JP3411371B2 - Drilling method in bench cut method - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drilling method in a bench cut method capable of automatically drilling an appropriate position. [0002] A bench cut method is widely used in a mining and quarrying workplace, and a self-propelled drilling device such as a crawler drill is used for drilling a blast hole for crushing a bedrock of a bench. Conventionally, the operator performs self-propelled movement on a bench to position a drilling machine at a predetermined drilling position, and the operation for drilling is conventionally performed by an operator in a driver's seat. [0003] However, the portion of the bench where the self-propelled drilling machine must run and drill is exposed to the weather and the environment is poor, making it difficult to secure workers. Also, the part where the self-propelled drilling machine on the bench has to be drilled is the part where the ground is loose due to the blasting, and since there are usually multiple benches in the workplace Therefore, it is extremely dangerous for an operator to work on a hydraulic crawler drill in such a place, since there is a risk of an accident caused by falling rocks from an upper bench. Therefore, in order to solve the shortage of workers and prevent personal injury, it has been desired to automate and make unmanned drilling work by a self-propelled drilling device. Therefore, as a means for automatically drilling with a self-propelled drilling device, two reference points are provided on a bench,
A distance measuring device, a turning angle detector, a memory, and a control device are mounted on a drilling device, and the control device calculates a position on the bench based on detection data from the distance measuring device and the turning angle detector. In addition, there has been proposed a device for controlling a drilling machine to be positioned at a predetermined drilling position stored in a memory (see Japanese Patent Publication No. 3-58039). [0005] However, since the shape of the bench changes as the cutting face advances due to blasting, the above-described drilling method requires the shape of the bench to be changed each time drilling work is performed. Preparatory work is troublesome because it is necessary to measure beforehand, determine a drilling pattern corresponding to the shape, and input drilling position data in advance and store it in a memory. The present invention solves such a problem in the bench-cut method, and eliminates the need for measuring the shape of the bench before drilling, determining the drilling pattern, and inputting drilling position data. It is an object of the present invention to provide a drilling method in a bench cut method capable of drilling at a position and improving the efficiency of drilling work. According to the drilling method in the bench cut method of the present invention, a self-propelled drilling device including a drilling machine, a position measuring device, and a control device is arranged on a bench. From the self-propelled drilling device with the position measuring device
Measure distances and angles to multiple measurement points on the wall edge
Was asked Me a position on the bench bench shape and self-propelled drilling device based on the measurement data, the control apparatus fence based on the measurement data and the previously inputted drilling condition data of the position measuring device The above problem is solved by determining a hole pattern, moving a self-propelled drilling device along the hole pattern, and positioning and drilling the hole drilling machine at the hole drilling position. When performing a drilling operation, a self-propelled drilling device including a drilling machine, a position measuring device and a control device is stopped at an arbitrary position on a bench, and from this point the bench is stopped. The distances and angles to a plurality of measurement points on the edge of the wall are measured by a position measuring device, and the shape of the bench and the stop position of the self-propelled drilling device on the bench are determined based on the measured data. The control device determines an appropriate drilling pattern based on the measurement data of the position measuring device. Thereafter, the control device causes the self-propelled drilling machine to travel along the drilling pattern, and performs drilling by positioning the drilling machine at the drilling position. There is no need to pre-measure the shape of the bench before drilling, determine the drilling pattern according to the shape, pre-input as drilling position data and store it in memory, automatically Since drilling can be performed at a position, the efficiency of drilling work is improved. FIG. 1 is a side view of a bench for explaining a drilling method in a bench cut method according to one embodiment of the present invention, FIG. 2 is a plan view of the bench, and FIG. 3 is a self-propelled drilling device. FIG. 2 is a block diagram illustrating a configuration of a control device. In this embodiment,
A self-propelled drilling device 2 is arranged on a bench 1 having a height H. The self-propelled drilling device 2 is provided with a control device 7, a boom 8, and a position measuring device 9 on a traveling carriage 5,
A guide shell 11 on which a drilling machine 10 is mounted is supported at the tip of the boom 8. The guide shell 11 can be tilted back and forth by the cylinder 6 to set an arbitrary drilling inclination angle α. A rod 12 is mounted on a drilling machine 10 mounted on a guide shell 11, and is given a blow, a rotation and a feed to drill a rock on the bench 1. The position measuring device 9 is a laser profile system including a distance measuring mechanism 15, an angle measuring mechanism 16, and an automatic tracking mechanism 17, and includes a self-propelled drilling device 2 and a bench 1
Θ ₁ to θ _{j with} respect to the distances L _{1 to} L _{j to} L _{n from} the plurality of measuring points P _{1 to} P _{j to} P _n on the wall edge 3 of the self-propelled drilling device 2 with respect to the direction of the center line Y. through? _n was measured, the measurement data L ₁ ~L _j ~L _n, based on the theta ₁ through? _j through? _n, bench 1 shape, and on the bench 1 of the self-propelled drilling apparatus 2 The positional relationship with the stop position O can be obtained. The control device 7 includes a CPU 21, a storage unit 22, and an input / output unit 23. The storage unit 22 includes a wall of the bench 1 which is selected according to the rock quality, the height H of the bench, and the like. distance W from the edge 3 to drilling position D ₁ to D _i to D _m, the distance fence Anakan d, a drilling condition data fence hole depth Hd like, the measurement data and the fence Anajoken position measuring device 9 a program for determining an appropriate drilling pattern on the basis of the data, along the determined drilling pattern is run self-propelled drilling apparatus 2, devote drilling machine 10 hole positions D ₁ to D _i
And drilling control program for causing a sequential positioning and drilling in to D _m are stored in advance. When performing a drilling operation, the self-propelled drilling device 2 is stopped at an arbitrary position on the bench 1 as shown in FIG. Distances L _{1 to} L _{j to} L _n to a plurality of measurement points P _{1 to} P _{j to} P _n and an angle θ ₁ with respect to the direction of the center line Y of the self-propelled drilling device 2.
To θ _{j to} θ _n, and the measured data L ₁ to
L _j ~L _n, θ ₁ based on through? _J through? _N obtains the positional relationship between the shape and the self-propelled drilling device 2 stop position O of the bench. The CPU 21 of the control device 7 reads out the program for determining the drilling pattern and the drilling condition data W, d, and Hd from the storage section 22 and measures the measurement data L _{1 to} L _j transmitted from the position measuring device 9. _{L n, θ 1 ~θ j ~θ} n and drilling condition data W, d, determine the appropriate drilling pattern based on Hd, coordinates or drilling inclination of drilling position D ₁ to D _i to D _m Drilling control data such as the angle α is stored in the storage unit. The coordinates of the drilling position may be polar coordinates having the origin at the stop position O of the self-propelled drilling device 2. However, for the traveling control of the traveling vehicle 5, the stop position O of the self-propelled drilling device 2 is determined. The origin and the horizontal line orthogonal to the center line Y of the self-propelled drilling apparatus 2 may be converted to orthogonal coordinates having the X axis as the X axis. When the drilling pattern is determined, the CPU 21 of the control device 7 reads the drilling control program from the storage unit 22 and sends a control signal to the hydraulic control unit 25 of the self-propelled drilling device 2 to determine the drilling pattern. The traveling vehicle 5 is moved along the drilling pattern, and the drilling positions D _{1 to} D for drilling the drilling machine 10.
sequentially positioned in _i to D _m to perform drilling with. At this time, the position of the traveling vehicle 5 is controlled by the position measuring device 9 during traveling.
While automatically tracking an arbitrary measurement point P _j on the wall edges 3 by an automatic tracking mechanism 17, P _j between the angle measuring mechanism 16 ranging mechanisms 15
This recognizes the change in the relative position with respect to wall edges 3 of the traveling carriage 5 by the angle theta _j respectively measured change, with respect to the direction of the distance L _j and the center line Y of the self-propelled drilling apparatus 2 to
And so on . If the running and positioning are controlled not on the relative position to the wall edge 3 but on the absolute position on the bench 1,
A reference point may be separately set at a position that can be seen from above the bench 1, and this reference point may be automatically tracked. Traveling trolley 5
Is provided with a mileage measuring device, with the origin O as the starting point, the X axis,
Accumulates the traveling distance in the Y-axis direction and uses the drilling control program
It can also be performed by comparing with target position coordinates. As described above, according to the drilling method in the bench cut method according to the present invention, measurement of a bench shape before drilling, determination of a drilling pattern, input of drilling position data, etc. Preparatory work is not necessary, and the bench shape can be automatically measured, the drilling pattern can be determined, and drilling can be performed at an appropriate position. Therefore, the efficiency of drilling work can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a bench for explaining a drilling method in a bench cut method according to an embodiment of the present invention. FIG. 2 is a plan view of a bench. FIG. 3 is a block diagram showing a configuration of a control device of the self-propelled drilling device. [Description of Signs] 1 Bench 2 Self-propelled drilling device 3 Wall edge 5 Traveling trolley 7 Control device 8 Boom 9 Position detecting device 10 Drilling machine 11 Guide shell 12 Rod 15 Distance measuring mechanism 16 Angle measuring mechanism 17 Automatic tracking mechanism 21 CPU 22 Storage unit 23 Input / output unit 25 Hydraulic control unit

Claims (1)

(1) A self-propelled drilling device including a drilling machine, a position measuring device, and a control device is arranged on a bench, and the position of the self-propelled drilling device is determined.
Multiple on the bench wall edge from self-propelled drilling equipment with measuring device
Measure the distance and angle to the measurement point of
Calculated Me a position on the bench bench shape and self-propelled drilling device based on the data, the measurement data of the position measuring device
The control device determines a drilling pattern based on the drilling condition data input in advance, and moves the self-propelled drilling device along the drilling pattern to a drilling position. Drilling method in the bench cut method for positioning and drilling.