JP4151776B2 - Drilling machine positioning correction device and correction method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention detects a working amount of a movable part such as a joint shell or a boom part of a guide shell or a boom mounted with a rock drill, and performs automatic positioning and position display based on the detected data. The present invention relates to a correction device and correction method for drilling hole positioning in a punching machine.
[0002]
[Prior art]
For drilling work such as tunnel excavation, the drilling machine Q, which automatically controls positioning or position display by controlling the guide shell carrying the drilling machine and the boom supporting it, is used to save labor. It has been. In such a drilling machine Q, the operation amount of the movable part such as each joint part and slide part of the guide shell and boom is detected, and the required movement amount to the target position is calculated based on the detection data, and each movable part is calculated. Actuate the actuator of the part.
[0003]
For example, in the drilling machine Q shown in FIG. 5, the boom base 13 is pivotally mounted on the base 12 of the drilling machine carriage 11 by the pivot shaft 14, and the base end of the telescopic boom 15 is attached to the boom base 13. It is pivoted by. The telescopic boom 15 includes a proximal boom 4 and a distal boom 5, and the distal boom 5 is mounted so as to slide relative to the proximal boom 4. A turning hydraulic cylinder 17 is provided between the base 12 and the boom base 13, and a lifting hydraulic cylinder 18 is provided between the base end boom 4 of the telescopic boom 15 and the boom base 13. 15 can be turned and raised.
[0004]
A tilt body 19 is pivotally attached to the tip of the tip boom 5 by a tilt shaft 20, and a tilt hydraulic cylinder 21 is provided between the tip boom 5 and tiltable. A swing body 22 is pivotally attached to the tilt body 19 by a swing shaft 23, and a swing hydraulic cylinder (not shown) is provided between the tilt body 19 and swinging is possible. The swing body 22 is provided with a guide rotary 24 that can rotate about the rotary shaft 25. A guide mounting 26 is supported on the guide rotary 24 by a mount shaft 27, and the guide shell 26 is supported by the guide mounting 26 so as to be slidable back and forth. A rock drill 9 is mounted on the guide shell 6. A rod 8 having a bit 7 attached to the tip is inserted into the drilling machine 9, and a feed in the front-rear direction is given on the guide shell 6 to drill into the bedrock of the face 10.
[0005]
The revolving shaft 14 of the telescopic boom 15, the lifting shaft 16, the tilt shaft 20, the swing shaft 23, the rotary shaft 25, and the movable parts of the telescopic boom 15, the guide mounting 26, and the slide portion of the guide shell 6. Is provided with a detector (not shown) for detecting the amount of operation thereof, such as turning angle θ ₁ , elevation angle θ ₂ , tilt angle θ ₃ , swing angle θ ₄ , rotary angle θ ₅ , boom slide. The length L ₁ , the guide slide length L ₂ , and the rock drill feed length L ₃ are detected.
[0006]
In this drilling machine Q, the reference point of operation of the drilling device comprising the guide shell 6 on which the drilling machine 9 is mounted and the telescopic boom 15 that supports the guide shell 6 by the guide mounting 26 is the pivot axis of the boom base 13. 14 is on. The position of the tip of the bit 7 with respect to the reference point of the drilling machine is a function of the detected values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ , L ₁ , L ₂ , L ₃ ), and The direction of the guide shell 6 with respect to the reference direction of the drilling machine is calculated by a computer of the control device as a function of the detected values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ ).
[0007]
When drilling is performed in a tunnel, the bogie Q of the drilling machine Q is installed near the face 10, and then the deviation of the drilling machine relative to the reference direction of the drilling machine and the reference of the drilling machine to the face 10 are determined. The position data of the points is obtained and further input to the computer to correct and set the initial value of the hole position. Next, positioning is performed at a target drilling hole position by computer control, and drilling is started.
[0008]
[Problems to be solved by the invention]
By the way, in the movable part such as the boom of the drilling machine Q, mechanical backlash and bending of the member accumulate due to repeated use in a severe environment and conditions in the tunnel, and a position error occurs. For this reason, the position of the bit 7 of the drilling machine is often out of the desired position, and the accuracy of drilling hole positioning is significantly lowered due to the error in the position. Due to the effect of this decrease in accuracy, there is a risk that the excavation of the outer periphery of the tunnel will be insufficient.
[0009]
Conventionally, in order to avoid this shortage of excavation, as shown in FIG. 6, an extra excavation method of excavating along a construction outline CL that is about 5 to 10 cm outside the planned outline PL of the tunnel is adopted. Because of this excessive digging, when finishing the outer wall of the tunnel, it is necessary to place extra concrete EC, which causes a problem that the construction period is prolonged and the cost is increased.
[0010]
Therefore, conventionally, in order to solve this problem of accuracy reduction, after setting the drilling machine Q in the vicinity of the site, the dimensions and movements of the movable parts such as the boom and the guide shell are measured again, and this measurement data is again obtained. Based on the calculation model for computer control, an adjustment method for correcting the error is adopted. However, this adjustment work is very complicated, and must be performed regularly. There was a big problem in terms of cost.
[0011]
The present invention has been made in view of the above circumstances, and can easily correct errors due to backlash or the like of a movable part of a drilling machine. An object of the present invention is to provide a drilling positioning correction device and a correction method for a drilling machine that can reduce the cost and cost.
[0012]
[Means for Solving the Problems]
To solve the above problem, correcting apparatus drilling positioning fence Anaki according to the present invention includes a guide shell rock drill is mounted, a boom for supporting the guide shell in the guide mounting quenching, the guide shell used and a detector for detecting the operation amount of the moving part of the boom, and a control device for automatic positioning or position display of the guide shell on the basis of the detection data from the detector, the drilling machine having is a surveying instrument having a built-in laser beam irradiation mechanism is installed in the rear of the drilling machine, and a communication unit for communicating data necessary between the control device and the surveying instrument, the modification of the drilling positioning A hole positioning correction device comprising a correction means for performing a positioning correction operation for correcting a positioning error due to mechanical backlash and bending of the member. When the said position data of the bit position of the rock drill, is irradiated with a laser beam from the survey instrument in a position corresponding to the position data transmitted to the surveying instrument via the communication unit, the laser beam movement detection data from the main been said detector in order to irradiation position and coincide with the bit position of the irradiation position and the rock drill of the laser beam was made in accordance with the deviation between the bit position of the rock drill of Based on the amount, correction data for correcting the drill hole positioning is calculated, and the control device sets the drill data on the drilling machine coordinate system in consideration of the correction data calculated by the correction means. The hole pattern data is obtained .
[0013]
Furthermore, how to fix drilling positioning fence Anaki according to the present invention includes a guide shell rock drill is mounted, a boom for supporting the guide shell in the guide mounting quenching, the movable part of the guide shell and the boom a detector for detecting the operation amount of, Oite the control unit and drilling machine Ru equipped with performing automatic positioning or position display of the guide shell on the basis of the detection data from the detector, for drilling Is a method of correcting a positioning error due to mechanical play and bending of a member in the set accuracy correction range, and a position where a contour line of the tunnel is included in the accuracy correction range Then, set multiple accuracy correction ranges along the circumferential direction so that adjacent accuracy correction ranges overlap along the contour line of the tunnel, and in each accuracy correction range to be set , After positioning the boom, irradiate a laser beam to a position corresponding to the position data of the bit position of the drill rocker, and match the bit position of the drill rocker to the laser beam irradiation position in the manual mode, Set based on the amount of movement required to match the laser beam irradiation position and the bit position of the drilling machine according to the deviation between the irradiation position of the laser beam and the bit position of the drilling machine A correction value for correcting the drill hole positioning is set for each accuracy correction range .
[0014]
When drilling, install the drilling machine cart near the face, and then obtain the deviation of the drilling machine's reference direction from the drilling reference direction and the position data of the drilling machine's reference point with respect to the face. The initial value of the drilling position is corrected. And a control apparatus calculates and sets the position data of the bit position of a rock drill, and transmits it to the surveying instrument installed in the back of the drilling machine via a communication device. The surveying instrument receives the position data of the bit position of the rock drill through the communication device, and irradiates the laser beam based on the position data. If the bit position of the rock drill and the laser beam irradiation position are shifted when the bit is positioned, the operator may make the laser beam irradiation position coincide with the bit position. To operate. At this time, based on the amount of movement required to match the irradiation position of the laser beam and the bit position, correction means inputs correction data for deviation to the control device. Therefore, in the subsequent drill holes, the bit can be positioned so as to match the predetermined drill hole position.
[0015]
The drilling positioning correction of the drilling machine described above is extremely easy because high-precision positioning can be expected as the laser beam irradiation position and the drilling machine bit position are matched. Compared to this, troublesome and regular adjustment work is not required, time, labor and cost can be reduced, and advantages such as drilling holes can be utilized.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a side view of a drilling machine provided with a drilling positioning correcting device according to an embodiment of the present invention, and FIGS. 2, 3 and 4 are explanatory views of the correction work. Here, the basic configuration of the drilling machine is the same as that of the conventional automatic control drilling machine shown in FIG. 5, and the boom base 13 is placed on the base 12 of the drilling machine carriage 11 by the pivot shaft 14. The base end of the telescopic boom 15 is pivotally attached to the boom base 13 by a lifting shaft 16. The telescopic boom 15 includes a proximal boom 4 and a distal boom 5, and the distal boom 5 is mounted so as to slide relative to the proximal boom 4. A turning hydraulic cylinder 17 is provided between the base 12 and the boom base 13, and a lifting hydraulic cylinder 18 is provided between the base end boom 4 of the telescopic boom 15 and the boom base 13. 15 can be turned and raised.
[0017]
A tilt body 19 is pivotally attached to the tip of the tip boom 5 by a tilt shaft 20, and a tilt hydraulic cylinder 21 is provided between the tip boom 5 and tiltable. A swing body 22 is pivotally attached to the tilt body 19 by a swing shaft 23, and a swing hydraulic cylinder (not shown) is provided between the tilt body 19 and swinging is possible. The swing body 22 is provided with a guide rotary 24 that can rotate about the rotary shaft 25. A guide mounting 26 is supported on the guide rotary 24 by a mount shaft 27, and the guide shell 26 is supported by the guide mounting 26 so as to be slidable back and forth. The guide shell 6 is equipped with a rock drill 9 in which a rod 8 having a bit 7 attached at the tip is inserted. The drill rocker 9 is fed in the front-rear direction to the rock of the face 10. Drill.
[0018]
In this drilling machine, on the movable shaft 15 of the telescopic boom 15, the lifting shaft 16, the tilt shaft 20, the swing shaft 23, the rotary shaft 25, the telescopic boom 15, the guide mounting 26, and the sliding portion of the guide shell 6. Is provided with a detector (not shown) for detecting the operation amount, and includes a turning angle θ ₁ , an elevation angle θ ₂ , a tilt angle θ ₃ , a swing angle θ ₄ , a rotary angle θ ₅ , and a boom slide length. L ₁ , guide slide length L ₂ , and rock drill feed length L ₃ are detected.
[0019]
As shown in FIG. 1, a control device 50 using a computer and a wireless communication device 51 are mounted on a bogie 11 of the drilling machine. Based on the drilling hole position data set by the computer, the control device 50 operates the actuator of each movable part to perform automatic drilling positioning. At this time, the position of the tip of the bit 7 with respect to the reference point J of the punching machine is determined based on the detection values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ , L ₁ , L ₂ , L _3). ) And the direction of the guide shell 6 with respect to the reference direction of the drilling machine is calculated by the computer of the control device 50 as a function G of the detected values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ ). It is requested.
[0020]
In this drilling machine, when the position of the bit 7 is deviated from the irradiation position of the laser beam LB, which will be described later, the control device is arranged so that the operator visually matches the bit 7 with the irradiation position of the laser beam LB. 50 is switched to the manual mode to operate manual operation means such as an operation lever, and a correction means 60 is provided to correct an error based on the amount of movement at this time. The correction means 60 calculates a required correction value based on the detection value of the detector at the time of movement and executes the position error calculation program, and inputs it to the control device 50. In the drilled hole after the correction, the controller 50 can accurately position the hole.
[0021]
An automatic tracking surveying instrument 40 is installed behind the boring machine carriage 11. This automatic tracking type surveying instrument 40 has a built-in visible laser beam LB irradiation mechanism and can be rotated in the vertical direction and the horizontal direction by a command signal from the outside. The position data of the drill hole position set by the control device 50 is transmitted from the wireless communication device 51 to the wireless communication device 41, and the automatic tracking surveying instrument 40 uses the received position data of the drill hole position. Based on this, the laser beam LB is irradiated toward the face.
[0022]
The automatic tracking survey instrument 40 has a tracking function using infrared IR, and can perform distance measurement and three-dimensional coordinate measurement. Data measured by the automatic tracking survey instrument 40 is transmitted from the wireless communication device 41 to the wireless communication device 51 on the carriage 11 and input from the wireless communication device 51 to the control device 50.
Further, in this drilling machine, the prism 3 for detecting the position of the guide shell 6 is installed at the rear end of the guide shell 6, and the position of the prism 3 is measured by the automatic tracking type surveying instrument 40, Based on this, it has the function of obtaining the deviation of the reference direction of the drilling machine from the reference direction of the drilling hole and the position of the reference point J of the drilling machine with respect to the face 10.
[0023]
Next, a drilling positioning correction method for this drilling machine will be described following the construction procedure.
First, the deviation of the reference direction of the drilling machine with respect to the reference direction of the drilling hole and the position of the reference point J of the drilling machine with respect to the face 10 are obtained. Specifically, after the boring machine carriage 11 is installed in the vicinity of the face 10, the telescopic boom 15 and the guide rotary 24 are operated from a position away from the face 10, and the tip of the bit 7 is placed at a point on the face 10. Make contact. The point on the face 10 is a face reference point formed on the face by the laser beam LB emitted from the automatic tracking surveying instrument 40 based on the position data set by the control device 50. With this face reference point as the first measurement point, the automatic tracking surveying instrument 40 automatically tracks the prism 3 that moves as the guide shell 6 moves, and measures the prism position B ₁ at the first measurement point. Next, the guide shell 6 is slid on the guide mounting 26 so as to separate the tip of the bit 7 from the face reference point, and is moved backward to the second measurement point. Although this retreat distance can be selected arbitrarily, it is desirable to make it large to some extent. Then, at the second measurement point, the automatic tracking survey instrument 40 automatically tracks the prism 3 that moves as the guide shell 6 moves backward to measure the prism position B ₂ at the second measurement point.
[0024]
The first and second measurement data of the prism positions B ₁ and B ₂ at the first and second measurement points obtained by the automatic tracking surveying instrument 40 are obtained on the virtual face plane perpendicular to the Z-axis and the reference direction of the drill hole as the Z-axis. It is obtained as coordinates B ₁ (X ₁ , Y ₁ , Z ₁ ) and B ₂ (X ₂ , Y ₂ , Z ₂ ) of the face coordinate system with the horizontal and vertical lines as the X-axis and Y-axis. At the same time, the computer of the control device 50 converts the prism positions B ₁ and B _{2 of the first} and second measurement points into the detection data (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ , L ₁ , L ₂ , L ₃ ). The first and second calculation data of the prism positions B ₁ and B ₂ at the respective measurement points calculated from the detection data of the detector are based on the reference point J of the drilling machine as the origin and the longitudinal direction of the drilling machine as the z axis. The drilling machine coordinate system coordinates B ₁ (x ₁ , y ₁ , z ₁ ), B ₂ (x ₂ , y ₂ , z ₂ ) with the left / right direction as the x-axis and the up / down direction as the y-axis are obtained.
[0025]
If the carriage 11 is not installed so that the reference direction of the drilling hole coincides with the reference direction of the drilling machine, the two-point coordinates B ₁ (X _l , Y _l , Z _l on the face coordinate system). ), B ₂ (X ₂ , Y ₂ , Z ₂ ) angle data (α _X , α _Y , α _Z ) in the direction of the straight line and two-point coordinates B ₁ (x _l , Since the angle data (β _x , β _y , β _z ) in the direction of the straight line passing through y ₁ , z _l ) and B ₂ (x ₂ , y ₂ , z ₂ ) do not coincide, The angle data (α _X , α _Y , α _Z ) and (β _x , β _y , β _z ) are compared to determine the deviation between the drilling reference direction and the drilling machine reference direction.
[0026]
Next, the first measurement data B ₁ (X _l , Y _l , Z _l ) on the face coordinate system and the first measurement data B ₁ ( _xl , y _l , z _l ) on the drilling machine coordinate system are obtained. In contrast, the position of the reference point J of the drilling machine with respect to the face is obtained.
The reference direction deviation and reference point position data obtained in this way are set as initial values for correction in the drilling control program of the computer of the control device 50. The drilling pattern data set on the face coordinate system is drilled by the control device 50 based on the preset reference direction deviation and reference point position data. It is converted into pattern data, and drilling is controlled.
[0027]
Usually, since it is not necessary to position with high precision in the inside away from the outline of the tunnel, the control device 50 operates the movable part such as the telescopic boom 15 on the basis of the data of the drill hole pattern to Only the bit 7 of the machine 9 is positioned at the calculated drilling position, and no positioning correction work is performed.
On the other hand, when the drilling work is started near the contour line of the tunnel, the drilling positioning correction work is performed. In this case, for example, as shown in FIG. 2, positioning accuracy correction ranges R ₁ , R ₂ , R ₃ , R ₄ having a plurality of correction center points C ₁ , C ₂ , C ₃ , C ₄ as the cores. Is set on the face 10 side. It should be noted that at least four correction operations are required for drilling a single face. This is because the error increases as the amount of movement of the boom increases.
[0028]
Specifically, as shown in FIGS. 2 and 3, the controller 50 actuates the telescopic boom 15 and guide the rotary 24 and the like, automatically positioning the tip of the bit 7 in the corrected center point C ₁ of accuracy correction range R1 Let As described above, the coordinates C ₁ (X ₁ , Y ₁ , Z ₁ ) of the correction center point C ₁ on the face coordinate system are the functions F (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ , L _1). , L ₂ , L ₃ ) is equal to the sum of the coordinates C ₁ (x ₁ , y ₁ , z ₁ ) of the drilling machine coordinate system calculated by (L ₂ , L ₃ ) and the position data of the drilling machine reference point J relative to the face. Also, the coordinates C ₁ (X ₁ , Y ₁ , Z ₁ ) are transmitted from the correction means 60 to the automatic tracking surveying instrument 40 via communication between the wireless communication device 51 and the wireless communication device 41. The automatic tracking type surveying instrument 40 sets the collimation direction of the laser beam LB at the corrected center point C ₁ on the face 10 based on the received coordinates C ₁ (X ₁ , Y ₁ , Z ₁ ). After the setting is completed, the automatic tracking type surveying instrument 40 transmits the laser beam LB to the automatic tracking type surveying instrument 40 from the correcting means 60 by the communication between the wireless communication unit 41 and the wireless communication unit 51, and the laser beam LB is transmitted. The correction center point C ₁ is irradiated. Since the correction work is basically performed near the contour line of the tunnel, the laser beam LB does not interfere with the drilling machine main body.
[0029]
When the actual position of the bit 7 and the position irradiated with the laser beam LB coincide with each other, there is no positioning error, so that the hole can be drilled as it is. On the other hand, if the operator is positioned at a point D ₁ on the face 10 that deviates from the correction center point C ₁ , the operator moves the actual bit 7 position from the point D ₁ to the correction center point C, as shown in FIG. _The control device 50 is switched to the manual mode so as to adjust to _1, and the operation means such as the operation lever is operated. The correction means 60 calculates the distance Δ (x from the point D ₁ to the correction center C ₁ by executing the position error calculation program from the detection data of the detector at this time. , Y , Z ) Is calculated to obtain correction data and input to the control device 50. Next, the operator confirms whether or not the bit 7 is positioned at the correction center point C ₁ by re-operation of the control device 50. If this positioning is performed correctly, the correction operation for the correction center point C ₁ is completed, so that drilling is started in the accuracy correction range R ₁ . Thereafter, the same positioning correction work as described above is sequentially performed on the remaining correction center points C ₂ , C ₃ , and C ₄ .
[0030]
In this way, high-precision positioning is possible in the vicinity of the correction center points C ₁ , C ₂ , C ₃ , and C ₄ . Further, if necessary, the number of correction center points is increased appropriately, and the correction work is performed each time positioning is performed at each position, so that mechanical play, play and members of the movable part of the drilling machine are performed. Even if the deflection of the plate increases, it can always be positioned with high accuracy.
[0031]
Incidentally, modified center point _{C 1, C 2, C 3} , C 4 do not necessarily have to be set on the working face 10 side as in this embodiment, modifications to the space center point C ₁ in the vicinity of the working face 10, C ₂ , C ₃ , and C ₄ are provided, and the bit 7 and the laser beam LB are made to coincide with each other, so that the hole positioning correction operation can be performed. As a result, even when the actual face 10 is tilted or has irregularities, the hole positioning can be corrected.
[0032]
Further, the present invention is not limited to the method of matching the bit position of the rock drill with the irradiation position of the laser beam LB. Conversely, the laser beam LB may be aligned with the actual bit 7 position. In this case, the operator collimates the laser beam LB by, for example, operating the automatic tracking type surveying instrument 40 by remote control of the correction means 60 so that the laser beam LB is aligned with the actual bit 7 position. Adjust the direction. After the adjustment, the automatic tracking type surveying instrument 40 automatically measures the irradiation position of the laser beam LB, and transmits this measurement data to the correcting means 6 through communication between the wireless communication device 41 and the wireless communication device 51. Based on this measurement data, the correction means 6 obtains the deviation between the actual position of the bit 7 and the irradiation position of the laser beam LB as correction data by execution of the position error calculation program, and inputs it to the control device 50. Thereafter, the control device 50 is reactivated to perform positioning.
[0033]
【The invention's effect】
As described above, according to the drilling positioning correction device and correction method of the drilling machine according to the present invention, the control device is operated so that the irradiation position of the laser beam matches the bit position of the drilling machine. Thus, it is possible to easily and accurately position the predetermined drilling hole position without being influenced by the influence of the play of the movable part of the drilling machine. This eliminates the need for periodic and complicated adjustment work conventionally required to ensure high accuracy, reduces time, labor and cost, and reduces unnecessary work and costs due to reduced positioning accuracy. In addition, since it is possible to easily compensate for a decrease in positioning accuracy, it is possible to make the most of the economic advantage of automation of drilling holes.
[Brief description of the drawings]
FIG. 1 is a side view of a drilling machine equipped with an automatic correction device for drilling hole positioning according to an embodiment of the present invention.
FIG. 2 is an explanatory diagram of correction work when an accuracy correction range is set.
FIG. 3 is an explanatory diagram of a correction operation when the actual bit position on the face deviates from the laser beam irradiation position.
FIG. 4 is an explanatory diagram of a correction operation when a bit is made to coincide with a laser beam irradiation position.
FIG. 5 is an explanatory diagram of a configuration of a punching machine.
FIG. 6 is an explanatory diagram of a conventional tunnel construction method associated with a decrease in positioning accuracy.
[Explanation of symbols]
3 Prism 4 Base end boom 5 End boom 6 Guide shell 7 Bit 8 Rod 9 Rock drill 10 Face 11 Bogie 12 Base 13 Boom base 14 Rotating shaft 15 Telescopic boom 16 Lifting shaft 19 Tilt body 20 Tilt shaft 22 Swing body 23 Swing shaft 24 guide rotary 25 guide rotary shaft 26 guide mounting 27 mount shaft 40 automatic tracking surveying instrument 41 wireless communication device 50 control device 51 wireless communication device 60 correction means Q drilling device J reference point LB laser beam

Claims (2)

A guide shell rock drill is mounted, a boom for supporting the guide shell in the guide mounting quenching, a detector for detecting actuation of the movable part of the guide shell and the boom, the detection from the detector a surveying instrument, wherein a control device for automatic positioning or position display of the guide shell, used in drilling machine equipped with a built-in laser beam irradiation mechanism is installed in the rear of the drilling machine on the basis of the data, A drilling hole positioning correction device comprising a communicator for communicating necessary data between the control device and the surveying instrument, and a correction means for correcting drilling hole positioning,
When the positioning correction operation for correcting a positioning error due to mechanical backlash and bending of the member is performed, the correcting means transmits the bit position data of the rock drill through the communicator to the surveying instrument. is irradiated with a laser beam from the survey instrument transmits to the position corresponding to the position data to the irradiation position of the laser beam was made in accordance with the deviation between the laser beam bit position of the irradiation position and the rock drill of based on the amount of movement of the detection data from the main been said detector in order to match the bit position of the rock drill and to calculate correction data for correcting the drilling positioning, wherein the control device, characterized in that is adapted to obtain data for drilling pattern is set on the in consideration of the correction data calculated by the correction means drilling machine coordinate system, the drilling machine Correction device of the Ku hole positioning. A guide shell rock drill is mounted, a boom for supporting the guide shell in the guide mounting quenching, a detector for detecting actuation of the movable part of the guide shell and the boom, the detection from the detector Oite to the control unit and drilling machine Ru equipped with performing automatic positioning or position display of the guide shell on the basis of the data, by setting the accuracy correction range for drilling, machine accuracy correction range of the set A method of correcting a positioning error due to a general play and bending of a member,
A plurality of accuracy correction ranges are set and set along the circumferential direction so that adjacent accuracy correction ranges overlap along the tunnel outline at a position where the accuracy correction range includes the tunnel outline. In each accuracy correction range, after positioning the boom, the laser beam is irradiated to a position corresponding to the position data of the bit position of the rock drill, and the bit position of the rock drill is irradiated in the manual mode. The movement required to match the position of the laser beam and the bit position of the drilling machine according to the deviation of the laser beam irradiation position and the bit position of the drilling machine based on the amount, for each accuracy correction range to be set, and sets a correction value for the correction of drilling positioning, modify how the drilling positioning fence Anaki .

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