaving the drilling rod 40 in the ground, and the ground drilling hole is used. The upper end of the water hole 40a of the rod 40 is made visible. Next, the above-described guide portion 20 is attached to the upper end portion 40t of the drilling rod (see FIG. 1). Next, as shown in FIG. 1, the probe 10 for measuring the bend in the water hole 40a of the drilling rod 40 is fitted into the slit 20b so that the probe body 10 does not shake, and the calibration guide Then, as shown in FIG. 7, the initial posture of the probe body is acquired and calibrated (step S1).

  When the acquisition and calibration of the initial posture of the probe 10 are completed, the motor 21m is driven to rotate the motor-equipped roller 21, and the wire 14 sandwiched between the pair of rollers 21 and 22 is sent out, whereby the hole 51 in which the probe 10 is perforated. The bending state of the hole 51 drilled while moving along the water hole 40a is measured. In the measurement of the bent state, the roller with motor 21 is rotated to feed the wire 14 along the water hole 40a, and the probe 10 is moved below the hole 51 drilled along the water hole 40a. At this time, the feed amount of the wire 14 is counted by the encoder 22a (FIG. 2) attached to the roller 22 with the encoder, the feed amount is recorded together with the time information by the measurement information calculation unit 12 in the probe 10, and the inertia measurement is performed. The angle information is calculated from the measurement information obtained by the sensor 11 and recorded.

  Thus, according to the hole bending measuring method using this hole bending measuring device, the water hole 40a is used as a guide for the probe 10 with the drilling rod 40 left in the ground. Even if the bending, that is, the bending of the drilling rod 40 occurs, the traveling direction of the probe 10 can be defined as the X-axis direction of the probe 10. Therefore, the feed amount of the wire 14 acquired by the encoder 22a, that is, the movement amount of the probe 10 can be stably acquired as the movement amount of the probe 10 with respect to the X-axis direction. The feed amount of the wire 14 acquired by the encoder 22a is sent to the main calculation unit 30 (step S2 in FIG. 7).

  In addition, the measurement information of acceleration and angular acceleration obtained by the small and six-axis inertial measurement sensor 11 built in the probe 10 is processed into angle information by the measurement information calculation unit 12 in the probe, Along with the measurement time information, the differential signal is sent to the main arithmetic unit 30 via the communication interface 13 (step S3 in FIG. 7).

  In the main calculation unit 30, the rotation angle data θx, θy, θz with respect to the X axis, the Y axis, and the Z axis in FIG. 3 from the probe 10 is converted into rotation around each axis. When the respective rotations are T (θx), T (θy), and T (θz), the posture of the probe 10 is T (θx) · T (θy) · T (θz). The main calculation unit 30 calculates the movement trajectory (that is, the bending of the hole) of the probe 10 by matching this posture data together with the feed amount data on the basis of time (measurement time information) (step S4 in FIG. 7). The calculated movement trajectory information of the probe 10 is output to the outside from the output unit 31 and displayed on a display device such as a display (step S5 in FIG. 7).

Thereby, the user can grasp | ascertain visually the bending condition of the drilled hole 51. FIG. And according to this hole bending measuring method, when measuring the hole bending made by the punching machine 52, the accuracy of the measuring instrument is maximized without being affected by the irregularities 51a of the hole wall surface of the hole of the probe 10 of the measuring instrument. Thus, the probe 10 can be moved smoothly and the hole bending measurement operation can be efficiently advanced along the hole axis.
The hole bending measuring method or the hole bending measuring apparatus according to the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention.

For example, in the above embodiment, when calculating the initial posture of the probe 10, it is possible to obtain the initial posture of the probe 10 only with a signal from the inertial measurement sensor 11 in the probe 10. However, as in the second embodiment shown in FIGS. 9 to 10, the guide unit 20 is further provided with an inclination sensor 23, so that the detailed angle of the probe 10 is calculated in advance, thereby further improving the initial posture. It can also be reliably derived.
Further, for example, in the above embodiment, the number of the holes 51 perforated and the relative evaluation of the adjacent holes 51 are not particularly mentioned, but the present invention measures the bending of a plurality of holes perforated by a perforating machine. It is suitable for the case.

  That is, for example, in the bench cutting method, as shown in FIG. 8, when measuring the bending of the plurality of holes 51, the bending state of each hole 51 is changed to the water hole of the drilling rod 40 used in the drilling machine 52. The probe 10 for measuring the bending of the hole with the drilling rod 40 left in the ground is inserted into the hole 40a, and the probe 10 is moved along the water hole 40a into the hole 51 in which the probe 10 is drilled. Each of the bending states can be measured, and the main calculation unit 30 can relatively evaluate the state of the proximity 53 between the adjacent holes 51 or the state of the remote 54. The calculated movement trajectory information of the probe 10 for each hole 51 is output to the outside from the output unit 31 and displayed, for example, on a display device such as a display so that the relative relationship can be visually recognized.

  Here, when relatively evaluating the state of the proximity 53 or the remote 54 between the adjacent holes 51, the hole bending measuring apparatus used in the hole bending measuring method is as in the second embodiment shown in FIGS. In addition, it is preferable that the guide unit 20 further includes a GPS 24 and an orientation sensor 25. The GPS 24 and the azimuth sensor 25 are used to indicate in which direction the perforated hole 51 is bent with respect to global coordinates (global coordinate system) at the time of display after output.

  In other words, for the bending of the hole 51 drilled by the drilling machine 52 such as a crawler drill, it is necessary to adjust the amount of explosive loaded for blasting when bench cutting. Therefore, as shown in FIG. 8, when a plurality of holes 51 are drilled, the global coordinates are used for the purpose of knowing whether adjacent holes 51 are closer to each other by bending (53) or away (54). In which direction the hole was bent. This can achieve the purpose without specifying the position and direction in the case of measurement of one hole, but in the case of multiple holes, the reference of the coordinate and direction is provided and the hole bending is evaluated relatively. Because it is required.

  In the case of relatively evaluating the state of the proximity 53 or the remote 54 between the adjacent holes 51, there is a method of confirming the direction by the position and the direction of the machine by the manual operation of the worker, but the measurement of the drilled hole 51 is performed. Sometimes, the coordinates can be obtained by GPS, the direction of the sensor at the start of measurement by the azimuth sensor, and incorporated in the measurement data, so that the relative positional relationship can be held as data. Thereby, if the state of proximity (53) or remote (54) between adjacent holes 51 is relatively evaluated and the evaluation result is output to a display device, the relative positional relationship can be more easily grasped visually. be able to.

10 (Pencil type) probe 10a Convex part for calibration (coordinate origin marker)
DESCRIPTION OF SYMBOLS 11 Inertial measurement sensor 12 Measurement information calculating part 13 Communication interface 14 Wire 20 Guide part 20a Calibration guide 20b Slit (For initial direction regulation) 21 Roller with motor 22 Roller with encoder 22a Encoder 23 Inclination sensor 24 GPS sensor 25 Direction sensor 30 Main processing unit 31 Output unit 40 Drilling rod 40a Water hole (inside rod) 50 Rock 51 Drilled hole 51a Concavity and convexity of hole wall 52 Crawler drill (drilling machine)
53 Holes relatively close to each other by hole bending 54 Holes relatively spaced by hole bending

Claims (10)

A method for measuring the bending of a hole drilled by a drilling machine,
Inserting a probe for measuring the bending of a hole into a water hole of a drilling rod used in the drilling machine, and moving the probe along the water hole into the drilled hole. A hole bending measuring method characterized by measuring a state. A method for measuring the bending of a plurality of holes drilled by the drilling machine,
A probe for measuring the bending of the hole is inserted into the water hole of the drilling rod used in the drilling machine with the drilling rod remaining in the ground, and the probe is drilled. The hole bending is characterized by measuring the state of bending of the drilled holes by moving along the water holes into the holes, and relatively evaluating the proximity or remote state of adjacent holes. Measuring method. The measurement of the drilled hole bending state includes the probe, a guide unit that guides the probe, a main calculation unit that calculates a trajectory of the probe, and an output unit that outputs a calculation result of the main calculation unit. Using the device,
The probe includes a sensor that detects a rotation angle with respect to the rotation axis of each of the X-axis, the Y-axis, and the Z-axis with the axial tip side of the probe as a positive direction of the X-axis. A roller with a motor, which is attached to the upper end portion and has a motor for moving the probe along the water hole, and a feed amount of a wire for moving the probe along the water hole are detected. A roller with an encoder provided with an encoder and an attitude calibration guide when the probe is inserted, and the main calculation unit moves the probe by a sensor attitude based on a rotation angle with respect to the rotation axis and a feed amount of the wire The hole bending measurement method according to claim 1 or 2, wherein the probe trajectory is calculated by matching the amount with a reference time.   The probe includes a small 6-axis inertial measurement sensor using MEMS technology capable of acquiring measurement information of acceleration and angular acceleration, and a measurement information calculation unit that calculates the measurement information obtained by the inertial measurement sensor into angle information And a communication interface for transferring the angle information calculated by the measurement information calculation unit to the ground in a differential signal system that is resistant to noise, and the outer shape of the interface is a water hole of the drilling rod. The method according to claim 3, wherein the method is a pencil type probe having an outer shape that can pass through.   The hole bending measurement method according to claim 3 or 4, wherein the probe further includes an inclination sensor capable of calibrating its initial posture.   The hole bending measurement method according to any one of claims 3 to 5, wherein the probe further includes a GPS and an azimuth sensor capable of measuring a tip position coordinate of the drilled hole with respect to a global coordinate system. A hole bending measuring device for measuring a bending state of a plurality of holes punched by a punching machine,
A probe that can be inserted into a water hole of a drilling rod used in the drilling machine, a guide unit that moves the probe along the water hole into the drilled hole, and a main calculation that calculates the trajectory of the probe And an output unit for outputting a calculation result of the main calculation unit,
The said main calculating part evaluates the proximity | contact or remote state of adjacent holes relatively, The hole bending measuring apparatus characterized by the above-mentioned. The probe includes a sensor that detects a rotation angle with respect to the rotation axis of each of the X-axis, the Y-axis, and the Z-axis with the axial tip side of the probe as a positive direction of the X-axis. A roller with a motor, which is attached to the upper end portion and has a motor for moving the probe along the water hole, and a feed amount of a wire for moving the probe along the water hole are detected. A roller with an encoder provided with an encoder, and a guide for posture calibration at the time of inserting the probe,
The main calculation unit is configured to calculate a trajectory of the probe by matching a sensor posture based on a rotation angle with respect to the rotation axis and a probe movement amount based on a feed amount of the wire based on time. The hole bending measuring apparatus according to claim 7, wherein the apparatus is a hole bending measuring apparatus.   The hole bending measuring device according to claim 7 or 8, wherein the probe further includes an inclination sensor capable of calibrating its initial posture.   10. The probe according to claim 7, further comprising a GPS and an orientation sensor capable of measuring a tip position coordinate of the drilled hole with respect to a global coordinate system. 10. Hole bending measuring device.

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